Electric tailgate control system

Abstract

The embodiment of the present application provides an electric tailgate control system, comprising: a strut speed regulation module for obtaining the actual position information, actual speed and motor running direction, motor startup duration, target speed, and pulse width modulation (PWM) value of the motor at the current moment; a strut running state detection module for determining the running state of the motor and the running state of the electric tailgate based on the motor running direction and motor startup duration at the current moment; an anti-pinch threshold setting module for obtaining the anti-pinch force of the electric tailgate and determining a first anti-pinch threshold based on the anti-pinch force of the electric tailgate, the running state of the motor, and the running state of the electric tailgate; an anti-pinch threshold compensation module for determining a target anti-pinch threshold based on the PWM value; and an anti-pinch judgment module for controlling the electric tailgate to perform an anti-pinch action when the target value is greater than the target anti-pinch threshold. The embodiment of the present application prevents users from being pinched by the electric tailgate.

Description

Technical Field

[0001] The present application belongs to the field of automotive electronics technology, and in particular relates to an electric tailgate control system. Background Art

[0002] In real life, electric tailgate control systems are generally required to have an anti-pinch feature to prevent users from being pinched by electric tailgates. However, existing technologies typically install sensors such as millimeter-wave radars, ultrasonic signal sensors, and infrared sensors in the electric tailgate struts to detect obstacles based on the sensor signals. However, this method places special demands on the electric tailgate's structure and, therefore, cannot prevent user pinching injuries. Summary of the Invention

[0003] An embodiment of the present application provides an electric tailgate control system, which prevents users from being pinched by the electric tailgate.

[0004] In a first aspect, an embodiment of the present application provides an electric tailgate control system, the system comprising:

[0005] The strut speed control module is used to obtain the actual position information, actual speed and direction of the motor at the current moment, as well as the start-up time of the motor, and determine the target speed based on the actual position information of the motor at the current moment, and determine the pulse width modulation (PWM) value based on the target speed and the actual speed of the motor at the current moment.

[0006] A support rod operation state detection module is used to determine the operation state of the motor and the operation state of the electric tailgate according to the motor operation direction and the motor start-up time at the current moment;

[0007] The anti-pinch threshold setting module is used to obtain the anti-pinch force of the electric tailgate and determine the first anti-pinch threshold according to the anti-pinch force of the electric tailgate, the operating state of the motor and the operating state of the electric tailgate.

[0008] The anti-pinch threshold compensation module is used to compensate the first anti-pinch threshold to obtain the target anti-pinch threshold when the PWM value is greater than the preset threshold, or to determine the first anti-pinch threshold as the target anti-pinch threshold when the PWM value is less than or equal to the preset threshold.

[0009] The anti-pinch judgment module is used to control the electric tailgate to perform anti-pinch action when the target value is greater than the target anti-pinch threshold. The target value is the difference between the target speed and the actual speed, and the ratio to the target speed.

[0010] In an optional implementation of the first aspect, a bidirectional Hall sensor is provided inside the motor, and the bidirectional Hall sensor integrates a first Hall device and a second Hall device.

[0011] In an optional implementation of the first aspect, the strut speed regulation module includes a Hall calculation module.

[0012] A Hall calculation module is used for obtaining the first Hall value and the first phase direction of the first Hall device at the current moment, as well as the second Hall value and the second phase direction of the second Hall device at the current moment, and based on the first Hall value, the second Hall value, the first phase direction and the second phase direction, obtaining the actual position information, actual speed and motor running direction of the motor at the current moment.

[0013] In an optional embodiment of the first aspect, the Hall calculation module is used to determine that the first Hall value of the first Hall device at the current moment is the actual position information of the motor at the current moment, and to determine that the second Hall value of the second Hall device at the current moment is the actual speed of the motor at the current moment, and to determine the running direction of the motor based on the first phase direction and the second phase direction.

[0014] In an optional embodiment of the first aspect, the support rod operation status detection module is used for the support rod operation status detection module to determine the operation status of the electric tailgate based on the motor operation direction of the motor at the current moment, the operation status of the electric tailgate includes a stopped state, an open state or a closed state, and when the operation status of the electric tailgate is an open state or a closed state, the operation status of the motor is determined based on the start-up time of the motor, and the operation status of the motor includes a started state or a stable operation state.

[0015] In an optional implementation of the first aspect, the anti-pinch threshold setting module is used to measure the anti-pinch force of the electric tailgate when the motor is in a stable operating state, and determine the first anti-pinch threshold based on the anti-pinch force of the electric tailgate.

[0016] In an optional implementation of the first aspect, the anti-pinch threshold setting module is further used to obtain a second anti-pinch threshold when the running state of the motor is the starting state, and the second anti-pinch threshold is greater than the first anti-pinch threshold.

[0017] The anti-pinch threshold compensation module is used to determine the second anti-pinch threshold as the target anti-pinch threshold.

[0018] In an optional implementation of the first aspect, the strut speed regulation process further includes a target speed setting module.

[0019] The target speed setting module is used to set the corresponding relationship between position information and speed according to the opening process or closing process of the electric tailgate, and determine the target speed corresponding to the actual position information based on the corresponding relationship between position information and speed.

[0020] In an optional embodiment of the first aspect, the opening or closing process of the electric tailgate includes an acceleration stage, a constant speed stage, and a deceleration stage. The initial speed set in the acceleration stage is V init And the speed increment ΔV per operating cycle.

[0021] In an optional implementation of the first aspect, the strut speed regulation module further includes a proportional integral controller PI calculation module,

[0022] The PI calculation module is used to determine the difference between the target speed and the actual speed as the target difference, and determine the sum of the product of the first parameter and the target difference and the integral of the product of the second parameter and the target difference as the PWM value.

[0023] In an embodiment of the present application, the electric tailgate control system may include a strut speed control module, a strut operating state detection module, an anti-pinch threshold setting module, an anti-pinch threshold compensation module, and an anti-pinch determination module. Based on this, the strut speed control module may obtain the actual position information, actual speed, and motor operating direction of the motor at the current moment, as well as the motor startup time. A target speed may be determined based on the actual position information of the motor at the current moment, and a pulse width modulation (PWM) value may be determined based on the target speed and the actual speed of the motor at the current moment. Furthermore, the strut operating state detection module may determine the operating state of the motor and the operating state of the electric tailgate based on the motor operating direction and the motor startup time. Based on this, the anti-pinch threshold setting module may obtain the anti-pinch force of the electric tailgate and determine a first anti-pinch threshold based on the anti-pinch force, the operating state of the motor, and the operating state of the electric tailgate. The anti-pinch threshold step size module may then determine whether to compensate for the first anti-pinch threshold based on a comparison result of the PWM value with a preset threshold value to obtain a target anti-pinch threshold. Finally, the anti-pinch determination module may control the electric tailgate to perform an anti-pinch action if the target value is greater than the target anti-pinch resistance value. In this way, the user is prevented from being pinched. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 Schematic diagram of the structure of an electric tailgate control system provided by an embodiment of the present application;

[0026] Figure 2 Schematic diagram of the phases of Hall A and Hall B provided in an embodiment of the present application;

[0027] Figure 3Schematic diagram of judging the operating status of the electric tailgate provided in an embodiment of the present application;

[0028] Figure 4 Schematic diagram of the actual speed and target speed of the electric tailgate after performing the anti-pinch action according to an embodiment of the present application;

[0029] Figure 5 Schematic diagram of the stages of the electric tailgate opening or closing process provided by an embodiment of the present application;

[0030] Figure 6 Schematic diagram of the actual speed and target speed of the electric tailgate before the anti-pinch action is performed according to an embodiment of the present application;

[0031] Figure 7 It is a flow chart of an electric tailgate control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0033] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0034] The term "and / or" in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0035] In order to solve the problem of users being pinched that cannot be avoided in the existing technology, an embodiment of the present application provides an electric tailgate control system. The method can be because the electric tailgate control system can include a support rod speed regulation module, a support rod operation status detection module, an anti-pinch threshold setting module, an anti-pinch threshold compensation module and an anti-pinch judgment module. Based on this, the strut speed control module can obtain the actual position information, actual speed, and motor direction of the motor at the current moment, as well as the motor startup time. A target speed can be determined based on the actual position information of the motor at the current moment, and a pulse width modulation (PWM) value can be determined based on the target speed and the actual speed of the motor at the current moment. The strut operation status detection module can then determine the motor operation status and the electric tailgate operation status based on the motor operation direction and motor startup time at the current moment. Based on this, the anti-pinch threshold setting module can obtain the anti-pinch force of the electric tailgate and determine a first anti-pinch threshold based on the anti-pinch force, the motor operation status, and the electric tailgate operation status. The anti-pinch threshold step size module can then determine whether to compensate for the first anti-pinch threshold based on a comparison result between the PWM value and a preset threshold to obtain a target anti-pinch threshold. Finally, the anti-pinch determination module can control the electric tailgate to perform an anti-pinch action if the target value is greater than the target anti-pinch resistance value. This prevents users from being pinched.

[0036] The electric tailgate control system provided in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0037] Figure 1 Schematic diagram of the structure of an electric tailgate control system provided in an embodiment of the present application.

[0038] like Figure 1 As shown, the electric tailgate control system 10 may include a strut speed regulating module 11, a strut operation state detecting module 12, an anti-pinch threshold setting module 13, an anti-pinch threshold compensation module 14 and an anti-pinch judgment module 15.

[0039] The strut speed control module 11 is used to obtain the actual position information, actual speed and running direction of the motor at the current moment, as well as the start-up time of the motor, and determine the target speed based on the actual position information of the motor at the current moment, and determine the pulse width modulation (PWM) value based on the target speed and the actual speed of the motor at the current moment.

[0040] The support rod operation state detection module 12 is used to determine the operation state of the motor and the operation state of the electric tailgate according to the motor operation direction and the motor start-up time at the current moment;

[0041] The anti-pinch threshold setting module 13 is used to obtain the anti-pinch force of the electric tailgate and determine the first anti-pinch threshold according to the anti-pinch force of the electric tailgate, the operating state of the motor and the operating state of the electric tailgate.

[0042] The anti-pinch threshold compensation module 14 is used to compensate the first anti-pinch threshold to obtain a target anti-pinch threshold when the PWM value is greater than the preset threshold, or to determine the first anti-pinch threshold as the target anti-pinch threshold when the PWM value is less than the preset threshold.

[0043] The anti-pinch judgment module 15 is used to control the electric tailgate to perform an anti-pinch action when the target value is greater than the target anti-pinch threshold. The target value is the difference between the target speed and the actual speed, and the ratio of the target speed to the target speed.

[0044] The motor startup duration may be the duration from the motor startup moment to the current moment. The target speed may be a speed that matches the actual position information of the motor at the current moment. The pulse width modulation (PWM) value may be a value determined based on the target speed and the actual speed of the motor at the current moment, and used as a basis for subsequently determining whether to compensate for the anti-pinch threshold. The preset threshold may be a threshold pre-set based on actual experience or circumstances, and used to determine whether to compensate for the first anti-pinch threshold.

[0045] In some embodiments, the operating state of the motor mentioned above may be the operating state of the motor at the current moment, and correspondingly, the operating state of the electric tailgate may be the operating state of the electric tailgate at the current moment.

[0046] Specifically, the strut speed control module can first obtain the actual position information of the motor at the current moment, the actual speed of the motor at the current moment, the motor running direction of the motor at the current moment, and the start-up duration of the motor. Based on this, the strut speed control module can determine the target speed based on the actual position information of the motor at the current moment, and can also determine the PWM value based on the target speed and the actual speed of the motor at the current moment.

[0047] Then, the support rod operation state detection module can determine the operation state of the motor and the operation state of the electric tailgate based on the motor operation direction and the motor startup time length at the current moment obtained by the support rod speed regulation module.

[0048] Then, the anti-pinch threshold setting module can obtain the anti-pinch force of the electric tailgate, and then determine the first anti-pinch threshold based on the anti-pinch force of the electric tailgate, and the operating status of the motor and the operating status of the electric tailgate determined by the support rod operating status detection module.

[0049] Next, the anti-pinch threshold compensation module can determine whether to compensate the first anti-pinch threshold based on a comparison result between the PWM value determined by the strut speed control module and a preset threshold value to obtain a target anti-pinch threshold. Specifically, if the PWM value is greater than the preset threshold value, the first anti-pinch threshold value is compensated to obtain the target anti-pinch threshold value; or if the PWM value is less than or equal to the preset threshold value, the first anti-pinch threshold value is determined to be the target anti-pinch resistance value.

[0050] Finally, after the strut speed control module obtains the target speed, the anti-pinch judgment module can determine the difference between the target speed and the actual speed, and the ratio to the target speed as the target value, and then control the electric tailgate to perform the anti-pinch action when the target value is greater than the target anti-pinch threshold.

[0051] In an embodiment of the present application, the electric tailgate control system may include a strut speed control module, a strut operating state detection module, an anti-pinch threshold setting module, an anti-pinch threshold compensation module, and an anti-pinch determination module. Based on this, the strut speed control module may obtain the actual position information, actual speed, and motor operating direction of the motor at the current moment, as well as the motor startup time. A target speed may be determined based on the actual position information of the motor at the current moment, and a pulse width modulation (PWM) value may be determined based on the target speed and the actual speed of the motor at the current moment. Furthermore, the strut operating state detection module may determine the operating state of the motor and the operating state of the electric tailgate based on the motor operating direction and the motor startup time. Based on this, the anti-pinch threshold setting module may obtain the anti-pinch force of the electric tailgate and determine a first anti-pinch threshold based on the anti-pinch force, the operating state of the motor, and the operating state of the electric tailgate. The anti-pinch threshold step size module may then determine whether to compensate for the first anti-pinch threshold based on a comparison result of the PWM value with a preset threshold value to obtain a target anti-pinch threshold. Finally, the anti-pinch determination module may control the electric tailgate to perform an anti-pinch action if the target value is greater than the target anti-pinch resistance value. In this way, the user is prevented from being pinched.

[0052] In some embodiments, a bidirectional Hall sensor may be provided inside the motor, and the bidirectional Hall sensor integrates a first Hall device and a second Hall device.

[0053] Based on this, the strut speed control module can include a Hall calculation module,

[0054] The Hall calculation module is used to obtain the first Hall value and first phase direction of the first Hall device at the current moment, as well as the second Hall value and second phase direction of the second Hall device at the current moment, and based on the first Hall value, the second Hall value, the first phase direction and the second phase direction, obtain the actual position information, actual speed and motor running direction of the motor at the current moment.

[0055] Specifically, since a bidirectional Hall sensor can be set inside the motor, and the bidirectional Hall sensor integrates the first Hall device and the second Hall device, the Hall calculation module included in the strut speed control module can obtain the first Hall value of the first Hall device at the current moment and the first phase direction of the first Hall device at the current moment, as well as the second Hall value of the second Hall device at the current moment and the second phase direction of the second Hall device at the current moment, and then based on the obtained first Hall value, second Hall value, first phase direction and second phase direction, the actual position information of the motor at the current moment, the actual speed of the motor at the current moment and the motor running direction of the motor at the current moment can be obtained.

[0056] In this embodiment, the motor is internally integrated with a bidirectional Hall effect sensor, which includes a first Hall element and a second Hall element. Based on this structure, the Hall effect calculation module can accurately obtain the actual position information, actual speed, and running direction of the motor at the current moment based on the first Hall effect value and first phase direction of the first Hall effect device at the current moment, and the second Hall effect value and second phase direction of the second Hall effect device at the current moment.

[0057] In order to more accurately describe the Hall calculation module in the electric tailgate control system provided in the embodiment of the present application, in one embodiment, the Hall calculation module involved above can also be used to determine that the first Hall value of the first Hall device at the current moment is the actual position information of the motor at the current moment, and determine that the second Hall value of the second Hall device at the current moment is the actual speed of the motor at the current moment, and determine the running direction of the motor based on the first phase direction and the second phase direction.

[0058] In one example, assuming that a bidirectional Hall sensor has two Hall devices integrated inside, HallA can be used to represent the first Hall device, and HallB can be used to represent the second Hall device. Therefore, the Hall calculation module can obtain the first Hall value corresponding to HallA at the current moment and the second Hall value corresponding to HallB at the current moment through the bidirectional Hall sensor deployed inside the motor. Among them, the first Hall value is used to calculate the actual position information of the motor at the current moment, and the second Hall value is used to calculate the actual speed of the motor at the current moment. In addition, the Hall calculation module can determine the motor running direction at the current moment based on the phase direction of HallA and HallB.

[0059] In one example, if Figure 2As shown in the figure, after Hall A jumps, if the first phase direction of Hall A and the second phase direction of Hall B are in the same direction, the motor is currently running in the increasing direction. After Hall A jumps, if the first phase direction of Hall A and the second phase direction of Hall B are in opposite directions, the motor is currently running in the reverse direction.

[0060] Based on this, in one embodiment, the above-mentioned support rod operation status detection module can also be used to determine the motor operation direction of the motor at the current moment to determine the operation status of the electric tailgate. The operation status of the electric tailgate includes a stopped state, an open state or a closed state. When the operation status of the electric tailgate is an open state or a closed state, the operation status of the motor is determined based on the start-up time of the motor. The operation status of the motor includes a started state or a stable operation state.

[0061] Specifically, the support rod operation state detection module included in the electric tailgate control system can determine the operation state of the electric tailgate based on the motor operation direction obtained at the current moment. The operation state of the electric tailgate can include a stopped state, an open state, or a closed state.

[0062] In one example, if the motor is currently rotating in the increasing direction, the electric tailgate is in the open state. If the motor is currently rotating in the reverse direction, the electric tailgate is in the closed state. If no edge occurs in Hall A or Hall B, the electric tailgate is in the stopped state.

[0063] Based on this, the prop operating state detection module included in the electric tailgate control system can also be used to determine the operating state of the motor based on the motor startup time when the electric tailgate is in the open or closed state. The motor operating state can include the startup state or the stable operation state.

[0064] It should be noted that, since the motor's speed can fluctuate dramatically upon startup due to its characteristics, subsequent analysis of the different motor states is required. Therefore, the propeller operating state detection module can determine the motor's operating state based on the motor's startup duration, when the electric tailgate is in the open or closed state. Specifically, if the motor's startup duration is within a first preset duration, the motor's operating state may be the startup state; if the motor's startup duration is within a second preset duration, the motor's operating state may be the stable operating state. The sum of the first and second preset durations may be the total time required for the electric tailgate to open or close. Alternatively, the first preset duration may be a time period calculated by extending the preset duration from the motor startup time, and the second preset duration may be the difference between the total duration and the first preset duration. Since the total duration for opening or closing the electric tailgate varies for different electric tailgates, the total duration may be a duration determined based on actual experience and is not specifically limited here. The preset duration may be a time period pre-set based on actual experience or circumstances and is not specifically limited here.

[0065] In addition, it should be noted that the relationship between the various operating states of the electric tailgate can be as follows: Figure 3 For example, when the electric tailgate is in the closed state, it can be converted to the open state by receiving the door opening command, and when the electric tailgate is in the open state, it can be converted to the stopped state by receiving the stop command. Figure 3 .

[0066] It should be noted that if Figure 4 As shown in the figure, when the motor is in the startup state, the speed fluctuates dramatically due to motor characteristics, making it impossible to determine the anti-pinch function based on the difference between the actual and target speeds. Therefore, a separate determination is required at this stage. When the motor is in a stable state, that is, when the actual and target speeds are well matched, the electric tailgate can be controlled to operate at the fitted actual speed. Therefore, the target anti-pinch threshold determined later will be different depending on the motor's operating state.

[0067] Based on this, in one embodiment, the anti-pinch threshold setting module mentioned above can be used to measure the anti-pinch force of the electric tailgate when the motor is in a stable operating state, and determine the first anti-pinch threshold based on the anti-pinch force of the electric tailgate.

[0068] Specifically, when the motor is in a stable operating state, the anti-pinch threshold setting module mentioned above can measure the anti-pinch force of the electric tailgate, and then determine the first anti-pinch threshold based on the anti-pinch force of the electric tailgate.

[0069] In another embodiment, the anti-pinch threshold setting module mentioned above can also be used to obtain a second anti-pinch threshold when the running state of the motor is the starting state, and the second anti-pinch threshold is greater than the first anti-pinch threshold.

[0070] Based on this, the anti-pinch threshold compensation module mentioned above can also be used to determine the second anti-pinch threshold as the target anti-pinch threshold.

[0071] Specifically, when the motor is in the starting state, the above-mentioned threshold setting module can obtain the second anti-pinch threshold, where the second anti-pinch threshold is greater than the first anti-pinch threshold. Subsequently, based on the anti-pinch threshold compensation module, the second anti-pinch threshold can be directly determined as the target anti-pinch threshold.

[0072] In one embodiment, the above-mentioned strut speed regulation process further includes a target speed setting module.

[0073] The target speed setting module is used to set the corresponding relationship between position information and speed according to the opening or closing process of the electric tailgate, and determine the target speed corresponding to the actual position information based on the corresponding relationship between position information and speed.

[0074] Specifically, the target speed setting module can set the correspondence between position information and speed based on the opening or closing process of the electric tailgate, and then after obtaining the actual position information of the motor at the current moment, it can determine the target speed corresponding to the actual position information based on the correspondence between the position information and the speed.

[0075] In one embodiment, the opening or closing process of the electric tailgate includes an acceleration phase, a constant speed phase, and a deceleration phase. The initial speed set in the acceleration phase is V init And the speed increment ΔV per operating cycle.

[0076] In one example, the corresponding relationship between the position information and the speed mentioned above can be as follows: Figure 5 As shown in the figure, the process of opening or closing the electric tailgate can be divided into acceleration stage, constant speed stage and deceleration stage. The acceleration stage can be achieved by setting the initial speed V init And the speed increment ΔV per operation cycle, the target speed in the acceleration phase = V init +ΔV. The target speed of the deceleration stage is mainly obtained by linear fitting by setting the uniform speed corresponding to the deceleration stage and the cutoff speed corresponding to the deceleration stage. The specific speed setting depends on the actual situation and will not be described in detail here.

[0077] In one embodiment, the difference between the target speed and the actual speed is determined as a target difference, and the sum of the product of the first parameter and the target difference and the integral of the product of the second parameter and the target difference is determined as the PWM value.

[0078] Specifically, after determining the target speed corresponding to the actual position information of the motor at the current moment, the electric tailgate control system can calculate the difference between the target speed and the actual speed, and then calculate the pulse width modulation (PWM) value based on the difference. The difference between the target speed and the actual speed can be as follows: Figure 6 shown.

[0079] The specific calculation of the PWM value based on the difference between the target speed and the actual speed can be shown in formula (1):

[0080] PWM=K p *V 误差 +∫(K I *V 误差 ) (1)

[0081] Among them, V 误差 is the difference between the target speed and the actual speed, K p is the proportionality coefficient, K I is the integration coefficient.

[0082] Based on the above content, the embodiment of the present application also provides an electric tailgate control method, which can be Figure 7 As shown, the electric tailgate control method may include the following steps:

[0083] S101, obtaining the actual position information, actual speed and running direction of the motor at the current moment, as well as the starting time, target speed and PWM value of the motor.

[0084] S102: Determine the operating status of the electric tailgate. Specifically, the operating status of the electric tailgate is determined based on the current motor direction. If the electric tailgate is stopped, execute S111. If the electric tailgate is open or closed, execute S103.

[0085] S103, judging the running state of the motor. Specifically, based on the motor startup time, the running state of the motor is determined. If the running state of the motor is a stable running state, S104 is executed. If the running state of the motor is a startup state, S109 is executed.

[0086] S104: Determine a first anti-pinch threshold. Specifically, obtain the anti-pinch force of the electric tailgate, and determine the first anti-pinch threshold based on the anti-pinch force of the electric tailgate.

[0087] S105: Determine whether the PWM value is greater than a preset threshold. If so, execute S110; if not, execute S106.

[0088] S106: Determine a target anti-pinch threshold.

[0089] Specifically, when the motor is in a steady-state operating state and the PWM value is greater than a preset threshold, the first anti-pinch threshold is compensated to obtain a target anti-pinch threshold. When the PWM value is less than or equal to the preset threshold, the first anti-pinch threshold is determined to be the target anti-pinch threshold. When the motor is in a startup state, the second anti-pinch threshold is determined to be the target anti-pinch threshold.

[0090] S107, determine whether the target value is greater than the target anti-pinch threshold, if so, execute S108, if not, execute S111.

[0091] S108, executing anti-pinch action.

[0092] S109: Obtain a second anti-pinch threshold.

[0093] S110 , compensating the first anti-pinch threshold.

[0094] S111, end.

[0095] In an embodiment of the present application, the actual position information, actual speed, and direction of the motor at the current moment, as well as the startup time, target speed, and pulse width modulation (PWM) value of the motor can be obtained. The operating state of the motor and the operating state of the electric tailgate can then be determined based on the motor's current direction and startup time. The operating state of the motor can be determined when the electric tailgate is in an open or closed state. Furthermore, when the motor is in a stable operating state, a first anti-pinch threshold can be determined. Comparing the PWM value with a preset threshold value determines whether to compensate for the first anti-pinch threshold to obtain a target anti-pinch threshold. Furthermore, when the motor is in a startup state, a second anti-pinch threshold can be obtained, and the second anti-pinch threshold can be determined as the target anti-pinch threshold. Based on this, the electric tailgate can be controlled to perform an anti-pinch action when the target value is greater than the target anti-pinch resistance value. This prevents users from being pinched.

[0096] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0097] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0098] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0099] The above reference is made to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure, and describes various aspects of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable electric tailgate control device to produce a machine so that these instructions executed by the processor of the computer or other programmable electric tailgate control device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It is also understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0100] The above is only a specific implementation method of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. An electric tailgate control system, characterized in that: include: The strut speed control module is used to obtain the actual position information, actual speed and running direction of the motor at the current moment, as well as the start-up time of the motor, and determine the target speed based on the actual position information of the motor at the current moment, and determine the pulse width modulation (PWM) value based on the target speed and the actual speed of the motor at the current moment. a support rod operation state detection module, for determining the operation state of the motor and the operation state of the electric tailgate according to the motor operation direction of the motor at a current moment and the start-up time of the motor; an anti-pinch threshold setting module, configured to obtain the anti-pinch force of the electric tailgate and determine a first anti-pinch threshold according to the anti-pinch force of the electric tailgate, the operating state of the motor, and the operating state of the electric tailgate; an anti-pinch threshold compensation module, configured to compensate the first anti-pinch threshold to obtain a target anti-pinch threshold when the PWM value is greater than a preset threshold, or to determine the first anti-pinch threshold as the target anti-pinch threshold when the PWM value is less than or equal to the preset threshold, The anti-pinch judgment module is used to control the electric tailgate to perform an anti-pinch action when a target value is greater than the target anti-pinch threshold. The target value is the ratio of the difference between the target speed and the actual speed to the target speed.

2. The system according to claim 1, wherein: A bidirectional Hall sensor is provided inside the motor, and a first Hall device and a second Hall device are integrated inside the bidirectional Hall sensor.

3. The system according to claim 2, characterized in that The strut speed control module includes a Hall calculation module, The Hall calculation module is used to obtain the first Hall value and first phase direction of the first Hall device at the current moment, as well as the second Hall value and second phase direction of the second Hall device at the current moment, and based on the first Hall value, the second Hall value, the first phase direction and the second phase direction, obtain the actual position information, actual speed and motor running direction of the motor at the current moment.

4. The system according to claim 3, characterized in that The Hall calculation module is used to determine the first Hall value of the first Hall device at the current moment as the actual position information of the motor at the current moment, and to determine the second Hall value of the second Hall device at the current moment as the actual speed of the motor at the current moment, and to determine the running direction of the motor based on the first phase direction and the second phase direction.

5. The system according to any one of claims 1 to 4, characterized in that: The support rod operation status detection module is used to determine the operation status of the electric tailgate based on the motor operation direction of the motor at the current moment. The operation status of the electric tailgate includes a stopped state, an open state or a closed state. When the operation status of the electric tailgate is an open state or a closed state, the operation status of the motor is determined based on the start-up time of the motor. The operation status of the motor includes a started state or a stable operation state.

6. The system according to claim 5, characterized in that The anti-pinch threshold setting module is used to measure the anti-pinch force of the electric tailgate when the motor is in a stable operating state, and determine a first anti-pinch threshold based on the anti-pinch force of the electric tailgate.

7. The system according to claim 5, characterized in that The anti-pinch threshold setting module is further used to obtain a second anti-pinch threshold when the running state of the motor is the starting state, and the second anti-pinch threshold is greater than the first anti-pinch threshold. The anti-pinch threshold compensation module is used to determine the second anti-pinch threshold as the target anti-pinch threshold.

8. The system according to claim 1, wherein: The strut speed regulation process also includes a target speed setting module, The target speed setting module is used to set the corresponding relationship between position information and speed according to the opening process or closing process of the electric tailgate, and determine the target speed corresponding to the actual position information based on the corresponding relationship between position information and speed.

9. The system according to claim 8, characterized in that The opening or closing process of the electric tailgate includes an acceleration phase, a constant speed phase and a deceleration phase. The initial speed set in the acceleration phase is V init And the speed increment ΔV per operating cycle.

10. The system according to claim 8 or 9, characterized in that The strut speed regulation module also includes a proportional integral controller PI calculation module, The PI calculation module is used to determine the difference between the target speed and the actual speed as the target difference, and determine the sum of the product of the first parameter and the target difference and the integral of the product of the second parameter and the target difference as the PWM value.

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