Vehicle and control method and device thereof, and controller

Abstract

The present invention discloses a vehicle and its control method, device and controller, wherein the window control method includes the following steps: obtaining the reference motor current corresponding to each Hall pulse when the motor rotates to drive the window to open / close under normal circumstances; when controlling the motor to rotate, obtaining the actual motor current corresponding to the current Hall pulse; if the actual motor current is greater than the reference motor current corresponding to the current Hall pulse and less than the preset current threshold, outputting a first adjustment signal to the motor so that the motor overcomes the resistance and continues to rotate, and outputting a second adjustment signal to the motor after the motor continues to rotate so that the actual motor current is consistent with the corresponding reference motor current; if the actual motor current is greater than the preset current threshold, executing the corresponding protection action. Therefore, the window control method of this embodiment can accurately calculate the anti-pinch position of the window, thereby achieving accurate anti-pinch, ensuring the safety of the window, and greatly improving the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a vehicle window control method, a vehicle window control device, a controller and a vehicle. Background Art

[0002] As vehicles become more intelligent, the positioning and anti-pinch functions of vehicle windows are becoming more and more important. They are also one of the important factors in improving user experience and vehicle bidding ability.

[0003] Currently, the current anti-pinch technology on the market basically adopts Hall number, current ripple anti-pinch, or current detection amplification for anti-pinch. Due to the speed of motor rotation and the difference in current amplification detection, it is easy to cause large differences in window anti-pinch position and anti-pinch accuracy, which cannot meet the needs of users and may even affect the safety of users. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, one purpose of the present invention is to propose a vehicle window control method that can accurately calculate the anti-pinch position of the vehicle window, thereby achieving precise anti-pinch, ensuring the safety of the vehicle window, and greatly improving the user experience.

[0005] A second objective of the present invention is to provide a vehicle window control device.

[0006] The third object of the present invention is to provide a controller.

[0007] A fourth object of the present invention is to provide a vehicle.

[0008] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present invention proposes a vehicle window control method, which includes the following steps: obtaining a reference motor current corresponding to each Hall pulse when the motor rotates to open / close the vehicle window under normal circumstances; when controlling the rotation of the motor, obtaining the actual motor current corresponding to the current Hall pulse; if the actual motor current is greater than the reference motor current corresponding to the current Hall pulse and less than a preset current threshold, outputting a first adjustment signal to the motor so that the motor overcomes resistance and continues to rotate, and outputting a second adjustment signal to the motor after the motor continues to rotate so that the actual motor current is consistent with the corresponding reference motor current; if the actual motor current is greater than the preset current threshold, executing a corresponding protection action.

[0009] The window control method of the embodiment of the present invention first obtains the reference motor current corresponding to each Hall pulse of the motor that controls the opening or closing of the window under normal rotation, and then obtains the actual motor current corresponding to the Hall pulse when the motor is working. When the actual motor current is greater than the corresponding reference motor current, the motor is adjusted by adjusting the signal to overcome the resistance and continue to rotate, and the actual motor current after the motor adjustment is controlled to be the same as the reference motor current. If the actual motor current is greater than the preset current threshold, protection is performed. Therefore, the window control method of the embodiment of the present invention can accurately calculate the anti-pinch position of the window, and then achieve accurate anti-pinch, ensure the safety of the window, and greatly improve the user experience.

[0010] In some embodiments of the present invention, obtaining the actual motor current corresponding to the current Hall pulse includes: obtaining the voltage across the sampling resistor corresponding to the current Hall pulse to obtain multiple groups of voltage sampling values; obtaining multiple current sampling values ​​based on the multiple groups of voltage sampling values ​​and the resistance value of the sampling resistor; obtaining the average value of the multiple current sampling values ​​to obtain the actual motor current corresponding to the current Hall pulse.

[0011] In some embodiments of the present invention, outputting the first adjustment signal to the motor so that the motor overcomes the resistance and continues to rotate includes: outputting the first adjustment signal to the motor to gradually increase the actual motor current so that the motor overcomes the resistance and continues to rotate until the Hall pulse is obtained again.

[0012] In some embodiments of the present invention, outputting a second adjustment signal to the motor after continued rotation to make the actual motor current consistent with the corresponding reference motor current includes: outputting the second adjustment signal to the motor to gradually reduce the actual motor current so that the actual motor current is consistent with the corresponding reference motor current when a preset number of Hall pulses are obtained again.

[0013] In some embodiments of the present invention, the window control method also includes: obtaining a reference pulse time corresponding to each Hall pulse when the motor rotates to open / close the window under normal circumstances; when controlling the rotation of the motor, obtaining the actual pulse time corresponding to the current Hall pulse; outputting a second adjustment signal to the motor after continuing to rotate to make the actual motor current consistent with the corresponding reference motor current, and also includes: outputting the second adjustment signal to the motor to gradually reduce the actual motor current so that when a preset number of Hall pulses are obtained again, the sum of the actual pulse time corresponding to the Hall pulse when the motor is subjected to resistance and the actual pulse time corresponding to the preset number of Hall pulses is equal to the sum of the reference pulse time corresponding to the Hall pulse when the motor is subjected to resistance and the reference pulse time corresponding to the preset number of Hall pulses.

[0014] In some embodiments of the present invention, the execution of corresponding protection actions includes: if the motor starts to rotate, or when the motor is rotating and the window is open, controlling the motor to stop rotating and issuing an alarm reminder; if the motor is rotating and the window is closed, controlling the motor to rotate in the opposite direction to return the window to an initial position or a preset Hall pulse.

[0015] In some embodiments of the present invention, when controlling the rotation of the motor, the method further includes: determining the number of Hall pulses; and performing positioning control on the vehicle window according to the number of pulses.

[0016] To achieve the above-mentioned purpose, a second aspect of the present invention proposes a window control device, which includes: a first acquisition module, used to obtain a reference motor current corresponding to each Hall pulse when the motor rotates to open / close the window under normal circumstances; a second acquisition module, used to obtain the actual motor current corresponding to the current Hall pulse when controlling the rotation of the motor; a control module, used to output a first adjustment signal to the motor so that the motor overcomes the resistance and continues to rotate if the actual motor current is greater than the reference motor current corresponding to the current Hall pulse and less than a preset current threshold, and output a second adjustment signal to the motor after continuing to rotate so that the actual motor current is consistent with the corresponding reference motor current, and if the actual motor current is greater than the preset current threshold, execute a corresponding protection action.

[0017] The window control device of the embodiment of the present invention includes a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used to obtain the reference motor current corresponding to each Hall pulse of the motor that controls the opening or closing of the window under normal rotation, and then when the motor is working, the second acquisition module is used to obtain the actual motor current corresponding to the Hall pulse. When the actual motor current is greater than the corresponding reference motor current, the control module is used to adjust the motor by adjusting the signal to overcome the resistance and continue to rotate, and the actual motor current after the motor adjustment is controlled to be the same as the reference motor current, and if the actual motor current is greater than the preset current threshold, protection is performed. Therefore, the window control device of this embodiment can accurately calculate the anti-pinch position of the window, and then achieve accurate anti-pinch, ensure the safety of the window, and greatly improve the user experience.

[0018] To achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a controller, which includes a memory, a processor, and a window control program stored in the memory and executable on the processor. When the processor executes the program, the window control method according to the above-mentioned embodiment is implemented.

[0019] The controller of the embodiment of the present invention includes a memory and a processor. The processor executes the window control program stored in the memory, so as to accurately calculate the anti-pinch position of the window, thereby achieving precise anti-pinch effect, ensuring the safety of the window, and greatly improving the user experience.

[0020] To achieve the above objectives, a fourth aspect of the present invention provides a vehicle, which includes the controller in the above embodiment.

[0021] The vehicle of the embodiment of the present invention can accurately calculate the anti-pinch position of the window through the controller in the above embodiment, thereby achieving precise anti-pinch, ensuring the safety of the window, and greatly improving the user experience.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of a vehicle window control method according to an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of a window motor circuit according to a specific embodiment of the present invention;

[0025] Figure 3 is a flow chart of a vehicle window control method according to an embodiment of the present invention;

[0026] Figure 4 is a flow chart of a vehicle window control method according to an embodiment of the present invention;

[0027] Figure 5 is a structural block diagram of a vehicle control device according to an embodiment of the present invention;

[0028] Figure 6 is a structural block diagram of a controller according to an embodiment of the present invention;

[0029] Figure 7 is a structural block diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0031] The vehicle and its control method and device, and controller according to the embodiments of the present invention are described below with reference to the accompanying drawings.

[0032] Figure 1 is a flow chart of a vehicle window control method according to an embodiment of the present invention.

[0033] like Figure 1 As shown, the present invention proposes a vehicle window control method, the method comprising:

[0034] S10, obtaining a reference motor current corresponding to each Hall pulse when the motor rotates to open / close the window under normal circumstances.

[0035] First, Figure 2 It can be seen from the circuit shown that the circuit can control the forward and reverse rotation of the motor M, and then act on the switches of the vehicle's windows, doors and other equipment to control the opening and closing of the windows and doors. It can be understood that, among them, the control ends of the first switch tube Q1 and the second switch tube Q2 are connected, and the control ends of the third switch tube Q3 and the fourth switch tube Q4 are connected. When the motor M rotates forward, the order of the nodes through which the current passes can be 1-2-3-7-5, and then it is grounded through the sampling resistor R1; when the motor M reverses, the order of the nodes through which the current passes can be 1-6-3-4-5, and then it is grounded through the sampling resistor R1, wherein the sampling resistor R1 can select a high-power current detection resistor 10mR. By setting sampling terminals at both ends of the sampling resistor R1, the working current of the motor M can be obtained.

[0036] Specifically, in this embodiment, Ohm's law can be used to perform a simple calculation to obtain the current of the motor M, such as simultaneously collecting the voltages AD1 and AD2 across the sampling resistor R1, and then obtaining the current current of the motor according to (AD1-AD2) / R1.

[0037] In this embodiment, when the motor rotates normally, that is, when there is no external resistance, the current corresponding to each Hall pulse when the motor drives the window to open and close is obtained, and the current is used as the reference motor current. It should be noted that the Hall position of the motor can be fixed, and the three Hall positions differ by 120° respectively. There are a fixed number of inductive Hall devices on the rotor of the motor. For the two actions of opening or closing the window, the stroke is the same, and the stroke S is composed of n Hall pulses. Under normal circumstances, the time of each pulse is t. When the motor rotates, the speed of each pulse is v, and the stroke S can be expressed as S=n*t*v. It should be noted that the speed v is determined by the current i and the resistance. It can be understood that when the resistance is the same, the larger the current i, the greater the speed; when the current is the same, the greater the resistance, the smaller the speed.

[0038] After obtaining the reference current, this embodiment can store it by establishing a table, that is, the reference motor current corresponding to each Hall pulse of the motor can be queried through the table. For example, under normal circumstances, the stroke S can be divided into n pulses, that is, S = n1*t1*v1+n2*t2*v2+…+n n *t n *v n , where n1 represents the first pulse. It can be understood that each pulse has a reference motor current.

[0039] S20, when controlling the motor to rotate, obtaining the actual motor current corresponding to the current Hall pulse.

[0040] Specifically, during the operation of the motor, the actual motor current of the current Hall pulse of the motor is detected, such as Figure 3 As shown, the detection method can adopt the following method: S301, obtain the voltage across the sampling resistor corresponding to the current Hall pulse to obtain multiple groups of voltage sampling values. S302, obtain multiple current sampling values ​​according to the multiple groups of voltage sampling values ​​and the resistance value of the sampling resistor. S303, obtain the average value of the multiple current sampling values ​​to obtain the actual motor current corresponding to the current Hall pulse.

[0041] Specifically, see Figure 2 and Figure 3 , firstly, we can obtain the voltage across the sampling resistor corresponding to the current Hall pulse, that is, Figure 2 The voltages AD1 and AD2 at both ends of the sampling resistor R1 shown in the figure are then used to calculate the actual motor current corresponding to the Hall pulse according to the voltage values ​​of the voltages at both ends and the resistance value of the sampling resistor R1. Among them, multiple groups of sampling values ​​can be sampled, for example, three groups, and then three current sampling values ​​are calculated respectively according to the three groups of sampling values, and then the average value of these three current sampling values ​​is calculated to obtain the actual motor current corresponding to the current Hall pulse.

[0042] S30, if the actual motor current is greater than the reference motor current corresponding to the current Hall pulse and less than the preset current threshold, a first adjustment signal is output to the motor so that the motor overcomes the resistance and continues to rotate, and after continuing to rotate, a second adjustment signal is output to the motor to make the actual motor current consistent with the corresponding reference motor current.

[0043] Specifically, after calculating the actual motor current corresponding to the current Hall pulse, the table can be queried from the storage device to obtain the reference motor current corresponding to the Hall pulse, and then the actual motor current is compared with the reference motor current. When the actual motor current is greater than the reference motor current corresponding to the current Hall pulse and less than a preset current threshold, the motor is adjusted. The preset current threshold can be used to determine through multiple anti-pinch tests. If the current used by the motor to overcome resistance is greater than or equal to the preset current threshold, it means that the current window is likely to have clamped something, and an alarm signal can be issued and the motor can be controlled to stop working.

[0044] When adjusting the motor, the first adjustment signal can be output to the motor first so that the motor can overcome the resistance and continue to rotate, and after the motor can continue to rotate, the second adjustment signal can be output to the motor so that the actual motor current is consistent with the reference motor current corresponding to its Hall pulse. In other words, after the first adjustment signal is adjusted and the resistance interference encountered by the motor is overcome, the current corresponding to the Hall pulse after the motor overcomes the resistance can be adjusted to the reference motor current, so that the car window can be accurately controlled to prevent the car window from being miscontrolled and clamping something, and the car window can also be accurately positioned, further improving the accurate control of the car window.

[0045] In this embodiment, outputting the first adjustment signal to the motor so that the motor overcomes the resistance and continues to rotate includes: outputting the first adjustment signal to the motor to gradually increase the actual motor current so that the motor overcomes the resistance and continues to rotate until the Hall pulse is obtained again.

[0046] Specifically, when the motor is subject to resistance interference during rotation, a first adjustment signal can be output to the switch tube so that the motor can overcome the resistance and continue to complete the window opening or closing function. It should be noted that the resistance suffered by the motor described in this embodiment can be gravity or other resistance. The first adjustment signal is specifically used to control the motor to gradually increase the actual motor current when it is subject to resistance interference to increase the power of the motor, so that the motor can overcome the resistance and continue to rotate, and control the window to work. When the motor overcomes the resistance and obtains the Hall pulse again, it means that the current resistance has been overcome. It should be noted that in this embodiment, the Hall pulse corresponding to the motor when it is subject to resistance can also be recorded, and the current of the Hall pulse after adjustment by the first adjustment signal can be matched and stored, so that the next time the motor runs to the corresponding Hall pulse, the motor current can be adjusted to the motor current adjusted by the first adjustment signal in time.

[0047] It should be noted that, in this embodiment, the resistance encountered by the motor can be overcome by adjusting the motor current of multiple Hall pulses, but in general, the number of the Hall pulses does not exceed five.

[0048] For example, when the actual motor current is adjusted using the first adjustment signal, the entire window travel S can be expressed as: Here, h represents the number of pulses to be adjusted, that is, the first h Hall pulses are adjusted using the first adjustment signal, and then the remaining (nh) Hall pulses are still controlled using the reference motor current.

[0049] In this embodiment, after continuing to rotate, a second adjustment signal is output to the motor to make the actual motor current consistent with the corresponding reference motor current, including: outputting a second adjustment signal to the motor to gradually reduce the actual motor current so that the actual motor current is consistent with the corresponding reference motor current when a preset number of Hall pulses are obtained again.

[0050] Specifically, after the actual motor current of the motor is adjusted by the first adjustment signal and the resistance is overcome, the actual motor current is further adjusted by the second adjustment signal to make the actual motor current consistent with the reference motor current. That is to say, when the motor encounters resistance during rotation, the first adjustment signal is first used to increase the current of the motor to increase the motor power to overcome the resistance. After overcoming the resistance, the current motor current is reduced by the second adjustment signal to make the motor current equal to the reference motor current to prevent miscontrol and inaccurate window positioning. It can be understood that the current actual motor current is adjusted by the second adjustment signal to obtain the adjusted actual motor current. The adjusted actual motor current and the corresponding Hall pulse can be stored, and when the same resistance is encountered in the future, the corresponding motor current can be directly called to control the motor.

[0051] For example, when the actual motor current is adjusted using the first adjustment signal and the second adjustment signal, the entire window travel S can be expressed as: Among them, h represents the number of pulses adjusted by the first adjustment signal and the second adjustment signal, and g represents the number of pulses adjusted by the first adjustment signal. That is to say, the first g Hall pulses are adjusted by the first adjustment signal, and then the (hg) Hall pulses are adjusted by the second adjustment signal, and then the remaining (nh) Hall pulses are still controlled by the reference motor current.

[0052] In this embodiment, the vehicle window control method of this embodiment further includes: obtaining a reference pulse time corresponding to each Hall pulse when the motor rotates to drive the vehicle window to open / close under normal circumstances;

[0053] When controlling the motor to rotate, obtain the actual pulse time corresponding to the current Hall pulse;

[0054] After the motor continues to rotate, a second regulating signal is output to the motor so that the actual motor current is consistent with the corresponding reference motor current, and further includes:

[0055] A second adjustment signal is output to the motor to gradually reduce the actual motor current so that when a preset number of Hall pulses are obtained again, the sum of the actual pulse time corresponding to the Hall pulse when the motor is subjected to resistance and the actual pulse time corresponding to the preset number of Hall pulses is equal to the sum of the reference pulse time corresponding to the Hall pulse when the motor is subjected to resistance and the reference pulse time corresponding to the preset number of Hall pulses.

[0056] Specifically, during the operation of the window, the reference pulse time corresponding to each Hall pulse when the window is opened / closed by the motor under normal circumstances can be obtained by looking up the table. Then, when controlling the rotation of the motor, the pulse time t corresponding to the current Hall pulse of the motor is obtained, and then adjusted using the first adjustment signal and the second adjustment signal.

[0057] More specifically, when using the second adjustment signal to adjust the motor so that the actual motor current is consistent with the corresponding reference motor current, the second adjustment signal can be output to the motor to reduce the actual motor current, so that when a preset number of Hall pulses are obtained again, the sum of the actual pulse time corresponding to the Hall pulse when the motor is subject to resistance and the actual pulse time corresponding to the preset number of Hall pulses is equal to the sum of the reference pulse time corresponding to the Hall pulse when the motor is subject to resistance and the reference pulse time corresponding to the preset number of Hall pulses.

[0058] For example, when the motor is not subject to resistance, the travel S of the window can be expressed as S = n1*t1*v1+n2*t2*v2+…+n n *t n *v n , wherein the distance traveled by each pulse is consistent, that is, the travel distance S is divided into n parts, each part corresponds to a pulse distance, and then, because when the motor is subject to resistance, its current will be affected, thereby affecting the speed, therefore, this embodiment can adjust the speed by adjusting the current of the corresponding Hall pulse to ensure that the sum of the actual pulse time corresponding to the Hall pulse when the motor is subject to resistance and the actual pulse time corresponding to a preset number of Hall pulses is consistent with the reference pulse time corresponding to the Hall pulse when the motor is subject to resistance and the reference pulse time corresponding to a preset number of Hall pulses, so as to ensure that the positioning of the window will not be wrong.

[0059] S40: If the actual motor current is greater than the preset current threshold, a corresponding protection action is performed.

[0060] Specifically, in this embodiment, if it is determined that the actual motor current exceeds the preset current threshold, it means that the current actual motor current is too large, and the car window is likely not suffering from a general resistance obstacle, but is clamped by something, etc., and then the corresponding protection action can be performed, and further, an alarm signal can be issued to remind the user.

[0061] In this embodiment, if Figure 4 As shown, the corresponding protection actions are performed, including: S401, if the motor starts to rotate, or the motor is rotating and the window is open, the motor is controlled to stop rotating and an alarm is issued. S402, if the motor is rotating and the window is closed, the motor is controlled to rotate in the reverse direction to return the window to the initial position or a preset Hall pulse.

[0062] Specifically, when the motor is rotating or when the motor is rotating and the window is open, if the actual motor current is greater than the preset current threshold, it is very likely that the window is stuck or the motor is faulty, so the motor is controlled to stop rotating to prevent damage to the window or motor burnout, and an alarm is issued at the same time. When the motor is rotating and the window is closed, if the actual motor current is greater than the preset current threshold, it is very likely that the window is caught by something, so the motor can be controlled to rotate in the opposite direction to return the window to the initial position or to a preset number of Hall pulses to ensure that the window will not catch the user, and the window position can also be adjusted.

[0063] In some embodiments of the present invention, when controlling the rotation of the motor, the method further includes: determining the number of Hall pulses; and controlling the positioning of the vehicle window according to the number of pulses.

[0064] Specifically, when the motor is rotating, the entire stroke of the window can be decomposed into multiple pulses. The pulse time in this embodiment is in milliseconds, and as long as it is determined to be an integer multiple of the Hall pulse, the positioning can be completed. Usually, when the window is opened or closed at 1 / 2, 1 / 3, or 1 / 4, it can pause at the preset setting value, thereby completing the function of positioning the window according to the number of pulses.

[0065] In summary, the vehicle window control method of the embodiment of the present invention can accurately calculate the anti-pinch position of the vehicle window, thereby achieving precise anti-pinch performance, ensuring the safety of the vehicle window, and greatly improving the user experience.

[0066] Figure 5 is a structural block diagram of a vehicle control device according to an embodiment of the present invention.

[0067] Furthermore, if Figure 5As shown, the present invention proposes a vehicle control device 100 , which includes a first acquisition module 101 , a second acquisition module 102 and a control module 103 .

[0068] Among them, the first acquisition module 101 is used to obtain the reference motor current corresponding to each Hall pulse when the motor rotates to open / close the window under normal circumstances; the second acquisition module 102 is used to obtain the actual motor current corresponding to the current Hall pulse when controlling the rotation of the motor; the control module 103 is used to output a first adjustment signal to the motor so that the motor can overcome the resistance and continue to rotate if the actual motor current is greater than the reference motor current corresponding to the current Hall pulse and less than a preset current threshold, and output a second adjustment signal to the motor after continuing to rotate to make the actual motor current consistent with the corresponding reference motor current, and if the actual motor current is greater than the preset current threshold, execute the corresponding protection action.

[0069] In some embodiments of the present invention, the second acquisition module 102 is used to obtain the actual motor current corresponding to the current Hall pulse, specifically including: obtaining the voltage across the sampling resistor corresponding to the current Hall pulse to obtain multiple groups of voltage sampling values; obtaining multiple current sampling values ​​based on the multiple groups of voltage sampling values ​​and the resistance value of the sampling resistor; obtaining the average value of the multiple current sampling values ​​to obtain the actual motor current corresponding to the current Hall pulse.

[0070] In some embodiments of the present invention, the control module 103 is used to output a first adjustment signal to the motor so that the motor overcomes the resistance and continues to rotate, specifically including: outputting a first adjustment signal to the motor to gradually increase the actual motor current so that the motor overcomes the resistance and continues to rotate until the Hall pulse is obtained again.

[0071] In some embodiments of the present invention, the control module 103 is used to output a second adjustment signal to the motor after continuing to rotate so that the actual motor current is consistent with the corresponding reference motor current, specifically including: outputting a second adjustment signal to the motor to gradually reduce the actual motor current so that the actual motor current is consistent with the corresponding reference motor current when a preset number of Hall pulses are obtained again.

[0072] In some embodiments of the present invention, the first acquisition module 101 is used to obtain the reference pulse time corresponding to each Hall pulse when the motor rotates to open / close the window under normal circumstances; the second acquisition module 102 is used to obtain the actual pulse time corresponding to the current Hall pulse when controlling the rotation of the motor; the control module 103 is used to output a second adjustment signal to the motor after continuing to rotate to make the actual motor current consistent with the corresponding reference motor current. Specifically, it also includes: outputting a second adjustment signal to the motor to gradually reduce the actual motor current so that when a preset number of Hall pulses are obtained again, the sum of the actual pulse time corresponding to the Hall pulse when the motor is subjected to resistance and the actual pulse time corresponding to the preset number of Hall pulses is equal to the sum of the reference pulse time corresponding to the Hall pulse when the motor is subjected to resistance and the reference pulse time corresponding to the preset number of Hall pulses.

[0073] In some embodiments of the present invention, the control module 103 performs corresponding protection actions specifically including: if the motor starts to rotate, or when the motor is rotating and the window is open, the motor is controlled to stop rotating and an alarm is issued; if the motor is rotating and the window is closed, the motor is controlled to rotate in the opposite direction to return the window to the initial position or a preset Hall pulse.

[0074] In some embodiments of the present invention, when controlling the motor to rotate, the control module 103 further includes: determining the number of Hall pulses; and performing positioning control on the vehicle window according to the number of pulses.

[0075] It should be noted that the specific implementation of the vehicle window control device in the embodiment of the present invention can refer to the specific implementation of the vehicle window control method in the above embodiment, which will not be described in detail here.

[0076] In summary, the vehicle window control device of the embodiment of the present invention can accurately calculate the anti-pinch position of the vehicle window, thereby achieving precise anti-pinch performance, ensuring the safety of the vehicle window, and greatly improving the user experience.

[0077] Figure 6 is a structural block diagram of a controller according to an embodiment of the present invention.

[0078] Furthermore, if Figure 6 As shown, the present invention proposes a controller 200, which includes a memory 201, a processor 202, and a window control program stored in the memory 201 and executable on the processor 202. When the processor 202 executes the program, the window control method of the above embodiment is implemented.

[0079] The controller of the embodiment of the present invention includes a memory and a processor. The processor executes the window control program stored in the memory, so as to accurately calculate the anti-pinch position of the window, thereby achieving precise anti-pinch effect, ensuring the safety of the window, and greatly improving the user experience.

[0080] Figure 7 is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0081] Furthermore, if Figure 7 As shown, the present invention proposes a vehicle 300, which includes the controller 200 in the above embodiment.

[0082] The vehicle of the embodiment of the present invention can accurately calculate the anti-pinch position of the window through the controller in the above embodiment, thereby achieving precise anti-pinch, ensuring the safety of the window, and greatly improving the user experience.

[0083] In addition, other structures and functions of the vehicle of the embodiment of the present invention are known to those skilled in the art and will not be described in detail here to reduce redundancy.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0085] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0086] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0087] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0088] In the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limitations of the present invention, and those skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A vehicle window control method, characterized in that: The method comprises: Obtain the reference motor current corresponding to each Hall pulse when the motor rotates to open / close the window under normal circumstances; When controlling the motor to rotate, obtaining the actual motor current corresponding to the current Hall pulse; If the actual motor current is greater than the reference motor current corresponding to the current Hall pulse and less than a preset current threshold, a first adjustment signal is output to the motor to enable the motor to overcome resistance and continue to rotate, and after the motor continues to rotate, a second adjustment signal is output to the motor to make the actual motor current consistent with the corresponding reference motor current; If the actual motor current is greater than the preset current threshold, a corresponding protection action is performed; The step of outputting a first regulating signal to the motor so that the motor overcomes the resistance and continues to rotate comprises: Outputting the first regulating signal to the motor to gradually increase the actual motor current so that the motor overcomes the resistance and continues to rotate until the Hall pulse is acquired again; The step of outputting a second regulating signal to the motor after the motor continues to rotate so that the actual motor current is consistent with the corresponding reference motor current comprises: Outputting the second regulating signal to the motor to gradually reduce the actual motor current so that the actual motor current is consistent with the corresponding reference motor current when a preset number of Hall pulses are acquired again; The method further comprises: Get the reference pulse time corresponding to each Hall pulse when the motor rotates to open / close the window under normal circumstances; When controlling the motor to rotate, obtaining the actual pulse time corresponding to the current Hall pulse; The step of outputting a second regulating signal to the motor after the motor continues to rotate so that the actual motor current is consistent with the corresponding reference motor current also includes: The second adjustment signal is output to the motor to gradually reduce the actual motor current so that when a preset number of Hall pulses are obtained again, the sum of the actual pulse time corresponding to the Hall pulse when the motor is subjected to resistance and the actual pulse time corresponding to the preset number of Hall pulses is equal to the sum of the reference pulse time corresponding to the Hall pulse when the motor is subjected to resistance and the reference pulse time corresponding to the preset number of Hall pulses.

2. The vehicle window control method according to claim 1, characterized in that: The obtaining of the actual motor current corresponding to the current Hall pulse includes: Obtaining the voltage across the sampling resistor corresponding to the current Hall pulse to obtain multiple groups of voltage sampling values; Acquire multiple current sampling values ​​according to the multiple groups of voltage sampling values ​​and the resistance value of the sampling resistor; An average value of the multiple current sampling values ​​is obtained to obtain an actual motor current corresponding to the current Hall pulse.

3. The vehicle window control method according to claim 2, characterized in that: The executing corresponding protection actions includes: If the motor starts to rotate, or when the motor is rotating and the window is open, the motor is controlled to stop rotating and an alarm is issued; If the motor is rotating and the window is closed, the motor is controlled to rotate in the reverse direction to return the window to an initial position or a preset Hall pulse.

4. The vehicle window control method according to any one of claims 1 to 3, characterized in that: When controlling the motor to rotate, the method further includes: Determine the number of Hall pulses; The vehicle window is positioned and controlled according to the number of pulses.

5. A vehicle window control device, used to implement the vehicle window control method according to any one of claims 1 to 4, characterized in that: The device comprises: The first acquisition module is used to obtain the reference motor current corresponding to each Hall pulse when the motor rotates to drive the window to open / close under normal circumstances; A second acquisition module is used to acquire an actual motor current corresponding to a current Hall pulse when controlling the rotation of the motor; A control module is used to output a first adjustment signal to the motor so that the motor overcomes resistance and continues to rotate if the actual motor current is greater than the reference motor current corresponding to the current Hall pulse and less than a preset current threshold, and output a second adjustment signal to the motor after continued rotation to make the actual motor current consistent with the corresponding reference motor current, and if the actual motor current is greater than the preset current threshold, perform a corresponding protection action.

6. A controller, characterized in that: include: A memory, a processor, and a vehicle window control program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle window control method according to any one of claims 1 to 4 is implemented.

7. A vehicle, characterized in that: Comprising a controller according to claim 6.

Images