Vehicle window anti-pinch control method, device and vehicle

Abstract

A window anti-pinch control method, device and vehicle, the method comprising: obtaining a first signal collected by a first sensor and a second signal collected by a second sensor in real time during the operation of the window; obtaining a first window motor speed according to the first signal, and obtaining a second window motor speed according to the second signal; calculating the speed difference between the first window motor speed and the second window motor speed, and controlling the vehicle to trigger anti-pinch control according to the speed difference. The window anti-pinch control method, device and vehicle of the present invention perform anti-pinch control according to the speed difference between the window motor speeds obtained based on the first sensor and the second sensor based on the physical characteristics of the impact force during the operation of the window, and can optimize the anti-pinch control effect, while also filtering out interference from external working conditions.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and more specifically, to a vehicle window anti-pinch control method, device and vehicle. Background Art

[0002] Anti-pinch technology is mainly used in opening and closing systems such as car windows, sunroofs, and tailgates. Current anti-pinch technologies mainly include Hall anti-pinch technology, ripple anti-pinch technology, and capacitor anti-pinch technology. How to accurately judge the anti-pinch state is the difficulty of all anti-pinch technologies. Hall sensor technology can detect the speed change of the window motor and the travel of the window. Compared with the method of detecting the motor current, this method can not only achieve the same function, but also is more intuitive, the construction of mathematical models is more convenient, and has self-learning functions. However, when the vehicle is driving, due to the influence of the road spectrum or the influence of the inertia force when the vehicle accelerates and decelerates, the friction resistance of the window closing will change, causing the driving force of the motor to fluctuate, affecting the stability of the speed, and causing obstacles to the anti-pinch strategy based on the speed. Summary of the invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0004] In view of the shortcomings of the prior art, an embodiment of the present invention proposes a vehicle window anti-pinch control method, comprising:

[0005] Acquire in real time a first signal collected by a first sensor and a second signal collected by a second sensor during operation of the vehicle window;

[0006] Obtain a first window motor speed of a window motor according to the first signal, and obtain a second window motor speed of the window motor according to the second signal;

[0007] The speed difference between the first window motor speed and the second window motor speed is calculated, and the vehicle is controlled to trigger anti-pinch control according to the speed difference.

[0008] In one embodiment, controlling the vehicle to trigger anti-pinch control according to the rotation speed difference includes:

[0009] If the absolute value of the rotational speed difference exceeds a preset threshold, the anti-pinch control is triggered.

[0010] In one embodiment, the method further includes: determining the preset threshold according to the supply voltage.

[0011] In one embodiment, the preset threshold is not less than 5 RPM.

[0012] In one embodiment, the first sensor and the second sensor are installed perpendicularly relative to the window motor.

[0013] In one embodiment, the method further comprises:

[0014] Under the startup condition, the first signal and the second signal within the first time window are filtered out.

[0015] In one embodiment, the method further comprises:

[0016] In a power-off condition, the vehicle is stopped from being controlled according to the rotation speed difference to trigger the anti-pinch control.

[0017] Another aspect of an embodiment of the present invention provides a vehicle window anti-pinch control device, which includes a memory and a processor, wherein the memory stores a computer program executed by the processor, and the computer program executes the vehicle window anti-pinch control method as described above when executed by the processor.

[0018] Another aspect of an embodiment of the present invention provides a vehicle, the vehicle comprising a vehicle window, a vehicle window motor for driving the vehicle window to operate, and the vehicle window anti-pinch control device as described above.

[0019] The window anti-pinch control method, device and vehicle of the embodiments of the present invention perform anti-pinch control based on the physical characteristics of the impact force applied to the window during operation and the speed difference between the window motor speeds obtained based on the first sensor and the second sensor, thereby optimizing the anti-pinch control effect and filtering out interference from external working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other purposes, features and advantages of the present invention will become more apparent by describing the embodiments of the present invention in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0021] Figure 1 A permanent magnet DC motor system model according to an embodiment of the present invention;

[0022] Figure 2 The influence of the vehicle driving road spectrum according to an embodiment of the present invention;

[0023] Figure 3 The effect of vehicle acceleration and deceleration according to one embodiment of the present invention;

[0024] Figure 4 The test result of a cobblestone road test of a vehicle according to an embodiment of the present invention;

[0025] Figure 5 is a schematic flow chart of a vehicle window anti-pinch control method according to an embodiment of the present invention;

[0026] Figure 6 A simplified schematic diagram of physical characteristic modes of a vehicle window system according to one embodiment of the present invention;

[0027] Figure 7 is a schematic diagram of a transient response of a window motor driver when subjected to an impact force according to an embodiment of the present invention;

[0028] Figure 8 is a schematic diagram of transient responses of current and rotation speed when subjected to impact force according to an embodiment of the present invention;

[0029] Fig. 9 is a schematic diagram of transient responses of the first window motor speed and the second window motor speed when an impact force is applied according to an embodiment of the present invention;

[0030] Fig.10 A schematic diagram of a calibration window of a preset threshold according to an embodiment of the present invention;

[0031] Fig.11 A schematic diagram of triggering anti-pinch control when a preset threshold is 5 RPM according to an embodiment of the present invention;

[0032] Fig.12 is a schematic diagram of the window motor current when the anti-pinch control is triggered according to an embodiment of the present invention;

[0033] Fig.13 A schematic diagram of preset threshold calibration under different supply voltages according to an embodiment of the present invention;

[0034] Fig.14 A schematic diagram of the speed response under startup and power-off conditions according to an embodiment of the present invention;

[0035] Fig.15 is a schematic diagram of not performing anti-pinch control processing under a startup condition according to an embodiment of the present invention;

[0036] Fig.16 A schematic diagram of a cobblestone road test using a rotation speed difference for anti-pinch control according to an embodiment of the present invention;

[0037] Fig.17 The figure is a schematic block diagram of a vehicle window anti-pinch control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0039] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described.

[0040] It should be understood that the present application can be implemented in different forms and should not be interpreted as being limited to the embodiments set forth herein. On the contrary, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0041] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present application. When used herein, the singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0042] In order to thoroughly understand the present application, a detailed structure will be proposed in the following description to illustrate the technical solution proposed by the present application. The optional embodiments of the present application are described in detail as follows, but in addition to these detailed descriptions, the present application may also have other implementation methods.

[0043] At present, most anti-pinch control strategies use the DC motor motion model. The permanent magnet DC motor system model is as follows: Figure 1 As shown, the physical equation that the model should satisfy is:

[0044] U(t)=E(t)+RI(t)=L·dI / dt;

[0045] E(t) = KeΩ(t);

[0046] M(t)=K T I(t);

[0047] J·dΩ / dt=M(t)-fΩ(t);

[0048] Among them, U(t) is the armature voltage, E(t) is the back electromotive force, I(t) is the armature current, R is the armature internal resistance, L is the armature inductance, M(t) is the electromagnetic torque, J is the moment of inertia, f is the resistance and friction in the rotation of the window motor, M(t) is the electromagnetic torque, Ω(t) is the speed of the window motor, Ke is the potential coefficient, and KT is the torque coefficient.

[0049] According to the above equation, the parameters such as the moment of inertia J are fixed for a certain motor system. When the voltage U(t) increases, the resistance f remains unchanged, and the current I(t) and the speed Ω(t) increase. When the resistance f increases, the speed Ω(t) decreases, and the current I(t) and the electromagnetic torque M(t) increase accordingly. Therefore, it is possible to determine whether the anti-pinch function is triggered based on the change in the speed of the window motor.

[0050] However, taking the skylight as an example, Figure 2 As shown in the figure, during the driving process of the vehicle, due to the influence of the road spectrum, the sunroof glass produces pressure changes in the Z direction due to inertia, which affects the friction resistance of closing the window, causing the driving force of the motor to fluctuate, and the current and speed to be unstable. In addition, Figure 3 As shown, when the vehicle accelerates or decelerates, the inertia force g will also affect the friction resistance of closing the window, causing the driving force of the motor to fluctuate, and the current and speed to be unstable.

[0051] like Figure 4 The result of a vehicle's actual road test (cobblestone road test), such as Figure 4 As shown, under normal conditions, the current and speed fluctuations are already very violent. If the anti-pinch function is controlled according to the conventional current or speed changes, it will inevitably cause a contradiction between excessive anti-pinch force control and the triggering of false anti-pinch.

[0052] In order to optimize the anti-pinch control strategy under the impact force, the window anti-pinch control method, device and vehicle of the embodiment of the present invention perform anti-pinch control according to the physical characteristics of the impact force during the operation of the window and the speed difference between the window motor speeds obtained based on the first sensor and the second sensor. Since the speed difference between the window motor speeds obtained based on the first sensor and the second sensor is strongly correlated with the direct force on the window motor and weakly correlated with the indirect force, it is possible to filter out the interference of external working conditions and optimize the control effect of anti-pinch by impact force.

[0053] The following describes the window anti-pinch control method, device and vehicle proposed in the embodiments of the present invention with reference to the accompanying drawings. Figure 5 , Figure 5FIG. 5 is a schematic flow chart of a vehicle window anti-pinch control method 500 according to an embodiment of the present invention. Figure 5 As shown, the vehicle window anti-pinch control method 500 of the embodiment of the present invention includes:

[0054] In step S510, during the operation of the vehicle window, a first signal collected by the first sensor and a second signal collected by the second sensor are acquired in real time;

[0055] In step S520, a first window motor speed of a window motor is obtained according to the first signal, and a second window motor speed of the window motor is obtained according to the second signal;

[0056] In step S530, a speed difference between the speed of the first window motor and the speed of the second window motor is calculated, and the vehicle is controlled to trigger anti-pinch control according to the speed difference.

[0057] The window anti-pinch control method 500 of the embodiment of the present invention analyzes the physical characteristic modes of the window system according to the physical characteristics of the impact force (such as hitting the window) during the operation of the window, performs physical simplified modeling analysis, and derives the anti-pinch control mathematical model. Anti-pinch control is performed based on the speed difference between the window motor speeds obtained based on the first sensor and the second sensor. This can optimize the anti-pinch control effect and filter out interference from external working conditions.

[0058] The first sensor and the second sensor of the embodiment of the present invention are arranged at different positions. When the vehicle window is subjected to an impact force, due to the attenuation of the impact force, different positions are subjected to different forces, resulting in a difference between the first signal and the second signal. Exemplarily, the first sensor is a first Hall sensor, and the first signal is a first Hall square wave signal collected by the first Hall sensor; the second sensor is a second Hall sensor, and the second signal is a second Hall square wave signal collected by the second Hall sensor.

[0059] Figure 6Taking the vehicle sunroof as an example, a simplified physical characteristic mode of the window system is shown. When the window motor rotates, the sunroof is driven to move by the cable. The sunroof driving cable is a steel rope structure. The physical characteristics are simplified to an elastic structure, and it has KC characteristics, that is, kinematic characteristics (Kinematic) and compliance (Compliance). A magnetic ring is installed on the rotating shaft of the window motor, and a first Hall sensor and a second Hall sensor are installed near the magnetic ring. Both are used to measure the speed of the same window motor. When the window motor rotates, it drives the magnetic ring to rotate, and two high and low level Hall square wave signals with phase difference are induced on the first Hall sensor and the second Hall sensor. The number of pulses in the Hall square wave signal reflects the position of the window motor, and the pulse width reflects the speed of the window motor. Exemplarily, for the convenience of control, the position interval of the first Hall sensor and the second Hall sensor is about 90°, the first Hall sensor is set in the horizontal direction, and the second Hall sensor is set in the vertical direction. The phase difference between the first Hall square wave signal output by the first Hall sensor and the second Hall square wave signal output by the second Hall sensor is 90°.

[0060] The embodiment of the present invention analyzes the transient response of the window motor rotation in response to the sudden impact force F1 during the operation of the window. Figure 7 As shown, since the first Hall sensor and the second Hall sensor are arranged at different positions, the second Hall square wave signals outputted by the two have a phase difference. When the window motor rotates to position I, the window frame is acted upon by the impact force F1, and the window motor speed measured by the first Hall sensor is Ω1; when the motor rotates to position II, the impact force F1 decays to F2, and the window motor speed measured by the second Hall sensor is Ω2. The embodiment of the present invention establishes an anti-pinch control strategy based on the transient response analysis of the window motor drive speeds Ω1 and Ω2.

[0061] In step S510, during the operation of the window, that is, during the process of the window motor driving the window to close, the first sensor and the second sensor respectively collect the first signal and the second signal in real time, and the control device obtains the first signal collected by the first sensor and the second signal collected by the second sensor in real time.

[0062] In step S520, the speed of the first window motor is obtained according to the first signal, and the speed of the second window motor is obtained according to the second signal. Taking the Hall square wave signal collected by the Hall sensor as an example, the speed of the window motor can be calculated according to the pulse width time and mechanical transmission ratio of the Hall square wave signal, which is equivalent to the movement speed of the window. Among them, Ω(t)=60 / (ΔT×C), Ω(t) is the speed of the window motor (r / min), ΔT is the pulse width time (s), and C is the mechanical transmission ratio, which is a fixed parameter.

[0063] The transient response mode of the window motor drive is analyzed below.

[0064] The mechanical equation for the window motor drive is:

[0065] M(t)=f×Ω(t)+J×dΩ / dt (Equation 1)

[0066] M(t)=K T ×I(t) (Equation 2)

[0067] Among them, I(t) is the armature current, J is the moment of inertia, M(t) is the electromagnetic torque, Ω(t) is the motor speed, K T is the torque coefficient, and f is the resistance and friction during the rotation of the window motor.

[0068] Based on the above equations 1 and 2, we can get:

[0069] K T ×I(t)=f×Ω(t)+J×dΩ / dt (Equation 3)

[0070] dΩ / dt+f / J×Ω(t)=K T / J×I(t) (Equation 4)

[0071] The above mechanical equation is a first-order linear non-homogeneous differential equation, similar to Its solution is Ce -∫P(x)dx +e -∫P(x)dx ∫Q(x)e ∫P(x)dx dx.

[0072] Therefore, we can get Ω(t) = Ce -f / J×t +e -f / J×t ×K T / J×∫(I(t)×e f / J×t )dt=Ce -f / J×t +K T / J×∫I(t)dt, where dy / dx=dΩ / dt, y=Ω(t), P(x)=f / J, Q(x)=K T / J×I(t).

[0073] In the transient force process, due to the energy storage effect of the electromagnetic field (i.e., the delayed response characteristic of the motor to the load current), I(t) will not respond immediately. In the same integral interval, the integral of ∫I(t)dt is a constant, and K can be ignored. T / J×∫I(t)dt term changes, Figure 8 The transient response of current and speed under impact force is shown, where the response time difference of current and speed is ΔT>10ms (milliseconds). The ΔT window time is calibrated according to the characteristics of the actual window motor. Therefore, only Ce is left in the equation of Ω(t) -f / J×t Item, and finally get:

[0074] Ω(t)=Ce -f / J×t (Equation 5)

[0075] Equation 5 is an exponential equation, and the attenuation degree is different when f / J is different.

[0076] In summary, within the transient calibration window of the window motor, the mathematical function relationship between the characteristics of the window motor speed and the load force is in exponential form.

[0077] Based on the above derivation, the transient modal response characteristics of the window motor can be derived.

[0078] Specifically, according to the simplified mathematical function relationship of the transient load Ω(t)=Ce -f / J×t When the window motor runs to position I, the window frame is subjected to the impact force F1, which increases the effect of F1 in the original resistance and friction f of the window motor. In the expression of Ω1(t), Ce -f / J×t The corresponding change of term is Ω1(t)=Ce -(f+F1) / J×t , the motor speed Ω1(t) decays rapidly.

[0079] When the motor runs to position II, due to the attenuation effect of the elastic system KC, the impact force F1 is attenuated to F2. In the expression of Ω2(t), Ce -f / J×t The corresponding change of term is Ω2(t)=Ce -(f+F2) / J×t , the motor speed Ω2(t) decays rapidly.

[0080] Since F1>F2, -(f+F1) / J and -(f+F2) / J have different magnitudes, the attenuation degrees of Ω1(t) and Ω2(t) are different, and the corresponding motor speed values ​​at the same time are different. Fig. 9 FIG. 1 shows a schematic diagram of the transient response of the first window motor speed Ω1 and the second window motor speed Ω2 when subjected to an impact force, wherein Fig. 9 It can be seen that when subjected to impact force, the decay rate of Ω1 is greater than that of Ω2, and there is a rotation speed difference △Ω between the two that first increases and then decreases. △Ω is strongly correlated with the magnitude of the impact force.

[0081] Based on the above principles, an embodiment of the present invention utilizes the characteristics of the transient modal response of the window motor to perform anti-pinch control. The speed signal Ω1(t) calculated by the first signal collected by the first sensor and the speed signal Ω2(t) calculated by the second signal collected by the second sensor are used to calculate the transient difference between Ω1 and Ω2 at each moment, determine the contribution of the impact force, and perform corresponding anti-pinch control.

[0082] Specifically, in step S530, the speed difference ΔΩ between the first window motor speed Ω1 and the second window motor speed Ω2 is calculated in real time, and the vehicle is controlled to trigger the anti-pinch control according to the speed difference ΔΩ.

[0083] Furthermore, since there is a front-rear difference in the spatial installation positions of the first sensor and the second sensor, absolute value control is uniformly adopted for simple and convenient control, that is, if the absolute value of the rotation speed difference △Ω exceeds a preset threshold, the anti-pinch control is triggered.

[0084] Through reasonable calibration of preset thresholds, corresponding anti-pinch control can be made according to the contribution of impact force. Fig.10 The calibration window of △Ω is shown. By selecting the appropriate △Ω, the appropriate anti-pinch control trigger point can be obtained. Generally speaking, a preset threshold of not less than 5RPM can achieve a good anti-pinch control effect. In the development of anti-pinch window of a certain car model, 5RPM is used as the preset threshold for anti-pinch control. When the absolute value of the speed difference △Ω exceeds 5RPM, anti-pinch is triggered. Fig.11 As shown. Fig.12 As shown, when the anti-pinch function is triggered, the window motor is driven in reverse to open the window, thereby achieving the anti-pinch effect.

[0085] As mentioned above, Ω(t)=Ce-f / J*t+KT / J*∫I(t)dt, the initial amplitude of the transient decay process of Ω(t) is affected by C, KT / J*∫I(t)dt (i.e., the initial motor energy). The motor energy is linearly related to the supply voltage of the window motor, and the initial amplitude is different under different supply voltages, such as Fig.13 As shown, when the supply voltage is 16V, 14V, 12V, and 9V, the initial amplitude of Ω(t) is different, and the calibration of the preset threshold is also different. Therefore, considering different working conditions, the preset threshold can be determined according to the supply voltage of the window motor. Since the window anti-pinch working condition at low temperature and 9V is very rare, in one embodiment of the present invention, 5RPM can be uniformly used as the preset threshold according to the vehicle calibration.

[0086] In addition, see Fig.14 When the window button is just pressed, the window motor is just started, and during the power-off process, the speed difference will have a large amplitude for a short time, which is usually greater than the preset threshold value of anti-pinch. Therefore, it is necessary to distinguish the state of large speed difference under the starting condition and the power-off condition from the speed difference caused by encountering obstacles during the moving process of the window, so as to avoid the influence of the speed difference at the initial stage of motor startup and power-off on the preset threshold setting.

[0087] Specifically, under the startup condition, the first signal and the second signal in the first time window are filtered out. When the first signal and the second signal are the first Hall square wave signal and the second Hall square wave signal, respectively, the first time window may also be equivalent to the Hall square wave of the first square wave number. Fig.15 As shown, under the starting condition, the first 20 Hall square waves can be filtered out and then the speed difference can be calculated according to the Hall square wave signal to perform anti-pinch control. Under the power-off condition, the vehicle is stopped from triggering anti-pinch control according to the speed difference, and anti-pinch control is no longer performed according to the speed difference; under the power-off condition, the first signal and the second signal can also be stopped from being obtained, or the speed difference can be stopped from being calculated according to the first signal and the second signal.

[0088] The road spectrum is the displacement applied to the vehicle tires in the Z direction, which is transmitted to the sunroof system through the chassis suspension and the body, affecting the pressure of the sunroof system in the Z direction, thereby causing a change in the friction force of the motor drive in the X direction. Fig.16 The data of the influence of the cobblestone road spectrum on a certain vehicle model using the anti-pinch control method 500 of the embodiment of the present invention is shown. The embodiment of the present invention performs anti-pinch control based on the transient response characteristics of the window motor. This physical characteristic is strongly correlated with the direct force on the window motor and weakly correlated with the indirect force, thereby optimizing the control effect of the impact force anti-pinch. For example, under the influence of the wheel, chassis suspension, body and other system KC, the transient transition produced by the applied road spectrum displacement becomes weaker; and the contribution of the displacement converted into force mutation through the second-order derivative is even smaller, and the transient response of the window motor speed is very small. Therefore, the window anti-pinch control method 500 of the embodiment of the present invention can filter out the interference of external working conditions.

[0089] The window anti-pinch control method 500 of the embodiment of the present invention performs anti-pinch control based on the physical characteristics of the impact force applied to the window during operation and the speed difference between the window motor speeds obtained based on the first sensor and the second sensor. It can optimize the anti-pinch control effect and filter out interference from external working conditions.

[0090] Another aspect of the present invention provides a vehicle window anti-pinch control device. Fig.17 , Fig.17 A schematic block diagram of a vehicle window anti-pinch control device according to an embodiment of the present invention is shown.

[0091] like Fig.17As shown, the vehicle window anti-pinch control device 1700 includes a memory 1710, a processor 1720, and a computer program stored in the memory 1710 and running on the processor 1720. When the processor 1720 executes the computer program, the vehicle window anti-pinch control method 500 as described above can be implemented. Exemplarily, the vehicle window anti-pinch control device can be implemented as a vehicle control unit. The processor 1720 can be implemented by software, hardware, firmware, or a combination thereof, and can use circuits, single or multiple application-specific integrated circuits (Application Specific Integrated Circuit, ASIC), digital signal processors (Digital Signal Processor, DSP), digital signal processing devices (Digital Signal Processing Device, DSPD), programmable logic devices (Programmable Logic Device, PLD), field programmable gate arrays (Field Programmable Gate Array, FPGA), central processing units (Central Processing Unit, CPU), controllers, microcontrollers, microprocessors, at least one of which, so that the device can execute some steps or all steps of the vehicle window anti-pinch control method in various embodiments of the present application or any combination of the steps therein.

[0092] The embodiment of the present invention further provides a vehicle, the vehicle at least comprising a vehicle window, a vehicle window motor for driving the vehicle window to operate, and the vehicle window anti-pinch control device 1700 as described above. The vehicle window includes but is not limited to a vehicle sunroof, the vehicle window may include a vehicle window glass and a limiting structure located at both ends of the vehicle window glass, the vehicle window glass and the vehicle window motor are connected by a cable, the vehicle window anti-pinch control device 1700 is used to control the operation of the vehicle window motor, thereby driving the vehicle window glass to operate through the cable; when the anti-pinch function is triggered, the vehicle window anti-pinch control device 1700 controls the vehicle window motor to stop or reverse, so as to achieve the anti-pinch function.

[0093] In summary, the window anti-pinch control method, device and vehicle of the embodiments of the present invention perform anti-pinch control based on the physical characteristics of the impact force applied to the window during operation and the speed difference between the window motor speeds obtained based on the first sensor and the second sensor, thereby optimizing the anti-pinch control effect and filtering out interference from external working conditions.

[0094] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as required by the appended claims.

[0095] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0096] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0097] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0098] Similarly, it should be understood that in order to streamline the present invention and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present invention should not be interpreted as reflecting the following intention: the claimed invention requires more features than the features explicitly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

[0099] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0100] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0101] The various component embodiments of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functions of some modules according to embodiments of the present invention. The present invention can also be implemented as a device program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0102] It should be noted that the above embodiments illustrate rather than limit the present invention, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of means, several of these means may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

Claims

1. A vehicle window anti-pinch control method, characterized in that: The method comprises: During the operation of the vehicle window, a first signal collected by the first sensor and a second signal collected by the second sensor are obtained in real time; Obtain a first window motor speed of a window motor according to the first signal, and obtain a second window motor speed of the window motor according to the second signal; Calculating the speed difference between the speed of the first window motor and the speed of the second window motor, and determining the impact force on the window according to the speed difference; controlling the vehicle to trigger anti-pinch control according to the impact force; wherein determining the impact force on the window according to the speed difference includes: By solving the mechanical equation of the window motor drive, a first functional relationship between the window motor speed and the force within the transient calibration window of the window motor is obtained, and the first functional relationship is: Ω(t i )=What -f / J×ti Where, Ω is the speed, t i is the time corresponding to the i-th sampling point, J is the moment of inertia, f is the resistance and friction in the rotation of the window motor, and C is the mechanical transmission ratio, which is a fixed parameter; Based on the first functional relationship, a second functional relationship between the impact force on the vehicle window and the rotation speed difference is obtained, and the second functional relationship is: △Ω=Ω(t1)-Ω(t2)= What ‒(f+F1) / J×t1 - What -(f+F2) / J×t2 Wherein, F1 is the impact force on the window when the window motor rotates to the first position corresponding to the first sensor, and F2 is the attenuated impact force on the window when the window motor rotates to the second position corresponding to the second sensor; Ω(t1) is the rotation speed of the first window motor when it is acted by the impact force F1 at time t1, and Ω(t2) is the rotation speed of the second window motor when it is acted by the impact force F2 at time t2; The rotation speed difference is determined based on the second functional relationship, and if the absolute value of the rotation speed difference exceeds a preset threshold, the anti-pinch control is triggered.

2. The method according to claim 1, characterized in that Also includes: The preset threshold is determined according to the power supply voltage of the window motor.

3. The method according to claim 1, characterized in that The preset threshold is not less than 5 RPM.

4. The method according to any one of claims 1 to 3, characterized in that The first sensor and the second sensor are spaced 90 degrees apart.

5. The method according to claim 1, characterized in that: The method further comprises: Under the startup condition, the first signal and the second signal within the first time window are filtered out.

6. The method according to claim 1, characterized in that The method further comprises: In a power-off condition, the vehicle is stopped from being controlled according to the rotation speed difference to trigger the anti-pinch control.

7. A vehicle window anti-pinch control device, characterized in that: The device comprises a memory and a processor, wherein a computer program executed by the processor is stored in the memory, and the computer program, when executed by the processor, executes the vehicle window anti-pinch control method according to any one of claims 1 to 6.

8. A vehicle, characterized in that: The vehicle comprises a vehicle window, a vehicle window motor for driving the vehicle window to operate, and the vehicle window anti-pinch control device as claimed in claim 7.

Images