WO2024021991A1 - 车辆控制方法、车辆以及存储介质 - Google Patents

车辆控制方法、车辆以及存储介质 Download PDF

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Publication number
WO2024021991A1
WO2024021991A1 PCT/CN2023/103846 CN2023103846W WO2024021991A1 WO 2024021991 A1 WO2024021991 A1 WO 2024021991A1 CN 2023103846 W CN2023103846 W CN 2023103846W WO 2024021991 A1 WO2024021991 A1 WO 2024021991A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
rainfall
uwb
speed
wiper
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/103846
Other languages
English (en)
French (fr)
Inventor
程自云
梁俊磊
曹为斯
曾帅
苏凯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BYD Co Ltd
Original Assignee
BYD Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BYD Co Ltd filed Critical BYD Co Ltd
Priority to EP23845204.9A priority Critical patent/EP4563783A4/en
Publication of WO2024021991A1 publication Critical patent/WO2024021991A1/zh
Priority to US19/021,531 priority patent/US20250153684A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/71—Power-operated mechanisms for wings with automatic actuation responsive to temperature changes, rain, wind or noise
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0859—Other types of detection of rain, e.g. by measuring friction or rain drop impact
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0825—Capacitive rain sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0833—Optical rain sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0851—Resistive rain sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0896—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to a vehicle driving condition, e.g. speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00182—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions in response to weather conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01W—METEOROLOGY
    • G01W1/00—Meteorology
    • G01W1/14—Rainfall or precipitation gauges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
    • B60J7/00—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors not directly associated with the wing movement
    • E05Y2400/447—Moisture or submergence sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E05Y2400/452—Control modes for saving energy, e.g. sleep or wake-up
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/55—Windows
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93273—Sensor installation details on the top of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G01S7/006—Transmission of data between radar, sonar or lidar systems and remote stations using shared front-end circuitry, e.g. antennas

Definitions

  • the present application relates to the field of vehicles, and in particular, to a vehicle control method, vehicle and storage medium.
  • the rain detection devices used include, for example, capacitive raindrop sensors, resistive raindrop sensors, infrared raindrop sensors, piezoelectric oscillator raindrop sensors or CCD (Charge-coupled Device) raindrop sensors. Sensors that detect rainfall have shortcomings in the accuracy and reliability of real-time rainfall detection. In addition, the control application of rain detection on vehicles is relatively simple.
  • This application aims to solve at least one of the technical problems existing in the prior art.
  • one purpose of this application is to propose a vehicle control method that can accurately and reliably detect real-time rainfall and enrich the applications of vehicle control based on rainfall detection.
  • the second purpose of this application is to propose a vehicle.
  • the third purpose of this application is to provide a computer-readable storage medium.
  • the vehicle is equipped with a UWB (Ultra Wide Band) sensor for measuring rainfall values.
  • the method includes: in response to a trigger instruction to start rainfall detection, Wake up the UWB sensor so that the UWB sensor measures a rainfall value; obtain the rainfall value measured by the UWB sensor; and control the vehicle to execute a preset control instruction action according to the rainfall value.
  • UWB Ultra Wide Band
  • the vehicle includes a window
  • controlling the vehicle to perform a preset control instruction action according to the rainfall value includes: in response to detecting that the window is in an open state, determining that the When the rainfall value reaches the preset window-closing rainfall threshold, the vehicle window is controlled to be closed.
  • the vehicle includes a wiper
  • controlling the vehicle to execute a preset control instruction action according to the rainfall value further includes: in response to detecting that the vehicle is in a driving state, determining whether the rainfall If the magnitude value meets the preset wiper conditions, the wiper is controlled to wipe rain at a target speed.
  • the target speed is determined according to a preset mapping relationship, and the mapping relationship represents the corresponding relationship between the speed of the wiper and the rainfall value.
  • the wiper condition is that the rainfall value is greater than the window-closing rainfall threshold
  • controlling the wiper to wipe at a target speed includes: determining the wiper according to the rainfall value.
  • the target speed gear of the action is set, and the wiper is controlled to wipe rain at the speed of the target speed gear.
  • determining a target speed gear for controlling the wiper action based on the rainfall amount, and controlling the wiper to wipe rain at the target speed gear includes: if the rainfall amount value If the rainfall amount is greater than the window-closing rainfall threshold and less than the first rainfall threshold, the wiper is controlled to operate at a first speed; if the rainfall value is greater than the first rainfall threshold and less than the second rainfall threshold, the wiper is controlled to operate at a third speed. Two-speed operation, the second speed is greater than the first speed; if the rainfall value is greater than the second rainfall threshold, the wiper is controlled to operate at a third speed, the third speed is greater than the second speed. Wherein, the first rainfall threshold is greater than the window-closing rainfall threshold, and the second rainfall threshold is greater than the first rainfall threshold.
  • the vehicle control method further includes: in response to the rainfall value being greater than the second rainfall threshold, controlling the vehicle-mounted multimedia to perform rainfall prompts and speed limit warnings, and controlling the vehicle to operate at the rainfall speed limit. travel.
  • the vehicle includes a window
  • the vehicle control method further includes The method includes: when detecting that the vehicle is in a stalled state and a window of the vehicle is in an open state, issuing a triggering instruction to start rainfall detection; or detecting that the vehicle is in an ignition state, issuing a triggering instruction to start rainfall detection.
  • the vehicle control method further includes: detecting that the vehicle is in a stalled state and detecting that a window of the vehicle is in a closed state, controlling the UWB sensor to remain in a dormant state.
  • waking up the UWB sensor to enable the UWB sensor to measure rainfall includes: controlling a signal transmitter of the UWB sensor to emit an electromagnetic wave signal; controlling a signal receiver of the UWB sensor to receive The electromagnetic wave signal propagates through a preset spatial range; and the rainfall value is calculated and obtained according to the flight time of the received electromagnetic wave signal.
  • the vehicle of the second embodiment of the present application includes: a UWB sensor, the UWB sensor is used to detect a rainfall value; at least one processor; and a memory, in which a computer executable by the at least one processor is stored. Program, the computer program when executed by the at least one processor implements the vehicle control method according to any embodiment of the first aspect of the application.
  • the UWB sensor is disposed on the body of the vehicle.
  • the UWB sensor is disposed on the top of the front end, the top of the rear end, or the top of the middle part of the vehicle.
  • the UWB sensor includes: a UWB signal transmitter, the UWB signal transmitter is used to transmit electromagnetic wave signals;
  • a UWB signal receiver that receives the electromagnetic wave signal propagating through a preset spatial range; and a control module that calculates and obtains the rainfall value based on the flight time of the received electromagnetic wave signal.
  • the UWB signal transmitter and the UWB signal receiver are disposed on the top of the vehicle, and the UWB signal receiver and the UWB signal transmitter are disposed opposite to each other at a preset distance.
  • the computer-readable storage medium has a computer program stored thereon.
  • the vehicle control method according to any embodiment of the first aspect of the present application is implemented.
  • the technical effects achieved by the vehicles, methods and storage media in the embodiments of this application at least include:
  • rainfall is detected based on the UWB sensor.
  • the UWB sensor emits electromagnetic waves and is less affected by the environment and has strong anti-interference. Therefore, the detected real-time rainfall value is more accurate and stable.
  • controls the vehicle to execute preset control command actions according to the rainfall value that is, combining rainfall detection with body control, enriching the application of rainfall detection in vehicle control.
  • Figure 1 is a top view of a vehicle according to an embodiment of the present application.
  • Figure 2 is a flow chart of a vehicle control method according to an embodiment of the present application.
  • FIG. 3 is a block diagram of a UWB sensor according to an embodiment of the present application.
  • Figure 4 is a flow chart of a control method in a vehicle flameout state according to an embodiment of the present application
  • Figure 5 is a block diagram of a rainfall detection and vehicle body status control system according to an embodiment of the present application.
  • Figure 6 is a flow chart of a method for controlling windows and wipers when the vehicle is driving according to an embodiment of the present application
  • Figure 7 is a block diagram of a vehicle according to one embodiment of the present application.
  • Vehicle 100 Vehicle body 10, UWB sensor 20, vehicle body controller 30, memory 40 and at least one processor 50; UWB signal transmitter 21, UWB signal receiver 22 and control module 23.
  • rain detection devices include, for example, capacitive raindrop sensors, resistive raindrop sensors, infrared raindrop sensors, piezoelectric oscillator raindrop sensors or CCD raindrop sensors.
  • sensors that detect rainfall have shortcomings in the accuracy and reliability of real-time rainfall detection.
  • rain detection control logic it is not possible to closely link the detection of rainfall with the logic of vehicle body status control such as sunroof, window switch control, wiper speed adjustment, vehicle speed adjustment, etc., resulting in a comparison of the control applications of rain detection in vehicles. Simplification.
  • a more accurate real-time rainfall detection value can be obtained by detecting rainfall based on the UWB (Ultra Bandwidth, UWB) sensor installed in the vehicle, and combining rainfall detection with vehicle body status control can enrich rainfall. Test control applications on vehicles.
  • UWB Ultra Bandwidth, UWB
  • FIG. 1 is a schematic diagram of a vehicle according to an embodiment of the present application.
  • a vehicle 100 includes a vehicle body 10 , a UWB sensor 20 , a vehicle body controller 30 , and vehicle execution devices such as windows, wipers, and vehicle-mounted multimedia.
  • vehicle body controller 30 controls the vehicle body 10 .
  • vehicle execution devices such as windows, wipers, and vehicle-mounted multimedia.
  • the vehicle 100 also includes other basic structures and systems, which are not listed here.
  • the UWB sensor 20 is connected to the vehicle body controller 30 .
  • the UWB sensor 20 adopts UWB technology, and uses the principle that the electromagnetic waves emitted by the UWB sensor have different propagation times in different media.
  • the propagation time of the electromagnetic waves at different rainfall values can be correlated with the rainfall values, so that the UWB sensor 20 is based on electromagnetic waves. It can detect the moisture content in the air by itself during the flight time and realize the detection of rainfall value.
  • UWB detection technology is not affected by the light environment, so the UWB sensor 20 is used to detect rainfall with high accuracy and stability.
  • UWB is used in more and more vehicles, such as Welcoming guests, high-precision positioning, etc. Therefore, using the UWB sensor 20 to implement rain detection does not require additional hardware and the cost is low.
  • FIG 2 is a flow chart of a vehicle control method according to an embodiment of the present application. As shown in Figure 2, the vehicle control method of the embodiment of the present application at least includes the following steps S1-S3.
  • the UWB sensor 20 may include a UWB signal transmitter 21 , a UWB signal receiver 22 and a control module 23 .
  • the UWB signal transmitter 21 and the UWB signal receiver 22 can be arranged on the top of the vehicle to detect rainfall more effectively and accurately.
  • the UWB signal receiver 22 and the UWB signal transmitter 21 are arranged opposite to each other at a preset distance.
  • the signal transmitter of the UWB sensor When detecting rainfall, the signal transmitter of the UWB sensor is controlled to emit an electromagnetic wave signal; the signal receiver of the UWB sensor is controlled to receive the electromagnetic wave signal propagated through a preset spatial range; and the result is calculated based on the flight time of the received electromagnetic wave signal. Describe the rainfall value.
  • rain detection based on UWB technology takes advantage of the principle that electromagnetic waves propagate at different speeds in different media.
  • the vehicle in the embodiment of the present application uses UWB sensors as a new way of use.
  • the UWB signal transmitter 21 and the UWB signal receiver 22 are placed on both sides of the object to be measured.
  • the medium directly affects the detection data of the UWB sensor 20, or in other words
  • the data detected by the UWB sensor 20 is affected by the medium through which the electromagnetic waves pass.
  • the electromagnetic waves released by the UWB sensor 20 pass through air and water, and the proportions of air and water on the electromagnetic wave movement path of the UWB sensor 20 directly affect the measurement data of the UWB sensor 20 .
  • the propagation speed of electromagnetic waves in water is smaller than the propagation speed in air.
  • the proportion of water on the electromagnetic wave propagation path has a linear relationship with the data detected by the UWB sensor 20 .
  • the speed of electromagnetic waves passing through the detection space is much greater than the speed of rainwater passing through the detection space. It can be considered that during the time when the electromagnetic waves shuttle back and forth through the detection space, the position of the rainwater is stationary relative to the detection space.
  • the UWB sensor 20 can measure the ratio ⁇ of the volume of water to the volume of the detection space at a moment in time. That is, the proportion of water in the detection space.
  • the proportion of water in a certain space can be used as an indicator to measure precipitation.
  • ⁇ can be used as a measure of precipitation.
  • the UWB sensor 20 can measure this indicator in real time.
  • the UWB signal transmitter 21 emits electromagnetic waves to the UWB signal receiver 22, and the UWB signal receiver 22 detects the current amount of rain according to the flight time of the received electromagnetic waves through processing and calculation by the control module 23.
  • the electromagnetic waves emitted by UWB signal transmitter 21 have different transmission times in different media (such as air, water), and rainfall is large. When the rainfall is small, the electromagnetic wave transmission time will become longer, and when the rainfall is small, the electromagnetic wave transmission time will become shorter, so as to determine the amount of rainfall. In this way, the rainfall amount can be detected with high accuracy and strong anti-interference ability.
  • the UWB sensor has a simple principle of rainfall detection and can be used in conjunction with the vehicle body domain to control the vehicle body (such as vehicle speed adjustment), giving users a better experience.
  • a trigger instruction to start rainfall detection when driving, it is detected that the vehicle is in the ignition state and a trigger instruction to start rainfall detection is issued, which can automatically wake up the UWB sensor 20 and start working, that is, detect the amount of rainfall.
  • the vehicle includes a window. In the flameout state, it is detected that the vehicle is in the flameout state, and at the same time, when the vehicle window is in the open state, a triggering instruction to start the rain detection is issued, that is, in response to the vehicle's engine stalling.
  • the UWB sensor 20 can be automatically awakened, and the UWB sensor 20 starts to work, that is, detects rainfall.
  • the user can also set other trigger conditions to automatically wake up the UWB sensor 20 . Therefore, manual operation by the user is not required, and the UWB sensor 20 can be automatically awakened in a more intelligent manner, especially when the flame is turned off and the user forgets to close the window.
  • the UWB sensor sends the detected rainfall value to the vehicle domain controller such as the body controller.
  • the body controller receives the rainfall value, combines the rainfall value with the body status, and enriches the rainfall detection in the control of the vehicle. application.
  • the vehicle execution device is connected to the body controller 30.
  • the vehicle execution device is used to execute preset control actions on the vehicle body according to the control signal, such as controlling the opening or closing of the windows, adjusting the wiper action speed, controlling the on-board multimedia to play related information, etc. , that is, in terms of rain detection control logic, the detection of rainfall is closely linked to the logic of vehicle body status control such as sunroof, window switch control, wiper speed adjustment, vehicle speed adjustment, etc., to enrich the application of rain detection in vehicle control.
  • real-time rainfall is detected based on the UWB sensor.
  • the UWB sensor emits electromagnetic waves, which is less affected by the environment and has strong anti-interference. Therefore, the detected real-time rainfall value is more accurate and stable, and the rainfall will be
  • the amount detection is combined with the vehicle body control, and the vehicle body is controlled to execute preset control actions according to the rainfall value, which enriches the application of rainfall detection in vehicle control.
  • the vehicle includes a window, and the vehicle is controlled to execute a preset control instruction action according to the rainfall value. Specifically, this may include: in response to detecting that the window is in an open state, determining that the rainfall value reaches the preset window closing rainfall amount. Threshold to control window closing.
  • the size of the window-closing rain threshold can be judged based on whether the rainfall affects the safety of property in the car.
  • the body controller compares the received real-time rainfall value detected by the UWB sensor with the preset window-closing rainfall threshold. If the rainfall value reaches the window-closing rainfall threshold, and there are open windows at this time, For example, the side window or sunroof of the car controls the opening of the window to close, thereby preventing rainwater from entering and accumulating in the car, and avoiding economic losses to the user due to the rain not closing the window.
  • rainfall is detected by waking up the vehicle's UWB sensor.
  • the electromagnetic wave emitted by the UWB sensor is less affected by the environment and has strong anti-interference.
  • the detected real-time rainfall value is more accurate and stable, and the UWB sensor passes the electromagnetic wave.
  • the algorithm principle is simple, and the combination of rainfall detection and window control can enrich the application of rainfall detection in vehicle control.
  • the open window can be controlled. Close, thereby preventing rainfall, especially heavy rain, from entering the car, and reducing economic losses to users caused by rain with the windows left open.
  • the UWB sensor when the vehicle is in a stalled state and the vehicle window is detected to be closed, the UWB sensor is controlled to automatically enter the sleep mode. For example, when the engine is turned off, the body controller detects whether the side windows and sunroof are open. If any windows are open, the body controller wakes up the UWB sensor. When the rainfall reaches the window-closing rainfall threshold, it controls the open windows to close. If no windows are open, the UWB sensor automatically enters sleep mode. Reduce energy consumption.
  • FIG. 4 is a flow chart of a control method in a vehicle stall state according to an embodiment of the present application
  • FIG. 5 is a block diagram of a rainfall detection and vehicle body state control system according to an embodiment of the present application.
  • the BCM body control module
  • the BCM body control module
  • the UWB sensor enters sleep state to reduce vehicle power consumption.
  • the BCM detects that the window or sunroof is open
  • the BCM transmits the message information to the UWB sensor through the CAN bus.
  • the UWB sensor starts real-time rain detection.
  • the control module of the UWB sensor determines that it is raining, and transmits the message information to the BCM through the CAN bus, and the BCM then passes the LIN
  • the car windows or sunroofs can be closed by wire control to prevent rainwater from entering the car, protect the items in the car from getting wet, and prevent the user's property from being infringed.
  • rainfall detection can also be combined with the vehicle's wiper control.
  • Control the described The vehicle's execution of the preset control instruction action may specifically include: in response to detecting that the vehicle is in a driving state, determining that the rainfall value meets the preset wiper conditions, and controlling the wiper to wipe rain at a target speed; wherein the target speed is based on the preset
  • the mapping relationship is determined, and the mapping relationship represents the corresponding relationship between the speed of the wiper and the rainfall value.
  • the preset wiper conditions can be set as needed, for example, the rainfall value is greater than a certain value, less than a certain value, or between certain two values, etc., and no specific restrictions are required here.
  • the speed of the vehicle's wiper action is controlled based on the rainfall value detected by the UWB sensor. The greater the rainfall value, the higher the speed of the wiper action.
  • driving safety can be improved.
  • the method of controlling the wiper action speed based on rainfall amount in the embodiment of the present application is not only applied to traditional vehicle wipers, but also can be applied to other ultrasonic cleaning wipers, gas wipers and other wipers that have the same effect as physical wipers.
  • different speed gears for wiper action can be set, and different speed gears are suitable for different rainfall amounts, so that the driver can clearly see the road conditions during rain through the car window, thereby improving driving safety on rainy days.
  • the wiper condition can be that the rainfall value is greater than the window closing threshold. At this time, it is considered that the rainfall may affect the driver's view through the window, so the wiper is controlled to operate at an appropriate speed to improve driving safety.
  • controlling the wiper to wipe rain at a target speed may specifically include: determining a target speed gear for wiper action based on the rainfall value, and controlling the wiper to wipe rain at the target speed gear.
  • the speed gear can be based on the amount of rainfall and the speed of wiper action so that the driver can clearly see the road ahead. This can avoid a large amount of water on the windows and blur the driver's vision, thereby improving driving safety.
  • different speed gears of the wiper can be set based on different amounts of rainfall, such as setting a high speed gear, a low speed gear, or setting high, middle, and low gears, or setting more detailed gears according to the amount of rainfall. position, there are no specific restrictions here.
  • the UWB sensor detects rainfall in real time, determines the target speed gear for controlling the wiper action based on the rainfall value, and controls the wiper action at the target speed gear, thereby automatically controlling the wiper action speed without the need for manual adjustment by the user. , and can adapt to the current rainfall to improve user driving safety.
  • the UWB sensor enters the working state from the dormant state, and sends the detected rainfall information to the BCM in the form of message information through the CAN bus, and the BCM automatically Closing the sunroof or side windows eliminates the need for the user to manually close the windows or sunroof.
  • the BCM side adjusts the wiper action speed based on the real-time detection of rainfall. For example, when it detects that the rainfall is light rain, the BCM side will automatically adjust the wiper speed to low speed; when it detects that the rainfall is medium rain, the BCM side will automatically adjust the wiper speed.
  • the vehicle-mounted multimedia in response to the rainfall value being greater than the second rainfall threshold, the vehicle-mounted multimedia is controlled to perform rainfall prompts and speed limit warnings, and controls Vehicles drive at rainfall speed limits, where the rainfall speed limit can be a lower speed to improve driving safety on rainy days.
  • the rainfall speed limit can be a lower speed to improve driving safety on rainy days.
  • the BCM when it is detected that the rainfall is heavy rain or heavy rain, the BCM will automatically adjust the high-speed wiper action and limit the vehicle speed to low-speed driving.
  • the central control computer 60 will make a voice broadcast through the external power amplifier. Inform the driver that the current vehicle speed is limited to low speed and remind the driver to drive safely at low speed.
  • the main driver can also set the vehicle to automatic cruise mode according to his own needs, and the vehicle can drive to a safe place by itself.
  • FIG. 6 is a flowchart of a method for controlling windows and wipers when a vehicle is driving according to an embodiment of the present application.
  • the UWB sensor starts real-time rainfall detection.
  • the microprocessor of the UWB sensor determines that there is rainfall. , and transmit the message message information to the BCM through the CAN bus.
  • the BCM begins to detect the status of the window or sunroof and adjusts the wiper operating speed and vehicle speed.
  • the BCM When the BCM detects that the window or sunroof is closed, the BCM keeps the window or sunroof closed; when the BCM detects that the window or sunroof is open, the BCM sends a message via LIN Wire-controlled window and sunroof closing.
  • the UWB sensor detects that the water content ⁇ in the air is greater than the first gear threshold ⁇ 1 and less than the second gear threshold ⁇ 2
  • the message information is transmitted to the BCM through the CAN bus, and the BCM will control the wiper action speed to adjust to a slow state.
  • the message information is transmitted to the BCM through the CAN bus, and the BCM will control the wiper actuator speed to be moderate. status; when the UWB sensor detects that the ⁇ value of the water content in the air is greater than the third-speed threshold ⁇ 3, the message information is transmitted to the BCM through the CAN bus.
  • the BCM will control the wiper action speed to a fast state and limit the current vehicle speed, and
  • the message information of heavy rainfall and limited vehicle speed is transmitted to the central control computer 60 through the CAN bus.
  • the central control computer 60 controls the external power amplifier to broadcast a voice to remind the driver to control the vehicle speed within the limited low-speed range and drive the vehicle to safe place.
  • the vehicle control method of the embodiment of the present application uses UWB technology to detect rainfall to realize intelligent control of the opening and closing status of windows and sunroofs and adjust the wiper action speed according to the amount of rain.
  • the electromagnetic waves emitted by the UWB sensor are used to propagate in different media. Based on the principle of different times, it can detect the moisture content in the air by itself, and can detect the real-time status of the weather when the car windows and sunroofs are open.
  • the rain detection sensor based on UWB technology has the advantages of high detection accuracy, strong reliability, easy installation, low cost, and simple algorithm, and will detect the amount of rain in real time and control the vehicle body status (such as sunroof, window switch control, wiper speed adjustment, Vehicle speed adjustment, etc.) logic is closely linked to realize diversified control applications of rain detection based on UWB technology on the vehicle.
  • the rain detection control based on UWB technology can enable the vehicle to automatically close the windows and sunroof in rainy weather. When driving the vehicle in rainy days, it can assist the main driver in driving safely and improve the user experience.
  • the second embodiment of the present application provides a vehicle.
  • the vehicle 100 includes a UWB sensor 20 , a memory 40 and at least one processor 50 .
  • the UWB sensor 20 is disposed on the vehicle body, such as the roof of the vehicle, the top of the front end, the top of the rear end, or the top of the middle, or other places where rainfall can be detected, without specific limitations here, for detecting rainfall values.
  • the UWB sensor 20 emits electromagnetic waves and receives airborne electromagnetic waves, and obtains rainfall values based on the flight time of the received electromagnetic waves.
  • the memory 40 stores a computer storage medium that can be executed by at least one processor 50.
  • the at least one processor 50 executes the computer program, the vehicle control method of any embodiment of the first aspect of the application is implemented, wherein the processor 50 can It is a domain controller of the vehicle 100 such as a body controller, etc.
  • the memory 40 can be used as a computer-readable storage medium and can be used to store software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure.
  • the processor 50 executes software programs, instructions and modules stored in the memory 40 to execute functional applications and data processing, that is, to implement the vehicle control method in any of the above method embodiments.
  • the third embodiment of the present application provides a readable computer storage medium on which a computer program is stored.
  • the computer program is executed by a processor, the vehicle control method of any embodiment of the first aspect of the present application is implemented.
  • the above-mentioned computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.
  • the vehicle 100 detects rainfall through the UWB sensor 20.
  • the electromagnetic wave emitted by the UWB sensor 20 is less affected by the environment and has strong anti-interference.
  • the detected real-time rainfall value is more accurate and stable, and the UWB sensor 20 passes the electromagnetic wave.
  • the algorithm principle is simple, and the combination of rainfall detection and window control can enrich the application of rainfall detection in vehicle control.
  • the open window can be controlled. Close, thereby preventing rainfall, especially heavy rain, from entering the car, and reducing economic losses to users caused by rain with the windows left open.
  • rainfall detection can be combined with wiper speed control, eliminating the need for manual adjustments by the driver and improving driving safety.

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Abstract

一种车辆控制方法，该车辆（100）设有UWB传感器（20），该方法包括：步骤S1：响应于启动降雨检测的触发指令，唤醒该UWB传感器（20），以使该UWB传感器（20）测量降雨量值；步骤S2：获取该UWB传感器（20）检测的降雨量值；步骤S3：根据该降雨量值控制该车辆（100）执行预设的控制指令动作。还公开了一种车辆（100）以及存储介质。该方法可以实现精准地、可靠地检测实时降雨量，以及丰富基于雨量检测的车辆控制的应用。

Description

车辆控制方法、车辆以及存储介质
相关申请的交叉引用
本申请要求在2022年7月26日提交至中国国家知识产权局、申请号为202210883958.4、名称为“车辆控制方法和车辆以及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车辆领域，尤其是涉及一种车辆控制方法、车辆以及存储介质。
背景技术
目前，在进行雨量检测时，采用的雨量检测装置包括例如电容式雨滴传感器、电阻式雨滴传感器、红外线雨滴传感器、压电振子雨量传感器或者CCD(Charge-coupled Device，电荷耦合元件)雨滴传感器，此类检测雨量的传感器，在实时雨量检测的精度和可靠性上都存在不足。此外，雨量检测在车辆上的控制应用比较单一。
公开内容
本申请旨在至少解决现有技术中存在的技术问题之一。为此，本申请的一个目的在于提出一种车辆控制方法，该方法可以实现精准地、可靠地检测实时降雨量，以及丰富基于雨量检测的车辆控制的应用。
本申请第二个目的在于提出一种车辆。
本申请第三个目的在于提出一种计算机可读存储介质。
为了达到上述目的，本申请第一方面实施例的车辆控制方法，所述车辆设有用于测量降雨量值的UWB(Ultra Wide Band)传感器，所述方法包括：响应于启动降雨检测的触发指令，唤醒所述UWB传感器，以使所述UWB传感器测量降雨量值；获取所述UWB传感器测量的降雨量值；以及根据所述降雨量值控制所述车辆执行预设的控制指令动作。
在一些实施例中，所述车辆包括车窗，所述根据所述降雨量值控制所述车辆执行预设的控制指令动作，包括：响应于检测到所述车窗处于打开状态，判断所述降雨量值达到预设的关窗雨量阈值，控制所述车窗关闭。
在一些实施例中，所述车辆包括雨刮器，所述根据所述降雨量值控制所述车辆执行预设的控制指令动作，还包括：响应于检测到所述车辆处于行驶状态，判断所述降雨量值满足预设的刮雨条件，控制所述雨刮器以目标速度进行刮雨。其中，所述目标速度根据预置的映射关系确定，所述映射关系表征所述雨刮器的速度与所述降雨量值的对应关系。
在一些实施例中，所述刮雨条件为所述降雨量值大于所述关窗雨量阈值，所述控制所述雨刮器以目标速度进行刮雨，包括：根据所述降雨量值确定所述雨刮器动作的目标速度档位，并控制所述雨刮器以所述目标速度档位的速度进行刮雨。
在一些实施例中，根据所述降雨量值确定控制所述雨刮器动作的目标速度档位，并控制所述雨刮器以所述目标速度档位的速度进行刮雨，包括：若所述降雨量值大于所述关窗雨量阈值且小于第一雨量阈值，控制所述雨刮器以第一速度动作；若所述降雨量值大于所述第一雨量阈值且小于第二雨量阈值，控制所述雨刮器以第二速度动作，所述第二速度大于所述第一速度；若所述降雨量值大于所述第二雨量阈值，控制所述雨刮器以第三速度动作，所述第三速度大于所述第二速度。其中，所述第一雨量阈值大于所述关窗雨量阈值，所述第二雨量阈值大于所述第一雨量阈值。
在一些实施例中，所述车辆控制方法还包括：响应于所述降雨量值大于所述第二雨量阈值，控制车载多媒体进行降雨量提示和限速警示，并控制所述车辆以降雨限速行驶。
在一些实施例中，所述车辆包括车窗，在所述响应于启动降雨检测的触发指令之前，所述车辆控制方法还包 括：检测到所述车辆处于熄火状态且所述车辆的车窗处于打开状态时，发出启动降雨检测的触发指令；或者检测到所述车辆处于点火状态，发出启动降雨检测的触发指令。
在一些实施例中，所述车辆控制方法还包括：检测到所述车辆处于熄火状态，且检测到所述车辆的车窗处于关闭状态，则控制所述UWB传感器保持休眠状态。
在一些实施例中，所述唤醒所述UWB传感器，以使所述UWB传感器测量降雨量值，包括：控制所述UWB传感器的信号发射器发射电磁波信号；控制所述UWB传感器的信号接收器接收经过预设空间范围传播的所述电磁波信号；以及根据接收到所述电磁波信号的飞行时间计算并获得所述降雨量值。
本申请第二方面实施例的车辆包括：UWB传感器，所述UWB传感器用于检测降雨量值；至少一个处理器；和存储器，所述存储器中存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序在被所述至少一个处理器执行时实现根据本申请第一方面任一实施例所述的车辆控制方法。
在一些实施例中，所述UWB传感器设置在所述车辆的车体上。
在一些实施例中，所述UWB传感器设置在所述车辆的车前端顶部、车后端顶部或车中部顶端。
在一些实施例中，所述UWB传感器包括：UWB信号发射器，所述UWB信号发射器用于发射电磁波信号；
UWB信号接收器，所述UWB信号接收器接收经过预设空间范围传播的所述电磁波信号；和控制模块，所述控制模块根据接收到所述电磁波信号的飞行时间计算并获得所述降雨量值。
在一些实施例中，所述UWB信号发射器和所述UWB信号接收器设置在所述车辆的顶部，且所述UWB信号接收器与所述UWB信号发射器以预设距离相对设置。
本申请第三方面实施例的计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现根据本申请第一方面任一实施例所述的车辆控制方法。
本申请实施例的车辆和方法以及存储介质，达到的技术效果至少包括：
根据本申请实施例的车辆控制方法和车辆以及存储介质，基于UWB传感器来检测降雨量，UWB传感器发射电磁波，受到环境影响小，抗干扰性强，因此，检测的实时降雨量值更加精准、稳定，并且根据降雨量值控制车辆执行预设的控制指令动作，即将降雨量检测与车身控制相结合，丰富了雨量检测在车辆控制的应用。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本申请一个实施例的车辆的俯视图；
图2是根据本申请一个实施例的车辆控制方法的流程图；
图3是根据本申请一个实施例的UWB传感器的框图；
图4是根据本申请一个实施例的车辆熄火状态下的控制方法的流程图；
图5是根据本申请一个实施例的降雨量检测和车身状态控制系统的框图；
图6是根据本申请一个实施例的车辆行驶状态时控制车窗和雨刮器方法的流程图；
图7是根据本申请的一个实施例的车辆的框图。
附图标记：
车辆100；
车体10、UWB传感器20、车身控制器30、存储器40和至少一个处理器50；
UWB信号发射器21、UWB信号接收器22和控制模块23。
具体实施方式
参考附图描述的实施例是示例性的，下面详细描述本申请的实施例。
在雨量检测的相关方案中，一般采用的雨量检测装置包括例如电容式雨滴传感器、电阻式雨滴传感器、红外线雨滴传感器、压电振子雨量传感器或者CCD雨滴传感器。然而，此类检测雨量的传感器，在实时雨量检测的精度和可靠性上都存在不足。此外，对于雨量检测控制逻辑方面，没能将检测雨量大小与车身状态控制例如天窗、车窗开关控制、雨刮速度调节、车速调节等逻辑紧密联系起来，导致雨量检测在车上的控制应用比较单一化。
本申请实施例的车辆控制方法中，基于车辆设置的UWB(超带宽，UWB)传感器来检测降雨量可以获得更加精准的实时雨量检测值，并且将雨量检测与车身状态控制相结合，可以丰富雨量检测在车辆上的控制应用。
下面参考图1-图6描述根据本申请实施例的车辆控制方法。
在本申请的实施例中，车辆设置有UWB传感器，通过UWB传感器来实现实时降雨量的检测。图1为根据本申请的一个实施例的车辆的示意图。如图1所示，车辆100包括车体10、UWB传感器20、车身控制器30和车辆执行装置例如车窗、雨刮器、车载多媒体等。当然，车辆100还包括其它基本结构和系统，在此不一一列举出。
其中，UWB传感器20与车身控制器30连接。UWB传感器20采用UWB技术，运用UWB传感器发射的电磁波在不同介质中传播时间不同的原理，可以将电磁波在不同降雨量值时的传播时间与降雨量值进行对应关联，从而UWB传感器20基于电磁波的飞行时间即可自行检测空气中水份含量，实现降雨量值的检测。
并且，UWB检测技术不受光线环境影响，因此采用UWB传感器20检测降雨量，精准度和稳定性高，此外，随着车载智能化的发展，UWB在车上的用途越来越多例如用于迎宾、高精度定位等，因此，采用UWB传感器20来实现雨量检测不用额外增加硬件，成本低。
图2是根据本申请的一个实施例的车辆控制方法的流程图，如图2所示，本申请实施例的车辆控制方法至少包括以下步骤S1-S3。
S1，响应于启动降雨检测的触发指令，唤醒UWB传感器，以使UWB传感器测量降雨量值。
在一些实施例中，如图3所示，UWB传感器20可以包括UWB信号发射器21、UWB信号接收器22和控制模块23。UWB信号发射器21和UWB信号接收器22可以设置在车辆的顶部，以更有效、精准地检测降雨，UWB信号接收器22与UWB信号发射器21以预设距离相对设置。
进行降雨量检测时，控制UWB传感器的信号发射器发射电磁波信号；控制所述UWB传感器的信号接收器接收经过预设空间范围传播的电磁波信号；根据接收到所述电磁波信号的飞行时间计算获得所述降雨量值。
具体地，基于UWB技术进行雨量检测利用了电磁波在不同介质中传播速度不同的原理。本申请实施例的车辆将UWB传感器作为一种新的使用方式，UWB信号发射器21和UWB信号接收器22放置到待测物体的两侧，介质直接影响了UWB传感器20的检测数据，或者说UWB传感器20检测的数据由电磁波所经过的介质所影响。UWB传感器20释放的电磁波穿过了空气和水，空气和水在UWB传感器20的电磁波运动路径上的占比直接影响了UWB传感器20的测量数据。电磁波在水中的传播速度小于空气中的传播速度。其中，水在电磁波传播路径上的占比与UWB传感器20检测的数据成线性关系。电磁波穿过检测空间的速度远大于雨水穿过检测空间的速度，可以认为在电磁波往复穿梭检测空间的时间内，雨水相对于检测空间的位置静止。此时UWB传感器20可以测出一时刻，水的体积与检测空间的体积的比值θ。即该检测空间内水的占比。可以用一定空间内水的占比作为一种衡量降水的指标。θ可以作为衡量降水的指标。该降水指标的数值大时，则代表空气中的雨水含量高，降水强度大。UWB传感器20可以实时测得该指标。通过UWB信号发射器21向UWB信号接收器22发射电磁波，UWB信号接收器22根据接收电磁波的飞行时间，经过控制模块23的处理运算来检测出当前雨量的大小。
其中，根据TOF飞行时间计算原理(t＝d/v)来计算UWB发射的电磁波传输时间，UWB信号发射器21发射的电磁波在不同介质(如空气、水)中传输的时间不同，降雨量大时电磁波传输时间会变长，降雨量小时电磁波传输时间会变短，来判断降雨量大小。以此方式，检测降雨量大小准确度高，抗干扰性强。另外，UWB传感器实现降雨量检测原理简单，可配合车身域来控制车身(如车速调节)，给用户带来更好的体验效果。
在一些实施例中，在行车状态时，检测车辆处于点火状态，发出启动降雨检测的触发指令，可以自动唤醒UWB传感器20，UWB传感器20开始工作，即检测降雨量。或者，在另一些实施例中，车辆包括车窗，在熄火状态下，检测车辆处于熄火状态，同时车辆的车窗处于打开状态时，发出启动降雨检测的触发指令，即响应于车辆的发动机熄火且车窗处于打开状态，则可以自动唤醒UWB传感器20，UWB传感器20开始工作，即检测降雨量。或者，用户还可以设置其它触发条件，以自动唤醒UWB传感器20。从而，无需用户手动操作，更加智能化尤其是熄火状态且用户忘记关窗时，可以实现自动唤醒UWB传感器20。
S2，获取UWB传感器检测的降雨量值。
例如，UWB传感器将检测的降雨量值发送给车辆域控制器例如车身控制器，车身控制器接收到该降雨量值，将该降雨量值与车身状态相结合，丰富降雨量检测在车辆的控制应用。
S3，根据该降雨量值控制车辆执行预设的控制指令动作。
具体地，车辆执行装置连接于车身控制器30，车辆执行装置用于根据控制信号对车体执行预设控制动作，例如控制车窗打开或关闭、调整雨刮器动作速度，控制车载多媒体播放相关信息等，即在雨量检测控制逻辑方面，将检测雨量大小与车身状态控制例如天窗、车窗开关控制、雨刮速度调节、车速调节等逻辑紧密联系起来，丰富雨量检测在车辆控制的应用。
根据本申请实施例的车辆控制方法，基于UWB传感器来检测实时降雨量，UWB传感器发射电磁波，受到环境影响小，抗干扰性强，因此，检测的实时降雨量值更加精准、稳定，并且将降雨量检测与车身控制相结合，根据降雨量值控制车身执行预设控制动作，丰富了雨量检测在车辆控制的应用。
在一些实施例中，车辆包括车窗，根据降雨量值控制车辆执行预设的控制指令动作，具体可以包括：响应于检测到车窗处于打开状态，判断降雨量值达到预设的关窗雨量阈值，控制车窗关闭。
其中，关窗雨量阈值的大小可以根据雨量是否影响到车内的财产安全为判断依据。
具体地，车身控制器将接收到的UWB传感器检测的实时降雨量值与预设的关窗雨量阈值进行比较，若降雨量值达到该关窗雨量阈值，而此时有处于打开状态的车窗例如车侧窗或者天窗，则控制处于打开状态的车窗关闭，从而可以避免雨水进入车内并积聚，避免因降雨未关车窗而对用户造成经济损失。
根据本申请实施例的车辆控制方法，通过唤醒车辆UWB传感器来检测降雨量，UWB传感器发射电磁波受环境影响小，抗干扰性强，检测的实时降雨量值更加精准、稳定，并且UWB传感器通过电磁波飞行时间来获得降雨量，算法原理简单，以及将降雨量检测与车窗控制相结合，可以丰富降雨量检测在车辆的控制应用，在降雨量值大于关窗雨量阈值时，控制打开的车窗关闭，从而可以避免降雨尤其暴雨雨水进入车内，减少因车窗未关降雨对用户造成的经济损失。
在一些实施例中，在车辆处于熄火状态时，检测到车窗处于关闭状态，则控制UWB传感器自动进入休眠模式。例如，在熄火状态时，车身控制器检测车侧窗、天窗是否打开。若有车窗处于打开状态，则车身控制器唤醒UWB传感器，在降雨量值达到关窗雨量阈值时，控制打开的车窗关闭，若没有车窗处于打开状态，则UWB传感器自动进入休眠模式，降低能耗。
具体地，图4为根据本申请的一个实施例的车辆熄火状态下的控制方法的流程图，图5是根据本申请的一个实施例的降雨量检测和车身状态控制系统的框图。如图4和图5所示，当车辆处于熄火状态时，BCM(body control module，车身控制器)会先检测车窗或天窗是否处于关闭状态，如果此时车窗或天窗处于关闭状态，则UWB传感器进入休眠状态来降低整车功耗。当BCM检测到车窗或天窗处于打开状态时，BCM通过CAN总线将报文信息传给UWB传感器，UWB传感器开始实时雨量检测，UWB传感器检测到空气中水份含量变多时，且超过软件设定的触发阈值时，例如当检测到空气中水含量θ值大于关窗雨量阈值θ1时，UWB传感器的控制模块则判定正在降雨，并将报文信息通过CAN总线方式传给BCM，BCM再通过LIN线控制车窗或天窗关闭，防止雨水进入车内，保护车内物品不被淋湿，防止用户的财产受到侵害。
在本申请的一些实施例中，还可以将降雨量检测与车辆的雨刮器控制进行结合。根据所述降雨量值控制所述 车辆执行预设的控制指令动作具体可以包括：响应于检测到车辆处于行驶状态，判断降雨量值满足预设的刮雨条件，控制雨刮器以目标速度进行刮雨；其中，目标速度根据预置的映射关系确定，映射关系表征雨刮器的速度与与降雨量值的对应关系。其中，预设的刮雨条件可以根据需要进行设定，例如降雨量值大于某个值或者小于某个值或者处于某两个值之间等，在此可以不作具体限制。例如，在车辆处于行驶状态时，根据UWB传感器检测的降雨量值控制车辆的雨刮器动作的速度，其中，降雨量值越大，雨刮器动作的速度越高。从而，可以提高驾驶安全性。
其中，本申请实施例的基于降雨量对雨刮器动作速度的控制方法，不仅应用于传统车辆雨刮器，还可以应用于其他超声波清洁雨刮器、气体雨刮器等与实体雨刮器相等同效果的雨刮器。
在一些实施例中，可以设定雨刮器动作的不同速度档位，不同的速度档位适用于不同的降雨量，以使得驾驶员可以通过车窗看清降雨时的路况，提高雨天驾驶安全。例如。刮雨条件可以为降雨量值大于关窗阈值，此时认为降雨可能会影响驾驶员透过车窗的视线，所以控制雨刮器以适当的速度进行动作，以提高驾驶安全。例如，控制雨刮器以目标速度进行刮雨具体可以包括：根据降雨量值确定雨刮器动作的目标速度档位，并控制雨刮器以目标速度档位的速度进行刮雨。
例如，可以设定雨刮器的两个速度档位。例如，若降雨量值大于关窗雨量阈值且小于第一雨量阈值，控制所述雨刮器以第一速度动作，其中，所述第一雨量阈值大于所述关窗雨量阈值。若降雨量值大于第一雨量阈值且小于第二雨量阈值，则控制雨刮器以第二速度动作，其中，第二雨量阈值大于第一雨量阈值，第二速度大于第一速度动作。或者，也可以设置三个雨刮器动作的速度档位。进一步地，若确定降雨量值大于第二雨量阈值，控制雨刮器以第三速度动作，其中，第三速度大于第二速度。即降雨量越大，控制雨刮器动作速度越快。在实施例中，速度档位可以依据降雨量与雨刮器动作的速度以能够使得驾驶员看清楚前方路况为准，可以避免车窗大量积水使得驾驶员视线模糊，从而提高驾驶安全性。
在实施例中，可以基于不同的降雨量设定不同的雨刮器的速度档位，例如设置高速档位、低速档位，或者，设置高中低档位，或者，根据降雨量设置更加细致的更多档位，在此不做具体限制。在行驶过程中，UWB传感器实时检测降雨量，根据降雨量值确定控制雨刮器动作的目标速度档位，并控制雨刮器以目标速度档位的速度动作，从而可以自动控制雨刮器动作速度，无需用户人为调整，并且可以适应当前降雨量，提高用户驾驶安全性。
如图5所示，当主驾驾驶过程中遇到下雨天气时，UWB传感器从休眠状态进入工作状态，并将检测到的雨量信息，通过CAN总线以报文信息发给BCM端，BCM会自动关闭天窗或车侧窗，无需用户去手动关闭车窗、天窗。BCM端根据实时检测雨量大小来调整雨刮器动作速度，例如，当检测到雨量是小雨状态时，BCM端会自行调整雨刮器低速动作；当检测到雨量是中雨状态时，BCM端会自行调整雨刮器中速动作；当检测到雨量是大雨或暴雨状态时，BCM端会自行调整雨刮器高速动作。基于UWB雨量检测，不需主驾再去人为调整雨刮器动作速度，辅助主驾在暴雨天气情景下安全驾驶，为车辆安全出行提供有力保障。
进一步地，随着降雨量增加，车辆速度过快存在安全隐患，在本申请的实施例中，响应于降雨量值大于第二雨量阈值，控制车载多媒体进行降雨量提示和限速警示，并控制车辆以降雨限速行驶，其中，降雨限速可以为较低的车速，以提高下雨天驾驶安全。例如，如图5所示，当检测到雨量是大雨或暴雨状态时，BCM端会自行调整雨刮器高速动作，并限制车速进行低速行驶，同时，中控机60会通过外置功放语音播报的方式告知当前车速被限制成低速状态，提醒主驾安全低速驾驶。主驾也可根据自身需求将车辆设置成自动巡航模式，车辆可自行驾驶到安全的地方。
具体地，图6为根据本申请的一个实施例的车辆行驶状态时控制车窗和雨刮器的方法的流程图。结合图5和图6所示，当车辆处于点火启动行驶状态时，UWB传感器开始实时雨量检测，当检测到空气中水含量增加到θ值时UWB传感器的微处理器即控制模块则判定有降雨，并通过CAN总线的方式将报文报文信息传递给BCM。BCM开始对车窗或天窗所处的状态进行检测并调节雨刮器的动作速度、车速。当BCM检测到车窗、天窗处于关闭状态时，BCM保持车窗、天窗处于关闭状态；当BCM检测到车窗或天窗处于打开状态时，BCM会通过LIN 线控制车窗、天窗关闭。同时，当UWB传感器检测到空气中水含量θ值大于1档阈值θ1且小于二档阈值θ2时，将报文信息通过CAN总线的方式传给BCM，BCM会控制雨刮器动作速度调节为慢速状态；当UWB传感器检测到空气中水含量θ值大于二档阈值θ2且小于三档阈值θ3时，将报文信息通过CAN总线的方式传给BCM，BCM会控制雨刮动器作速度调节为适中状态；当UWB传感器检测到空气中水含量θ值大于三档阈值θ3时，将报文信息通过CAN总线的方式传给BCM，BCM会控制雨刮器动作速度调节为快速状态且限定当前的车速，并将雨量大、限定车速的报文信息通过CAN总线的方式传给中控机60，中控机60控制外置功放播报语音提醒主驾将车速控制在限定的低速范围内，并将车驾驶到安全的地方。
概括来说，本申请实施例的车辆控制方法，通过UWB技术来检测雨量以实现智能控制车窗、天窗开关状态以及根据雨量大小来调整雨刮器动作速度，运用UWB传感器发射的电磁波在不同介质中传播时间不同的原理，能自行检测空气中水份含量，当车窗、天窗处于打开状态时能检测天气的实时状态。基于UWB技术的雨量检测传感器具有检测精度高、可靠性强、安装方便、成本低、算法简单的优点，并且将实时检测雨量大小与车身状态控制(如天窗、车窗开关控制、雨刮器速度调节，车速调节等)逻辑紧密联系起来，实现基于UWB技术的雨量检测在车上的多元化控制应用。同时，基于UWB技术的雨量检测控制能实现车辆在有雨的天气时自动关闭车窗，天窗，在雨天驾驶车辆时，能辅助主驾安全驾驶，提升了用户体验。
本申请第二方面实施例提出一种车辆，如图7所示，车辆100包括UWB传感器20、存储器40和至少一个处理器50。UWB传感器20设置在车体上，例如车顶部，车前端顶部、后端顶部或者中部顶端、或者其它可检测雨量的地方，在此不做具体限制，用于检测降雨量值。具体地，UWB传感器20发射电磁波并接收空中传播的电磁波，根据接收到所述电磁波的飞行时间获得降雨量值。存储器40中存储有可被至少一个处理器50执行的计算机存储介质，该至少一个处理器50执行该计算机程序时实现本申请第一方面任一实施例的车辆控制方法，其中，处理器50可以为车辆100的域控制器例如车身控制器等。
存储器40可以作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序，如本公开实施例中的方法对应的程序指令/模块。处理器50通过运行存储在存储器40中的软件程序、指令以及模块，从而执行功能应用以及数据处理，即实现上述任一方法实施例中的车辆控制方法。
本申请第三方面实施例提出一种可读计算机存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现本申请第一方面任一实施例的车辆控制方法。上述的计算机可读存储介质可以是暂态计算机可读存储介质，也可以是非暂态计算机可读存储介质。
根据本申请实施例的车辆100，通过UWB传感器20来检测降雨量，UWB传感器20发射电磁波受环境影响小，抗干扰性强，检测的实时降雨量值更加精准、稳定，并且UWB传感器20通过电磁波飞行时间来获得降雨量，算法原理简单，以及将降雨量检测与车窗控制相结合，可以丰富降雨量检测在车辆的控制应用，在降雨量值大于关窗雨量阈值时，控制打开的车窗关闭，从而可以避免降雨尤其暴雨雨水进入车内，减少因车窗未关降雨对用户造成的经济损失。
此外，在车辆处于行驶状态时，还可以将降雨量检测与雨刮器速度控制相结合，无需驾驶员人为手动调整，提高驾驶安全性。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (15)

  1. 一种车辆控制方法，其特征在于，所述车辆设有用于测量降雨量值的UWB传感器，所述方法包括：
    响应于启动降雨检测的触发指令，唤醒所述UWB传感器，以使所述UWB传感器测量降雨量值；
    获取所述UWB传感器测量的降雨量值；以及
    根据所述降雨量值控制所述车辆执行预设的控制指令动作。
  2. 根据权利要求1所述的车辆控制方法，其特征在于，所述车辆包括车窗，所述根据所述降雨量值控制所述车辆执行预设的控制指令动作，包括：
    响应于检测到所述车窗处于打开状态，判断所述降雨量值达到预设的关窗雨量阈值，控制所述车窗关闭。
  3. 根据权利要求2所述的车辆控制方法，其特征在于，所述车辆包括雨刮器，所述根据所述降雨量值控制所述车辆执行预设的控制指令动作，还包括：
    响应于检测到所述车辆处于行驶状态，判断所述降雨量值满足预设的刮雨条件，控制所述雨刮器以目标速度进行刮雨；
    其中，所述目标速度根据预置的映射关系确定，所述映射关系表征所述雨刮器的速度与所述降雨量值的对应关系。
  4. 根据权利要求3所述的车辆控制方法，其特征在于，所述刮雨条件为所述降雨量值大于所述关窗雨量阈值，所述控制所述雨刮器以目标速度进行刮雨，包括：
    根据所述降雨量值确定所述雨刮器动作的目标速度档位，并控制所述雨刮器以所述目标速度档位的速度进行刮雨。
  5. 根据权利要求4所述的车辆控制方法，其特征在于，根据所述降雨量值确定控制所述雨刮器动作的目标速度档位，并控制所述雨刮器以所述目标速度档位的速度进行刮雨，包括：
    若所述降雨量值大于所述关窗雨量阈值且小于第一雨量阈值，控制所述雨刮器以第一速度动作；
    若所述降雨量值大于所述第一雨量阈值且小于第二雨量阈值，控制所述雨刮器以第二速度动作，所述第二速度大于所述第一速度；
    若所述降雨量值大于所述第二雨量阈值，控制所述雨刮器以第三速度动作，所述第三速度大于所述第二速度；
    其中，所述第一雨量阈值大于所述关窗雨量阈值，所述第二雨量阈值大于所述第一雨量阈值。
  6. 根据权利要求5所述的车辆控制方法，其特征在于，还包括：
    响应于所述降雨量值大于所述第二雨量阈值，控制车载多媒体进行降雨量提示和限速警示，并控制所述车辆以降雨限速行驶。
  7. 根据权利要求1所述的车辆控制方法，其特征在于，所述车辆包括车窗，在所述响应于启动降雨检测的触发指令之前，所述车辆控制方法还包括：
    检测到所述车辆处于熄火状态且所述车辆的车窗处于打开状态时，发出启动降雨检测的触发指令；或者
    检测到所述车辆处于点火状态，发出启动降雨检测的触发指令。
  8. 根据权利要求7所述的车辆控制方法，其特征在于，还包括：
    检测到所述车辆处于熄火状态，且检测到所述车辆的车窗处于关闭状态，则控制所述UWB传感器保持休眠状态。
  9. 根据权利要求1-8中任一项所述的车辆控制方法，其特征在于，所述唤醒所述UWB传感器，以使所述UWB传感器测量降雨量值，包括：
    控制所述UWB传感器的信号发射器发射电磁波信号；
    控制所述UWB传感器的信号接收器接收经过预设空间范围传播的所述电磁波信号；
    根据接收到所述电磁波信号的飞行时间计算并获得所述降雨量值。
  10. 一种车辆(100)，其特征在于，包括：
    UWB传感器(20)，所述UWB传感器(20)用于检测降雨量值；
    至少一个处理器(50)；和
    存储器(40)，所述存储器(40)中存储有可被所述至少一个处理器(50)执行的计算机程序，所述计算机程序在被所述至少一个处理器(50)执行时实现根据权利要求1-9中任一项所述的车辆控制方法。
  11. 根据权利要求10所述的车辆(100)，其特征在于，所述UWB传感器(20)设置在所述车辆(100)的车体上。
  12. 根据权利要求11所述的车辆(100)，其特征在于，所述UWB传感器(20)设置在所述车辆(100)的车前端顶部、车后端顶部或车中部顶端。
  13. 根据权利要求10-12中任一项所述的车辆(100)，其特征在于，所述UWB传感器(20)包括：
    UWB信号发射器(21)，所述UWB信号发射器(21)用于发射电磁波信号；
    UWB信号接收器(22)，所述UWB信号接收器(22)接收经过预设空间范围传播的所述电磁波信号；和
    控制模块(23)，所述控制模块(23)根据接收到所述电磁波信号的飞行时间计算并获得所述降雨量值。
  14. 根据权利要求10-13中任一项所述的车辆(100)，其特征在于，所述UWB信号发射器(21)和所述UWB信号接收器(22)设置在所述车辆(100)的顶部，且所述UWB信号接收器(22)与所述UWB信号发射器(21)以预设距离相对设置。
  15. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现根据权利要求1-9中任一项所述的车辆控制方法。
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