A method, system, device and storage medium for preventing pinching of a vehicle power tailgate

Abstract

The application discloses a kind of vehicle electric tailgate anti-pinch method, system, equipment and storage medium, applied to vehicle control technical field, comprising: in the movement process of the electric tailgate of vehicle, when the movement of electric tailgate is blocked by first anti-pinch algorithm detection, control electric tailgate stop movement or reverse movement;When detecting that electric tailgate is in uniform motion stage, using second anti-pinch algorithm, whether the duty cycle of PWM signal exceeds the duty cycle threshold set, and the duration reaches the first duration;If yes, control electric tailgate stop movement or reverse movement.The scheme of the application is applied, two anti-pinch triggering modes are set simultaneously, and anti-pinch is realized based on the duty cycle of PWM signal, is not easily affected by the current working condition of vehicle, and the reliability is very high, can effectively avoid the situation of pinching user.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle electric tailgate anti-pinch method, system, device and storage medium. BACKGROUND

[0002] The electric tailgate of the vehicle may encounter obstacles during opening or closing. When an obstacle is detected, the electric tailgate moves in the opposite direction, thereby effectively preventing the occurrence of situations such as pinching children or damaging the vehicle.

[0003] In the current vehicle, the anti-pinch logic of the electric tailgate is mainly realized based on the speed detection of the tailgate. That is, the rotation of the motor rotor will make the motor output shaft rotate, and then drive the magnetic ring. The Hall sensor can detect the magnetic field change in the motor operation process and convert it into a corresponding pulse signal, which is then sent to the tailgate controller. The tailgate controller calculates the motor speed through the pulse signal sent by the Hall sensor, thereby obtaining the speed of the electric tailgate. Therefore, when the electric tailgate encounters an obstacle during movement, the movement speed will decrease, and the tailgate controller will enter the anti-pinch program when the speed change value is greater than the set threshold, thereby realizing the anti-pinch reverse function.

[0004] However, in recent years, accidents of electric tailgate pinching users still occur from time to time. For example, when a user's finger or other soft physical object is pinched, since the movement speed of the electric tailgate is slowly decreasing, the speed change value may not be greater than the set threshold, or the anti-pinch is triggered after pinching the user. In addition, especially in special working conditions such as uphill and downhill, high and low temperature, the accidents of electric tailgate pinching users occur more frequently.

[0005] In summary, how to effectively realize the anti-pinch of the electric tailgate and improve the safety is a technical problem that needs to be solved by the technical personnel in the field at present. SUMMARY

[0006] The purpose of the present application is to provide a vehicle electric tailgate anti-pinch method, system, device and storage medium, which can effectively realize the anti-pinch of the electric tailgate and improve the safety.

[0007] To solve the above technical problems, the present application provides the following technical solutions:

[0008] A vehicle electric tailgate anti-pinch method, comprising:

[0009] During the movement of the electric tailgate of the vehicle, when the movement of the electric tailgate is detected to be blocked by the first anti-pinch algorithm, the movement of the electric tailgate is controlled to stop or reverse;

[0010] When it is detected that the electric tail gate is in the uniform motion stage, a second anti-pinch algorithm is used to determine whether the duty cycle of the PWM signal exceeds a set duty cycle threshold and a duration reaches a first duration;

[0011] If yes, the electric tail gate is controlled to stop moving or to move reversely.

[0012] The PWM signal is a motor driving signal used to control a target motor speed, the target motor drives the electric tail gate to move through a transmission structure, and the first anti-pinch algorithm and the second anti-pinch algorithm are different anti-pinch algorithms.

[0013] Preferably, the duty cycle threshold is a first value within a second duration when the electric tail gate enters the uniform motion stage, and the duty cycle threshold is a second value after the second duration.

[0014] The first value is higher than the second value.

[0015] Preferably, the first anti-pinch algorithm is an algorithm based on speed detection, and correspondingly, the detection of the movement of the electric tail gate being blocked through the first anti-pinch algorithm includes:

[0016] When a detected speed change value of the target motor reaches a set speed change value threshold, it is determined that the movement of the electric tail gate is blocked.

[0017] Preferably, during the movement of the electric tail gate of the vehicle, when the movement of the electric tail gate is detected to be blocked through the first anti-pinch algorithm, the electric tail gate is controlled to stop moving or to move reversely, including:

[0018] During the opening movement of the electric tail gate of the vehicle, when the movement of the electric tail gate is detected to be blocked through the first anti-pinch algorithm, the electric tail gate is controlled to stop moving.

[0019] During the closing movement of the electric tail gate of the vehicle, when the movement of the electric tail gate is detected to be blocked through the first anti-pinch algorithm, the electric tail gate is controlled to move reversely.

[0020] Preferably, the method further includes:

[0021] When it is detected that the electric tail gate is in the uniform motion stage, it is determined whether a change rate of the duty cycle of the PWM signal exceeds a set change rate threshold.

[0022] If yes, the electric tail gate is controlled to stop moving or to move reversely.

[0023] Preferably, the method further includes:

[0024] When the movement of the electric tailgate is blocked is detected by the third anti-pinch algorithm or the fourth anti-pinch algorithm during the movement of the electric tailgate of the vehicle, the movement of the electric tailgate is controlled to stop or reverse.

[0025] The third anti-pinch algorithm and the fourth anti-pinch algorithm are different anti-pinch algorithms.

[0026] Preferably, the third anti-pinch algorithm is an algorithm based on torque detection, and correspondingly, the movement of the electric tailgate is blocked is detected by the third anti-pinch algorithm, including:

[0027] When the detected torque change value of the target motor reaches a set torque change value threshold, it is determined that the movement of the electric tailgate is blocked.

[0028] The fourth anti-pinch algorithm is an algorithm based on current detection, and correspondingly, the movement of the electric tailgate is blocked is detected by the fourth anti-pinch algorithm, including:

[0029] When the detected current change value of the target motor reaches a set current change value threshold, it is determined that the movement of the electric tailgate is blocked.

[0030] An anti-pinch system of a vehicle electric tailgate, comprising:

[0031] A first anti-pinch module is configured to control the movement of the electric tailgate to stop or reverse when the movement of the electric tailgate is blocked is detected by a first anti-pinch algorithm during the movement of the electric tailgate of the vehicle.

[0032] A duty cycle detection module is configured to use a second anti-pinch algorithm to determine whether the duty cycle of a PWM signal exceeds a set duty cycle threshold and the duration reaches a first duration when it is detected that the electric tailgate is in a uniform speed movement stage, and if so, trigger an execution module.

[0033] The execution module is configured to control the movement of the electric tailgate to stop or reverse.

[0034] The PWM signal is a motor driving signal used to control the speed of a target motor, the target motor drives the movement of the electric tailgate through a transmission structure, and the first anti-pinch algorithm and the second anti-pinch algorithm are different anti-pinch algorithms.

[0035] An anti-pinch device of a vehicle electric tailgate, comprising:

[0036] A memory is configured to store a computer program.

[0037] A processor is configured to execute the computer program to implement the steps of the anti-pinch method of the vehicle electric tailgate as described above.

[0038] A computer readable storage medium, a computer program is stored on the computer readable storage medium, the computer program is executed by a processor to implement the steps of the anti-pinch method of the electric tailgate of the vehicle.

[0039] The technical scheme provided by the embodiment of the application simultaneously sets two anti-pinch triggering modes, and when any one of the two anti-pinch triggering modes is triggered, an anti-pinch measure can be performed, that is, the electric tailgate is controlled to stop moving or to move in reverse, and therefore, compared with a traditional single anti-pinch strategy, the safety is improved.

[0040] Specifically, the first anti-pinch algorithm is effective throughout the movement of the electric tailgate of the vehicle, and when the movement of the electric tailgate is detected to be blocked by the first anti-pinch algorithm, the electric tailgate is controlled to stop moving or to move in reverse, so as to avoid injuring the user.

[0041] Meanwhile, for the uniform speed movement stage of the electric tailgate, the second anti-pinch algorithm is set, specifically, whether the duty cycle of the PWM signal exceeds the set duty cycle threshold is judged, the PWM signal is a motor driving signal for controlling the speed of the target motor, and the target motor drives the movement of the electric tailgate through the transmission structure, and therefore, during the normal movement of the electric tailgate, the duty cycle of the PWM signal is constant during the uniform speed movement stage, that is, if the duty cycle of the PWM signal exceeds the set duty cycle threshold and the duration reaches the first duration, it can be determined that the movement of the electric tailgate is blocked, and therefore, the electric tailgate is controlled to stop moving or to move in reverse, so as to avoid injuring the user.

[0042] In addition, it needs to be explained that the applicant considers that the running speed of the electric tailgate will be different under different working conditions such as uphill and downhill, high and low temperature, that is, the running speed of the electric tailgate will be affected by the actual working condition, which is also the reason why the traditional scheme is more likely to cause the electric tailgate to injure the user under special working conditions. In the scheme of the application, the anti-pinch can be realized based on the duty cycle of the PWM signal, and different working conditions such as uphill and downhill, high and low temperature have little effect on the PWM signal, and therefore, the anti-pinch based on the duty cycle of the PWM signal in the scheme of the application has high accuracy, that is, it is not easy to cause false triggering or not triggering when the object is pinched.

[0043] In summary, the scheme of the application sets two anti-pinch triggering modes, and the anti-pinch based on the duty cycle of the PWM signal is not easily affected by the current working condition of the vehicle, and therefore, the reliability of the scheme of the application is high, and the user can be effectively prevented from being injured. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to make the technical solution of the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings described below only represent some of the embodiments of the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative work on the basis of these drawings belong to the protection scope of the present application.

[0045] Figure 1 An implementation flowchart of the anti-pinch method of the electric tailgate of the vehicle in the present application;

[0046] Figure 2 A running speed curve diagram of a common door opening movement process of the electric tailgate;

[0047] Figure 3 A variation diagram of the duty cycle of the PWM signal in the first case;

[0048] Figure 4 A variation diagram of the duty cycle of the PWM signal in the second case;

[0049] Figure 5 A variation diagram of the duty cycle of the PWM signal in the third case;

[0050] Figure 6 A structure diagram of the anti-pinch system of the electric tailgate of the vehicle in the present application. DETAILED DESCRIPTION

[0051] The core of the present application is to provide an anti-pinch method of an electric tailgate of a vehicle, two anti-pinch triggering modes are provided, and the anti-pinch mode based on the duty cycle of the PWM signal is not easily affected by the current working condition of the vehicle, so the reliability is high, and the situation of pinching the user can be effectively avoided.

[0052] In order for the person skilled in the art to better understand the present application, the present application will be further described in detail below in combination with the accompanying drawings and specific embodiments. Obviously, the described embodiments only represent some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present application.

[0053] Please refer to Figure 1 , Figure 1 An implementation flowchart of the anti-pinch method of the electric tailgate of the vehicle in the present application, the anti-pinch method of the electric tailgate of the vehicle can include the following steps:

[0054] Step S101: In the movement process of the electric tailgate of the vehicle, when the movement of the electric tailgate is detected to be blocked by the first anti-pinch algorithm, the movement of the electric tailgate is controlled to stop or reverse.

[0055] Specifically, the present application simultaneously sets two anti-pinch triggering modes, therefore, there is no sequence between step S101 and step S102, and both can be executed simultaneously.

[0056] When the movement of the electric tailgate is detected to be blocked by the first anti-pinch algorithm, it indicates that the electric tailgate may be pinched by an object, therefore, the set anti-pinch measures can be executed, that is, the movement of the electric tailgate is controlled to stop or reverse. It can be understood that if it is in the process of closing the electric tailgate, the reverse movement is to control the electric tailgate to open, and similarly, if it is in the process of opening the electric tailgate, the reverse movement is to control the electric tailgate to close.

[0057] The specific content of the first anti-pinch algorithm can be set and adjusted according to actual needs, and it can be understood that since the anti-pinch can be realized by the first anti-pinch algorithm in the whole process of the movement of the electric tailgate of the vehicle, an anti-pinch algorithm that can be effectively applied in the whole process of the movement of the electric tailgate should be selected as the first anti-pinch algorithm of the present application.

[0058] For example, considering that the speed change of the electric tailgate should be within a certain range during normal opening and closing, whether in the acceleration stage, the deceleration stage, or the constant speed stage, therefore, in one specific embodiment of the present application, the first anti-pinch algorithm can be an algorithm based on speed detection, and correspondingly, detecting that the movement of the electric tailgate is blocked by the first anti-pinch algorithm can specifically include:

[0059] When the detected speed change value of the target motor reaches the set speed change value threshold, it is determined that the movement of the electric tailgate is blocked.

[0060] In this embodiment, the target motor drives the movement of the electric tailgate through the transmission structure, that is, the speed of the target motor can effectively reflect whether the movement of the electric tailgate is blocked.

[0061] When the detected speed change value of the target motor reaches the set speed change value threshold, it indicates that the speed of the target motor is reduced too much, therefore, it can be determined that the movement of the electric tailgate is blocked, and then the set anti-pinch measures are executed, that is, the movement of the electric tailgate is controlled to stop or reverse.

[0062] The specific implementation of detecting the speed of the target motor can be various, which can be direct detection or calculated through other parameters. For example, one commonly used embodiment is to set a magnetic ring on the output shaft of the target motor, so as to detect the change of the magnetic field through the Hall sensor, and then determine the corresponding speed value based on the pulse signal output by the Hall sensor. In addition, the specific value of the set speed change value threshold can also be set and adjusted according to actual needs.

[0063] In other specific embodiments, other first anti-pinch algorithm than the rotation speed detection based algorithm can be selected according to actual needs, and the implementation of the present application is not affected.

[0064] Step S102: When it is detected that the electric tail gate is in the uniform motion stage, a second anti-pinch algorithm is used to determine whether the duty cycle of the PWM signal exceeds the set duty cycle threshold and the duration reaches the first duration.

[0065] If yes, step S103: control the electric tail gate to stop moving or reverse moving;

[0066] For different types of vehicles, the opening and closing door operation speed curve of the electric tail gate can be different, but there is usually a uniform motion stage. For example Figure 2 A commonly used opening door operation speed curve of the electric tail gate is shown in the figure. If it is a closing door operation process, it is also accelerated first, then uniform, and finally decelerated.

[0067] In addition, it should be noted that in the opening door process of the electric tail gate, feedback control can be used to make the running speed of the electric tail gate meet the pre-set opening door operation speed curve. Similarly, in the closing door process of the electric tail gate, feedback control can be used to make the running speed of the electric tail gate meet the pre-set closing door operation speed curve. The feedback control described here can be, for example, the commonly used PID control. In addition, when using PID control of the running speed of the electric tail gate, a mechanism such as de-bouncing can be added to further improve the stability of the operation and avoid over-adjustment.

[0068] The specific way of detecting that the electric tail gate is in the uniform motion stage can also be various, for example, in one specific occasion, taking the opening door as the positive direction, the starting position and the ending position of the uniform motion stage can be pre-set, that is, in the opening door, the starting position is passed first and then the ending position is passed, and in the closing door, the ending position is passed first and then the starting position is passed. In the movement process of the electric tail gate, the current position of the electric tail gate can be determined by detecting the number of rotations of the motor, so as to determine whether the electric tail gate enters the uniform motion stage.

[0069] The present application sets the second anti-pinch algorithm when the electric tail gate is in the uniform motion stage. It can be understood that the first anti-pinch algorithm and the second anti-pinch algorithm are different anti-pinch algorithms.

[0070] Specifically, when the electric tail gate is in the uniform motion stage, the duty cycle of the PWM signal is normally fixed or slightly fluctuates. The PWM signal described in the present application is a motor driving signal used to control the target motor speed, and the target motor drives the movement of the electric tail gate through the transmission structure.

[0071] If the duty cycle of the PWM signal exceeds the set duty cycle threshold, it indicates that the movement of the electric tailgate may be obstructed. Furthermore, to avoid false triggering, the set anti-pinch measures will only be implemented after the duration reaches a certain threshold, i.e., the operation of controlling the electric tailgate to stop or reverse movement in step S103 will be executed.

[0072] See also Figures 3 to 5 This diagram illustrates the variation of the duty cycle of the PWM signal in different scenarios, for example, a duty cycle threshold of 30% and a first duration of 300ms. Figure 3 In this case, the duty cycle of the PWM signal exceeds the duty cycle threshold of 30% at 80ms and the timing duration exceeds 300ms. Therefore, the anti-pinch function is triggered at 380ms, which triggers the operation of step S103.

[0073] exist Figure 4 In this scenario, the PWM signal's duty cycle exceeded the 30% duty cycle threshold at 80ms, but the duration did not reach the first 300ms before dropping back below 30%. It again exceeded the 30% duty cycle threshold at 400ms, and then returned to below 30% at 660ms. Therefore... Figure 4 In certain situations, the anti-pinch function will not be triggered.

[0074] exist Figure 5 In this scenario, the PWM signal's duty cycle exceeded the 30% duty cycle threshold at 80ms, but the duration did not reach the first 300ms before dropping back below 30%. At 400ms, the duty cycle threshold was exceeded again, and the timing duration exceeded 300ms, thus triggering the anti-pinch function at 700ms.

[0075] In other implementations, the duty cycle threshold and the first duration can be set to other values. It is understood that the larger the duty cycle threshold is set, the greater the anti-pinch force, that is, the less likely it is to trigger the anti-pinch measures. The longer the first duration is set, the greater the anti-pinch force.

[0076] Furthermore, it should be noted that in some cases, the duty cycle threshold can be preset, while in others, the duty cycle threshold to be used can be determined when the electric tailgate enters the constant speed movement phase. For example, when the electric tailgate just enters the constant speed movement phase, the duty cycle of the PWM signal at that moment can be multiplied by a certain coefficient and used as the duty cycle threshold for this operation. It can be understood that this coefficient should be greater than 1, for example, set to 1.3.

[0077] It also needs to be explained that under different working conditions such as uphill and downhill, high and low temperature, the running speed of the electric tail gate will be different. Taking the uphill working condition as an example, compared with the flat position, due to the change of the center of gravity, more work needs to be done by the target motor during the opening process of the electric tail gate, that is, the running speed of the electric tail gate during opening under the uphill working condition will be lower than that under the flat position. Therefore, the anti-pinch based on the running speed of the electric tail gate will be affected by the actual working condition, so that the traditional scheme is more likely to trigger an accident under special working conditions. The anti-pinch based on the duty cycle of the PWM signal in the scheme of the present application has little effect on different working conditions such as uphill and downhill, high and low temperature, so the anti-pinch based on the duty cycle of the PWM signal in the present application has high accuracy, that is, it is not easy to trigger an accident or not trigger when the object is pinched.

[0078] Further, in one specific embodiment of the present application, the duty cycle threshold is a first value within the second time length when the electric tail gate enters the uniform motion stage, and the duty cycle threshold is a second value after the electric tail gate enters the second time length of the uniform motion stage.

[0079] Wherein the first value is higher than the second value.

[0080] This embodiment further takes into account that when the electric tail gate just enters the uniform motion stage, the speed is not stable, for example, in some cases, when the electric tail gate just enters the uniform motion stage, the running speed of the electric tail gate does not meet the pre-set running speed curve of the closing motion process, so the target motor speed is adjusted by the PID feedback algorithm, and then the running speed of the electric tail gate is adjusted.

[0081] Therefore, in order to avoid false triggering, a larger duty cycle threshold is used when the electric tail gate just enters the uniform motion stage. That is, the duty cycle threshold is a larger first value, for example, 50%, within the second time length when the electric tail gate enters the uniform motion stage, and the duty cycle threshold can return to the normal value, for example, the second value is 30%, after the second time length.

[0082] As described above, when the set anti-pinch measure is executed, the electric tail gate can be controlled to stop moving or moving in reverse. In one specific embodiment of the present application, step S101 can specifically include:

[0083] During the opening motion process of the electric tail gate of the vehicle, when the electric tail gate movement is detected by the first anti-pinch algorithm, the electric tail gate is controlled to stop moving;

[0084] In the closing motion of the electric tailgate, when the first anti-pinch algorithm detects that the electric tailgate is blocked, the electric tailgate is controlled to move reversely.

[0085] The embodiment considers that in the opening motion of the electric tailgate, if it is detected that the electric tailgate is blocked, it is usually caused by the obstruction of an obstacle, so it is not necessary to control the electric tailgate to close, but to directly control the electric tailgate to stop moving.

[0086] And in the closing motion of the electric tailgate, if it is detected that the electric tailgate is blocked, the electric tailgate is very likely to be pinched by an object, so in order to ensure safety, the electric tailgate should be immediately controlled to move reversely.

[0087] It can be seen that in the specific embodiment, different anti-pinch measures are specifically implemented according to the difference between the opening motion and the closing motion, which is beneficial to improve the user experience in actual application.

[0088] In addition, it can be understood that in the embodiment, different anti-pinch measures are specifically implemented for the opening motion and the closing motion in step S101. Similarly, when step S103 is implemented, different anti-pinch measures can also be implemented according to the difference between the opening and the closing according to the description of the embodiment. In addition, for the subsequent embodiments, when the electric tailgate is blocked based on other anti-pinch algorithms, different anti-pinch measures can also be implemented according to the difference between the opening and the closing.

[0089] In one specific embodiment of the application, the following can also be included:

[0090] When it is detected that the electric tailgate is in a uniform motion stage, it is judged whether the change rate of the duty cycle of the PWM signal exceeds the set change rate threshold;

[0091] If so, the electric tailgate is controlled to stop moving or move reversely.

[0092] In the foregoing embodiment, the electric tailgate is considered to be blocked only when the duty cycle of the PWM signal exceeds the set duty cycle threshold and the duration reaches the first duration. Since the duration needs to reach the first duration, it is not easy to trigger a false alarm.

[0093] And the embodiment further considers that the setting of the first duration means that the anti-pinch detection based on the duty cycle of the PWM signal triggers the anti-pinch measure at least when the first duration, which is not conducive to early detection of the electric tailgate being blocked.

[0094] Therefore, the embodiment further judges whether the change rate of the duty cycle of the PWM signal exceeds the set change rate threshold, if the change rate of the duty cycle of the PWM signal is too large, it is not necessary to wait for a certain time length, but can be directly regarded as that the electric tail gate is blocked, and then the anti-pinch measure is performed, that is, the electric tail gate is controlled to stop moving or to move reversely.

[0095] As can be seen, in the embodiment, the anti-pinch detection is realized based on the duty cycle of the PWM signal, and there are two triggering modes, which improves the sensitivity, that is, the situation that the electric tail gate is blocked can be found more timely, and the safety of the user is ensured.

[0096] Further, in a specific embodiment of the present application, the third anti-pinch algorithm and the fourth anti-pinch algorithm can further include:

[0097] In the movement process of the electric tail gate of the vehicle, when the electric tail gate is detected to be blocked by the third anti-pinch algorithm or the fourth anti-pinch algorithm, the electric tail gate is controlled to stop moving or to move reversely.

[0098] In the above embodiment, two anti-pinch triggering modes are set at the same time, and when any one of the triggering modes is triggered, the anti-pinch measure can be performed, which is beneficial to improve the safety. In the embodiment, two anti-pinch triggering modes are further set, that is, when the electric tail gate is detected to be blocked by the third anti-pinch algorithm or the fourth anti-pinch algorithm, the electric tail gate is controlled to stop moving or to move reversely, which is beneficial to further improve the safety.

[0099] Of course, the specific content of the third anti-pinch algorithm and the fourth anti-pinch algorithm can be set and adjusted according to actual needs, but it can be understood that the third anti-pinch algorithm and the fourth anti-pinch algorithm are different anti-pinch algorithms.

[0100] For example, in a specific embodiment of the present application, the third anti-pinch algorithm is an algorithm based on torque detection, and correspondingly, the electric tail gate is detected to be blocked by the third anti-pinch algorithm, which includes:

[0101] When the detected torque change value of the target motor reaches the set torque change value threshold, it is determined that the electric tail gate is blocked;

[0102] The fourth anti-pinch algorithm is an algorithm based on current detection, and correspondingly, the electric tail gate is detected to be blocked by the fourth anti-pinch algorithm, which includes:

[0103] When the detected current change value of the target motor reaches the set current change value threshold, it is determined that the electric tail gate is blocked.

[0104] The implementation considers that, in addition to the motor speed and the driving signal of the motor, the electric tailgate movement can be reflected on the torque and the motor current, and the detection of the torque and the motor current is relatively convenient and has high reliability. Therefore, in the specific implementation, the third anti-pinch algorithm is an algorithm based on torque detection, and the fourth anti-pinch algorithm is an algorithm based on current detection.

[0105] The technical solution provided by the embodiment of the application simultaneously sets two anti-pinch triggering modes. When any one of the two anti-pinch triggering modes is triggered, an anti-pinch measure can be performed, that is, the electric tailgate is controlled to stop moving or to move in reverse. Therefore, compared with a traditional single anti-pinch strategy, the safety can be improved.

[0106] Specifically, the first anti-pinch algorithm is effective throughout the movement of the electric tailgate of the vehicle. When the movement of the electric tailgate is blocked, which is detected by the first anti-pinch algorithm, the electric tailgate can be controlled to stop moving or to move in reverse, so as to avoid injuring the user.

[0107] Meanwhile, for the uniform speed movement stage of the electric tailgate, the second anti-pinch algorithm is set. Specifically, it is determined whether the duty cycle of the PWM signal exceeds the set duty cycle threshold. The PWM signal is a motor driving signal used to control the target motor speed. The target motor drives the movement of the electric tailgate through a transmission structure. Therefore, during the normal movement of the electric tailgate, the duty cycle of the PWM signal is constant during the uniform speed movement stage. That is, if the duty cycle of the PWM signal exceeds the set duty cycle threshold and the duration reaches a first duration, it can be determined that the movement of the electric tailgate is blocked. Therefore, the electric tailgate can be controlled to stop moving or to move in reverse, so as to avoid injuring the user.

[0108] In addition, it needs to be noted that the applicant considers that, under different working conditions such as uphill and downhill, high and low temperature, the running speed of the electric tailgate will be different, that is, the running speed of the electric tailgate will be affected by the actual working condition. This is also the reason why the traditional scheme is more likely to cause accidents of the electric tailgate injuring the user under special working conditions. In the scheme of the application, the anti-pinch can be realized based on the duty cycle of the PWM signal. The different working conditions such as uphill and downhill, high and low temperature have little effect on the PWM signal. Therefore, the anti-pinch based on the duty cycle of the PWM signal in the scheme of the application has high accuracy, that is, it is not easy to cause false triggering or not triggering when the object is pinched.

[0109] In summary, the scheme of the application sets two anti-pinch triggering modes, and the anti-pinch based on the duty cycle of the PWM signal is not easily affected by the current working condition of the vehicle. Therefore, the reliability of the scheme of the application is high, and the user can be effectively prevented from being injured.

[0110] Corresponding to the above method embodiments, the embodiments of the present application also provide a vehicle electric tail gate anti-pinch system, which can be mutually corresponding with the above.

[0111] Referring to Figure 6 As shown in FIG. 1, which is a structural schematic diagram of a vehicle electric tail gate anti-pinch system in the present application, comprising:

[0112] The first anti-pinch module 601 is configured to, during the movement of the electric tail gate of the vehicle, control the electric tail gate to stop moving or move reversely when the movement of the electric tail gate is detected to be blocked by the first anti-pinch algorithm.

[0113] The duty cycle detection module 602 is configured to, when the electric tail gate is detected to be in the uniform speed movement stage, use the second anti-pinch algorithm to determine whether the duty cycle of the PWM signal exceeds the set duty cycle threshold and the duration reaches the first duration; if so, trigger the execution module 603.

[0114] The execution module 603 is configured to control the electric tail gate to stop moving or move reversely.

[0115] The PWM signal is a motor driving signal used to control the target motor speed, and the target motor drives the movement of the electric tail gate through the transmission structure.

[0116] In a specific embodiment of the present application, the duty cycle threshold is a first value within the second duration when the electric tail gate enters the uniform speed movement stage, and the duty cycle threshold is a second value after the electric tail gate enters the uniform speed movement stage.

[0117] The first value is higher than the second value.

[0118] In a specific embodiment of the present application, the first anti-pinch algorithm is an algorithm based on speed detection, and correspondingly, the movement of the electric tail gate is detected to be blocked by the first anti-pinch algorithm, including:

[0119] When the detected speed change value of the target motor reaches the set speed change value threshold, it is determined that the movement of the electric tail gate is blocked.

[0120] In a specific embodiment of the present application, the first anti-pinch module 601 is specifically configured to:

[0121] During the opening movement of the electric tail gate of the vehicle, when the movement of the electric tail gate is detected to be blocked by the first anti-pinch algorithm, the electric tail gate is controlled to stop moving.

[0122] During the closing movement of the electric tail gate of the vehicle, when the movement of the electric tail gate is detected to be blocked by the first anti-pinch algorithm, the electric tail gate is controlled to move reversely.

[0123] In one specific embodiment of the present application, the duty cycle detection module 602 is further configured to:

[0124] When it is detected that the electric tailgate is in the uniform motion stage, it is determined whether the change rate of the duty cycle of the PWM signal exceeds a set change rate threshold value;

[0125] If yes, the execution triggering module 603 is triggered.

[0126] In one specific embodiment of the present application, the anti-pinch device further comprises:

[0127] The second anti-pinch module is configured to, during the movement of the electric tailgate of the vehicle, when it is detected by the third anti-pinch algorithm or the fourth anti-pinch algorithm that the movement of the electric tailgate is blocked, control the electric tailgate to stop moving or move reversely.

[0128] In one specific embodiment of the present application, the third anti-pinch algorithm is a torque detection-based algorithm, and correspondingly, the detection that the movement of the electric tailgate is blocked by the third anti-pinch algorithm comprises:

[0129] When the detected torque change value of the target motor reaches a set torque change value threshold value, it is determined that the movement of the electric tailgate is blocked;

[0130] The fourth anti-pinch algorithm is a current detection-based algorithm, and correspondingly, the detection that the movement of the electric tailgate is blocked by the fourth anti-pinch algorithm comprises:

[0131] When the detected current change value of the target motor reaches a set current change value threshold value, it is determined that the movement of the electric tailgate is blocked.

[0132] Corresponding to the above method and system embodiments, the embodiments of the present application further provide an anti-pinch device for an electric tailgate of a vehicle and a computer readable storage medium, which can be mutually corresponding and referred to above

[0133] The anti-pinch device for the electric tailgate of the vehicle can comprise:

[0134] The memory is configured to store a computer program;

[0135] The processor is configured to execute the computer program to realize the steps of the anti-pinch method for the electric tailgate of the vehicle in any of the above embodiments.

[0136] The computer readable storage medium stores a computer program, and the computer program is executed by the processor to realize the steps of the anti-pinch method for the electric tailgate of the vehicle in any of the above embodiments. The computer readable storage medium mentioned herein includes random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the technical field.

[0137] It is also important to note that the use of relational terms such as first and second, and the like, are used solely to distinguish one from another entity or action without necessarily requiring or implying any actual such relationship or order between or among the entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0138] Those skilled in the art will further appreciate that the units and algorithms described in connection with the examples disclosed herein can be embodied directly in hardware, in software, or in a combination of the two. For ease of understanding, the illustrative examples have been described in general functional terms. The term "software" as used herein includes program code, routines, algorithms, and the like. The actual software language, such as C, C++, Java, or the like, is not believed to be critical to the principles of the application. The software that embodies the examples described herein can be stored and / or transmitted on a computer readable medium, such as a compact diskette, a tape, a hard disk drive, a solid state memory device, a carrier wave, or the like. The computer readable medium can be distributed over a network, for example, the Internet, a local area network, a wide area network, a virtual private network, or the like, where devices can be coupled through a communications interface, for example, a modem, a wireless interface, or the like. Computer readable program code segments can be downloaded, uploaded, or transferred, for example, from a network or from another computer. Alternatively, the computer readable program code segments can be embodied in a computer program product, which can be distributed over the network or by other computer readable media.

[0139] The principles and implementation of the present application have been described in connection with specific examples. The descriptions of the examples are not intended to limit or restrict the scope of the present application, but merely to illustrate the principles of the application and its core concepts. It should be noted that those skilled in the art can make several improvements and modifications to the present application without departing from the principles of the present application. These improvements and modifications also fall within the scope of the present application.

Claims

1. A method of preventing pinching of a vehicle power tailgate, characterized by, Comprising: During the movement of the electric tail door of the vehicle, when the movement of the electric tail door is detected to be blocked by the first anti-pinch algorithm, the movement of the electric tail door is controlled to stop or reverse; When it is detected that the electric tail door is in a uniform speed movement stage, a second anti-pinch algorithm is used to determine whether the duty cycle of the PWM signal exceeds a set duty cycle threshold and the duration reaches a first duration; If yes, the movement of the electric tail door is controlled to stop or reverse; Wherein, the PWM signal is a motor driving signal used to control the target motor speed, the target motor drives the movement of the electric tail door through a transmission structure, the first anti-pinch algorithm and the second anti-pinch algorithm are different anti-pinch algorithms; Within the second duration that the electric tail door enters the uniform speed movement stage, the duty cycle threshold is a first value, after the second duration that the electric tail door enters the uniform speed movement stage, the duty cycle threshold is a second value; Wherein, the first value is higher than the second value; Further comprising: When it is detected that the electric tail door is in a uniform speed movement stage, it is determined whether the rate of change of the duty cycle of the PWM signal exceeds a set rate of change threshold; If yes, the movement of the electric tail door is controlled to stop or reverse.

2. The method of claim 1, wherein The first anti-pinch algorithm is an algorithm based on speed detection, accordingly, the movement of the electric tail door is detected to be blocked by the first anti-pinch algorithm, comprising: When the detected speed change value of the target motor reaches a set speed change value threshold, it is determined that the movement of the electric tail door is blocked.

3. The method of claim 1, wherein, During the movement of the electric tail door of the vehicle, when the movement of the electric tail door is detected to be blocked by the first anti-pinch algorithm, the movement of the electric tail door is controlled to stop or reverse, comprising: During the opening movement of the electric tail door of the vehicle, when the movement of the electric tail door is detected to be blocked by the first anti-pinch algorithm, the movement of the electric tail door is controlled to stop; During the closing movement of the electric tail door of the vehicle, when the movement of the electric tail door is detected to be blocked by the first anti-pinch algorithm, the movement of the electric tail door is controlled to reverse.

4. The method of claim 1 to 3, wherein, Further comprising: During the movement of the electric tail door of the vehicle, when the movement of the electric tail door is detected to be blocked by the third anti-pinch algorithm or the fourth anti-pinch algorithm, the movement of the electric tail door is controlled to stop or reverse; Wherein, the third anti-pinch algorithm and the fourth anti-pinch algorithm are different anti-pinch algorithms.

5. The method of claim 4, wherein, The third anti-pinch algorithm is an algorithm based on torque detection, accordingly, the movement of the electric tail door is detected to be blocked by the third anti-pinch algorithm, comprising: When the detected torque change value of the target motor reaches a set torque change value threshold, it is determined that the movement of the electric tail door is blocked; The fourth anti-pinch algorithm is an algorithm based on current detection, accordingly, the movement of the electric tail door is detected to be blocked by the fourth anti-pinch algorithm, comprising: When the detected current change value of the target motor reaches a set current change value threshold, it is determined that the movement of the electric tail door is blocked.

6. A pinch protection system for an electrically powered tailgate of a vehicle, characterized in that Comprising: The first anti-pinch module is configured to control the electric tail door to stop moving or to move reversely when the movement of the electric tail door is detected to be blocked by the first anti-pinch algorithm during the movement of the electric tail door. The duty cycle detection module is configured to, when it is detected that the electric tail door is in the uniform speed movement stage, use a second anti-pinch algorithm to determine whether the duty cycle of the PWM signal exceeds a set duty cycle threshold and whether the duration reaches a first duration; if so, the execution module is triggered. The execution module is configured to control the electric tail door to stop moving or to move reversely. The PWM signal is a motor driving signal used to control the speed of a target motor, the target motor drives the movement of the electric tail door through a transmission structure, and the first anti-pinch algorithm and the second anti-pinch algorithm are different anti-pinch algorithms. The duty cycle threshold is a first value within a second duration when the electric tail door enters the uniform speed movement stage, and the duty cycle threshold is a second value after the second duration. The first value is higher than the second value. The duty cycle detection module is further configured to: When it is detected that the electric tail door is in the uniform speed movement stage, determine whether the rate of change of the duty cycle of the PWM signal exceeds a set rate of change threshold; if so, the execution module is triggered. The computer readable storage medium stores a computer program, and the computer program is executed by the processor to realize the steps of the anti-pinch method of the electric tail door of the vehicle according to any one of claims 1 to 5.

7. A pinching prevention apparatus for an electric tail gate of a vehicle, characterized by comprising: The computer readable storage medium stores a computer program, and the computer program is executed by the processor to realize the steps of the anti-pinch method of the electric tail door of the vehicle according to any one of claims 1 to 5. ​ ​ 8. A computer-readable storage medium, characterized in that, ​

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