Door glass lifting control method, device, terminal equipment and storage medium

Abstract

The present application relates to the field of vehicle control technology and proposes a method, apparatus, terminal device, and storage medium for controlling the lifting of vehicle door glass. The method includes: when detecting that the vehicle door glass is in a lifting state, obtaining the lifting parameters of the vehicle door glass; adjusting the power output of the drive motor of the vehicle door glass according to the system load and system inertia of the glass lifting and lowering, as well as the lifting parameters, to control the lifting of the vehicle door glass and stop it at a soft stop position. Since the resistance of the system load and the effects of system inertia will offset each other, and the position of the offset point can be changed by adjusting the power output of the drive motor, the accuracy of the vehicle door glass stopping at the soft stop position can be improved to a certain extent by simply adjusting the power output of the drive motor so that the position of the offset point is as close to the soft stop position as possible.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, terminal equipment and storage medium for controlling the lifting of vehicle door glass. Background Art

[0002] Vehicles are increasingly demanding higher stability for door glass lifts. Buffer blocks are typically placed at the top and bottom of the door glass lift, known as hard stops. However, reaching the hard stop position can produce significant impact and a jarring noise. Therefore, a pre-stop position, known as a soft stop, is placed a certain distance before the hard stop during the door glass lift stroke. This soft stop allows the door glass to be brought to a low-impact or zero-impact stop before the buffer block engages at the hard stop.

[0003] The conventional method for stopping the door glass from lifting is to cut off the power, that is, to turn off the power output of the door glass drive motor. However, the stop position of the door glass may shift under the influence of various factors, making it difficult to stop accurately at the soft stop position. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a method, apparatus, terminal device and storage medium for controlling the lifting of a vehicle door glass, which can improve the accuracy of stopping the vehicle door glass in a soft stop position.

[0005] A first aspect of an embodiment of the present application provides a method for controlling the lifting of a vehicle door glass, comprising:

[0006] When it is detected that the door glass is in a lifting state, obtaining lifting parameters of the door glass;

[0007] The power output of the driving motor of the door glass is adjusted according to the system load and system inertia of the glass lifting and lowering, as well as the lifting parameters, so as to control the lifting and lowering of the door glass and stop it at a soft stop position.

[0008] In an embodiment of the present application, when it is detected that the door glass is in a raised or lowered state, lifting parameters such as the door glass's lifting position and speed can be obtained. Based on the system load and inertia of the glass lift, as well as these lifting parameters, the power output of the door glass's drive motor is adjusted. In other words, the lifting power of the door glass is adjusted so that the door glass accurately stops at a soft stop position under the combined effects of the system load, system inertia, and lifting power. For example, since the resistance of the system load and the effects of system inertia tend to cancel each other out, adjusting the power output of the drive motor can change the location of the offset point. Therefore, simply adjusting the power output of the drive motor so that the offset point is as close to the soft stop position as possible can improve the accuracy of the door glass stopping at the soft stop position to a certain extent.

[0009] In one implementation of the embodiment of the present application, obtaining the lifting parameters of the door glass may include:

[0010] When it is detected that the vehicle door glass is raised or lowered to a first position that is a preset distance away from the soft stop position, the raising or lowering parameters of the vehicle door glass are acquired.

[0011] Specifically, the lifting parameters include the current lifting speed and current position of the door glass. Adjusting the power output of the door glass drive motor according to the system load and system inertia of the glass lifting and lowering and the lifting parameters may include:

[0012] Obtaining a pre-constructed lifting parameter calibration diagram; wherein the lifting parameter calibration diagram records the calibration speeds corresponding to each position within the travel range from the first position to the soft stop position, and the calibration speed corresponding to the soft stop position is 0;

[0013] The power output of the drive motor is adjusted according to the system load, the system inertia, the current lifting speed, the current position and the lifting parameter calibration map.

[0014] Furthermore, each of the positions includes a power-off calibration position, and a calibration speed corresponding to the power-off calibration position is a power-off calibration speed. When the door glass is raised or lowered to the power-off calibration position and the lifting speed is equal to the power-off calibration speed, if the drive motor turns off power output, the door glass is raised or lowered under the combined action of the system load and the system inertia and stops at the soft stop position. Adjusting the power output of the drive motor according to the system load, the system inertia, the current lifting speed, the current position, and the lifting parameter calibration map may include:

[0015] If the current position is between the first position and the power-off calibration position, searching the target calibration speed corresponding to the current position from the lifting parameter calibration map; if the current lifting speed is less than the target calibration speed, increasing the output power of the drive motor; if the current lifting speed is greater than the target calibration speed, reducing the output power of the drive motor;

[0016] If the current position is between the power-off calibration position and the soft stop position, the second position of the door glass at which the door glass is lifted and stopped under the combined action of the system load and the system inertia after the drive motor turns off the power output is calculated based on the current position and the current lifting speed; if the second position reaches the soft stop position, the power output of the drive motor is turned off.

[0017] Furthermore, the calculating, based on the current position and the current lifting speed, of the second position at which the door glass is lifted and stopped under the combined action of the system load and the system inertia after the drive motor turns off power output may include:

[0018] Calculating the current lifting acceleration of the door glass according to the current lifting speed;

[0019] calculating, based on the current lifting speed and the current lifting acceleration, a sliding distance of the door glass under the combined action of the system load and the system inertia after the drive motor turns off power output;

[0020] The second position is calculated according to the current position and the slip distance.

[0021] Furthermore, after calculating the current lifting acceleration of the door glass according to the current lifting speed, the method may further include:

[0022] Calculating the system load after the drive motor turns off power output based on the system weight of the door glass and the current lifting acceleration;

[0023] If the system load exceeds a preset threshold after the drive motor turns off power output, a preset alarm operation is executed.

[0024] Furthermore, after the drive motor is calculated to shut down its power output based on the current position and the current lifting speed, and the door glass is lifted and lowered and stops at the second position under the combined action of the system load and the system inertia, the method may further include:

[0025] If the second position does not reach the soft stop position, returning to the step of obtaining the lifting parameters of the door glass and subsequent steps;

[0026] If the second position exceeds the soft stop position, the drive motor is controlled to rotate in the reverse direction.

[0027] A second aspect of an embodiment of the present application provides a door glass lifting control device, comprising:

[0028] A lifting parameter acquisition module, configured to acquire the lifting parameters of the door glass when detecting that the door glass is in a lifting state;

[0029] The power output adjustment module is used to adjust the power output of the driving motor of the door glass according to the system load and system inertia of the glass lifting and lowering, as well as the lifting parameters, so as to control the lifting and lowering of the door glass and stop it at a soft stop position.

[0030] The third aspect of an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, it implements the door glass lifting and lowering control method provided in the first aspect of the embodiment of the present application.

[0031] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for controlling the lifting and lowering of a vehicle door glass provided in the first aspect of an embodiment of the present application is implemented.

[0032] The fifth aspect of the embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the door glass lifting and lowering control method provided by the first aspect of the embodiment of the present application.

[0033] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a flow chart of a method for controlling the lifting of a vehicle door glass provided in an embodiment of the present application;

[0035] Figure 2 This is a schematic structural diagram of a vehicle door glass provided in an embodiment of the present application;

[0036] Figure 3 This is a schematic diagram of a special position point set in the lifting stroke of a vehicle door glass provided by an embodiment of the present application;

[0037] Figure 4 This is a schematic diagram of a lifting parameter calibration diagram provided in an embodiment of the present application;

[0038] Figure 5 Schematic diagram of adjusting the output power of the drive motor according to the current lifting speed provided by an embodiment of the present application;

[0039] Figure 6 This is a schematic diagram of an operation flow of the door glass lifting control method provided by an embodiment of the present application in an actual scenario;

[0040] Figure 7 This is a structural framework diagram of a door glass lifting control device provided in an embodiment of the present application;

[0041] Figure 8 This is a schematic diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are provided to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present application with unnecessary details. In addition, in the description of the present application specification and the appended claims, the terms "first," "second," "third," etc. are only used to distinguish descriptions and are not to be understood as indicating or implying relative importance.

[0043] Currently, vehicle door glass lifts typically have both hard and soft stops within their travel range. To prevent the glass from experiencing significant impact before stopping, it's often necessary to control the glass to stop as close to the soft stop as possible. However, conventional methods for stopping the glass lift involve powering off. Due to the system load and inertia of the glass lift, the stop position of the glass can shift, making it difficult to accurately stop at the soft stop.

[0044] To address this issue, embodiments of the present application provide a method, apparatus, terminal device, and storage medium for controlling the lifting and lowering of vehicle door glass, which can improve the accuracy of stopping the vehicle door glass in the soft stop position. For more specific technical implementation details of the embodiments of the present application, please refer to the method embodiments described below.

[0045] It should be understood that the execution entities of the various method embodiments of the present application are various types of terminal devices or servers, such as mobile phones, tablet computers, wearable devices, vehicle controllers, vehicle terminals, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPCs), personal digital assistants (PDAs), etc. The embodiments of the present application do not impose any restrictions on the specific types of the terminal devices and servers.

[0046] See also Figure 1 , shows a method for controlling the lifting of a vehicle door glass provided by an embodiment of the present application, comprising:

[0047] 101. When it is detected that the door glass is in a lifting state, obtain the lifting parameters of the door glass.

[0048] The execution subject of the embodiment of the present application can generally be a vehicle-mounted terminal or a vehicle-mounted controller, which is communicatively connected with the vehicle's door window lifter, drive motor, and various sensors installed in the vehicle.

[0049] First, if the door glass lifter is detected to be in the operating state, it can be further detected whether the door glass is in the lifting state, that is, the rising state or the lowering state. In the embodiment of the present application, at least one soft stop position is set in the lifting stroke of the door glass. For example, when the door glass is rising, it is necessary to control the door glass to stop at the soft stop position near the upper end of the lifting stroke. When the door glass is lowering, it is necessary to control the door glass to stop at the soft stop position near the lower end of the lifting stroke.

[0050] If the door glass is detected to be in the lifting state, the lifting parameters of the door glass are obtained. The lifting parameters can be various parameters involved in the door glass lifting process, such as lifting speed, glass position, glass quality, friction coefficient between the glass and the vehicle frame, lifting time, output power of the door glass drive motor, etc.

[0051] Parameters such as lifting speed and glass position can be obtained through the door glass lifter. Specifically, the door glass lifter can obtain the corresponding glass Hall effect signal. By analyzing the signal frequency and signal quantity of the glass Hall effect signal, the current position (lifting height) and real-time lifting speed of the door glass can be determined. The specific method for determining the lifting speed and position of the door glass based on the glass Hall effect signal can be referred to the existing technology and will not be repeated here. The glass mass and the friction coefficient of components such as the glass and the vehicle frame are known fixed parameters, and the lifting time can be recorded in a register. The output power of the door glass drive motor can be calculated by obtaining the real-time voltage and frequency of the drive motor PWM (pulse width modulation) signal.

[0052] In one implementation of the embodiment of the present application, obtaining the lifting parameters of the door glass may include:

[0053] When it is detected that the door glass is raised or lowered to a first position that is a preset distance from the soft stop position, the raising or lowering parameters of the door glass are acquired.

[0054] By analyzing the glass Hall effect signal, the current position of the door glass can be determined. When the door glass is detected to have reached a position a preset distance from the soft stop position, the door glass lift parameters are acquired. This position is represented by a first position. The lift control method provided in this embodiment of the present application is equivalent to adding a fine-grained control process for the glass stop position, with the first position being the starting position for this fine-grained control process. For example, assuming the door glass needs to be lowered to the soft stop position, the first position is set a certain distance above the soft stop position. When the door glass reaches this first position, the fine-grained control process is initiated, executing the process described in step 102. In actual operation, a reasonable first position can be pre-calibrated through experimental testing. The purpose of setting the first position is that adding fine-grained control processing consumes system computing power. By simply initiating fine-grained control processing a certain distance (the first position) before the door glass reaches the soft stop position, the door glass can be accurately stopped at the soft stop position. This eliminates the need to initiate fine-grained control processing immediately after the door glass begins to rise or fall, thus saving some system computing power.

[0055] like Figure 2 As shown in the figure, it is a schematic diagram of the structure of the door glass, the upper part of which is the door glass, and the lower part is the slider, bracket, clip and bolts connected to the door glass. Figure 3 The figure shows a schematic diagram of a special position point set in the lifting stroke of the door glass. Figure 3The special position points set include the hard stop position, the soft stop position and the first position described above (the start position of fine control processing). Among them, the position at the bottom of the lifting stroke is the hard stop position, the position S1 distance above the hard stop position is the soft stop position, and the position S2 distance above the soft stop position is the first position.

[0056] 102. Adjust the power output of the door glass drive motor according to the system load and system inertia of the glass lifting and lowering, as well as the lifting and lowering parameters, to control the lifting and lowering of the door glass and stop it at the soft stop position.

[0057] After obtaining the lifting parameters of the door glass, the power output of the door glass drive motor can be adjusted according to the system load and system inertia of the glass lifting and lowering, as well as the lifting parameters. By adjusting the power output, the lifting power of the door glass can be adjusted. Combined with the combined effect of the system load and system inertia of the glass lifting and lowering, the door glass can be controlled to stop more accurately at the soft stop position.

[0058] The system load primarily considers the gravity of the door glass and its associated connecting components, as well as the friction between the door glass and the vehicle frame. System inertia is the inertia generated by the door glass system as it moves upward and downward. For example, when the door glass is lowered, the system inertia causes it to move downward, while the friction in the system load hinders its downward movement. This indicates that the resistance of the system load and the effects of system inertia offset each other. Adjusting the power output of the drive motor (for example, increasing, decreasing, or shutting off the power output) can change the location of the offset point. Therefore, simply by adjusting the power output of the drive motor to position the offset point as close as possible to the soft stop position, the accuracy of the door glass stopping at the soft stop position can be improved to a certain extent.

[0059] In one implementation of the embodiment of the present application, the lifting parameters include the current lifting speed and current position of the vehicle door glass. Adjusting the power output of the door glass drive motor based on the system load and system inertia of the glass lifting and lowering, as well as the lifting parameters, may include:

[0060] (1) Obtaining a pre-constructed lifting parameter calibration diagram; wherein the lifting parameter calibration diagram records the calibration speeds corresponding to each position within the travel range from the first position to the soft stop position, and the calibration speed corresponding to the soft stop position is 0;

[0061] (2) Adjust the power output of the drive motor according to the system load, system inertia, current lifting speed, current position and lifting parameter calibration diagram.

[0062] In the embodiment of the present application, a lifting parameter calibration diagram of the glass lifting system can be constructed in advance by calibration. The lifting parameter calibration diagram records the calibrated speeds corresponding to each position within the range of travel from the first position to the soft stop position, wherein the calibrated speed corresponding to the soft stop position is 0. Figure 4 As shown in FIG, a schematic diagram of a lifting parameter calibration diagram provided in an embodiment of the present application. Figure 4 In the figure, the horizontal axis represents the lifting stroke, d1 represents the first position, the lifting stroke of 0 corresponds to the hard stop position, and the position with a certain distance from the hard stop position is the soft stop position; the vertical axis corresponding to the horizontal axis represents the glass lifting speed corresponding to each position obtained through calibration, which is expressed as the calibration speed. Figure 4 It can be seen that when the door glass is raised to the first position d1, the corresponding calibrated speed is v1, when the door glass is raised to the position d2, the corresponding calibrated speed is v2, ... When the door glass is raised to the position d n When the corresponding calibration speed is v n The number of position points n set here can be reasonably determined based on actual needs. For example, to improve control accuracy, a larger number n can be set. During the calibration process, multiple experiments can be performed, and the results of these experiments are all consistent with the door glass finally stopping accurately at the soft stop position, that is, the calibration speed corresponding to the soft stop position is 0. During each experiment, the calibration speed corresponding to each position in the lifting stroke is recorded. Then, the results of all experiments are combined to perform statistical analysis (for example, taking the average) to finally obtain the lifting parameter calibration map.

[0063] After obtaining the lift parameter calibration map, the power output of the door glass drive motor can be adjusted based on the system load and inertia of the glass lift, as well as the current lift speed and position of the door glass. Specifically, the lift parameter calibration map can be used to determine the lift speed that the door glass should have when it reaches its current position (i.e., the calibration speed corresponding to the current position. Based on the lift parameter calibration map, it can be predicted that if the door glass is at this lift speed when it reaches the current position, it will eventually stop accurately at the soft stop position). If the current lift speed of the door glass does not match the calibration speed, the power output of the drive motor can be adjusted. For example, if the current lift speed is greater than the calibration speed, the power output of the drive motor can be reduced or disabled. If the current lift speed is less than the calibration speed, the power output of the drive motor can be increased. In other words, the power output of the drive motor is adjusted according to the lift parameter calibration map, thereby controlling the lift speed of the door glass to change according to the pattern in the lift parameter calibration map, ultimately ensuring that the door glass successfully stops at the soft stop position (corresponding to a calibration speed of 0).

[0064] Specifically, each position includes a power-off calibration position, and a calibration speed corresponding to the power-off calibration position is the power-off calibration speed. When the door glass is raised and lowered to the power-off calibration position and the lifting speed is equal to the power-off calibration speed, if the drive motor turns off power output, the door glass is raised and lowered under the combined action of the system load and system inertia and stops at the soft stop position. Adjusting the power output of the drive motor according to the system load, system inertia, current lifting speed, current position, and the lifting parameter calibration map may include:

[0065] (1) If the current position is between the first position and the power-off calibration position, the target calibration speed corresponding to the current position is found from the lifting parameter calibration diagram; if the current lifting speed is less than the target calibration speed, the output power of the drive motor is increased; if the current lifting speed is greater than the target calibration speed, the output power of the drive motor is reduced;

[0066] (2) If the current position is between the power-off calibration position and the soft stop position, the second position where the door glass is raised and lowered and stopped under the combined action of the system load and system inertia after the drive motor turns off the power output is calculated based on the current position and the current lifting speed; if the second position reaches the soft stop position, the power output of the drive motor is turned off.

[0067] In the lifting parameter calibration diagram, each calibrated position can include a power-off calibration position, and the calibration speed corresponding to the power-off calibration position is the power-off calibration speed. The power-off calibration position indicates the position where the drive motor is powered off (i.e., the power output is turned off) during the calibration experiment, and the power-off calibration speed indicates the lifting speed of the door glass when the drive motor is powered off during the calibration experiment. During the calibration experiment, when the door glass is lifted to the power-off calibration position, the drive motor is powered off. At this time, the door glass is lifted and stopped at the soft stop position under the combined action of the system load and system inertia. For example, Figure 4 In, d i It can represent the power-off calibration position, and its corresponding calibration speed v i This is the power-off calibration speed.

[0068] When controlling the power output of the drive motor according to the current lifting speed, current position and lifting parameter calibration diagram, the control method can be divided into two different parts according to the travel position of the door glass lifting. The first part of the control method is to adjust the output power of the drive motor according to the current lifting speed. The second part of the control method is to calculate the predicted stopping position of the door glass after the drive motor turns off the power output according to the current position and the current lifting speed, and adjust the power-off time of the drive motor based on the predicted stopping position.

[0069] If the current position of the door glass is between the first position and the power-off calibration position, the control method of the first part is adopted. At this time, the calibration speed corresponding to the current position is found from the lifting parameter calibration diagram and expressed as the target calibration speed; if the current lifting speed is less than the target calibration speed, the output power of the drive motor is increased according to the setting method, so that the actual lifting speed can be adjusted toward the calibration speed; if the current lifting speed is greater than the target calibration speed, the output power of the drive motor is reduced according to the setting method, which can also adjust the actual lifting speed toward the calibration speed; if the current lifting speed is equal to the target calibration speed, there is no need to adjust the output power of the drive motor.

[0070] like Figure 5 , which is a schematic diagram of adjusting the output power of the drive motor according to the current lifting speed. Figure 5 and Figure 4 Compared with the above, an actual lifting speed curve of the door glass is added. Curve 1 represents Figure 4 The calibration curve in the figure shows the actual lifting speed change curve. If the current position of the door glass is between the first position and the power-off calibration position, the corresponding Figure 5 D1 to D i-1 , the control method of the first part is used, that is, the output power of the drive motor is adjusted according to the current lifting speed. For example, assuming the current position is d1, the corresponding target calibration speed v1 can be found through the calibration curve, and then the current lifting speed v1' of the door glass is compared with v1. If △v1=v1'-v1>0, it means that the current lifting speed is greater than the target calibration speed. At this time, the output power P of the drive motor is reduced; if △v1=v1'-v1<0, it means that the current lifting speed is less than the target calibration speed. At this time, the output power P of the drive motor is increased. From d1 to d i-1 Each position point in the region can adopt the same control method. For example, when the door glass is raised and lowered to position d2, the actual lifting speed v2' can be compared with the calibrated speed v2 to determine whether to increase or decrease the output power P of the drive motor, and so on.

[0071] If the current position of the door glass is between the power-off calibration position and the soft stop position, the second part of the control method is adopted. At this time, the predicted position where the door glass will rise and fall and stop under the combined action of the system load and system inertia after the drive motor turns off the power output can be calculated based on the current position and the current lifting speed. This position is represented by the second position; if the predicted second position happens to reach the soft stop position, the power output of the drive motor can be turned off. Subsequently, the door glass can stop at the soft stop position more accurately under the combined action of the system load and system inertia.

[0072] Likewise Figure 5For example, if the current position of the door glass is between the power-off calibration position and the soft stop position, the corresponding Figure 5 Medium i to d n If the door glass is in the area of ​​the vehicle's movement (or soft stop position), the second control method is used. At this time, based on the current position and current lifting speed of the door glass, the predicted position where the door glass would rise and fall and stop under the combined action of system load and system inertia if the power output of the drive motor is currently turned off is calculated. If the predicted position happens to reach the soft stop position, the drive motor can be controlled to turn off the power output.

[0073] Furthermore, the calculation of the second position at which the door glass is lifted and stopped under the combined action of the system load and the system inertia after the drive motor turns off power output based on the current position and the current lifting speed may include:

[0074] (1) Calculate the current lifting acceleration of the door glass based on the current lifting speed;

[0075] (2) Based on the current lifting speed and current lifting acceleration, calculate the sliding distance of the door glass under the combined action of the system load and system inertia after the drive motor turns off the power output;

[0076] (3) Calculate the second position based on the current position and the sliding distance.

[0077] When calculating the predicted second position, the current lifting acceleration of the door glass can be calculated based on the current lifting speed of the door glass. The lifting acceleration can be calculated using the corresponding time interval t between two adjacent position points and the actual lifting speed corresponding to the two adjacent position points. For example, if the current position is d i , the current lifting speed is v i ', the previous position adjacent to the current position is d i-1 , d i-1 The corresponding actual lifting speed is v i-1 ', then the current lifting acceleration a=(v i '-v i-1 ') / t, t represents the door glass from position d i-1 Lift to position d i The time can be recorded in real time. Then, based on the current lifting speed and the current lifting acceleration, the sliding distance of the door glass under the combined action of the system load and system inertia after the drive motor turns off the power output can be calculated. Since the corresponding lifting speed is 0 when the door glass slides, according to the motion formula in physics, v can be obtained. 2 =2as, that is, s=v 2 / 2a, where s represents the sliding distance, v represents the current lifting speed, and a represents the current lifting acceleration. After calculating the sliding distance, the predicted position where the door glass stops, i.e. the second position, can be calculated based on the current position and sliding distance. For example, Figure 5 If the current position is d i After calculating the slip distance s, the second position can be determined to be at d i to the right of d i Positions s apart.

[0078] Furthermore, after calculating the current lifting acceleration of the door glass according to the current lifting speed, the following steps may be further performed:

[0079] (1) Based on the system weight of the door glass and the current lifting acceleration, calculate the system load after the drive motor turns off the power output;

[0080] (2) If the system load exceeds the preset threshold after the drive motor shuts off the power output, the preset alarm operation is executed.

[0081] In addition, after calculating the current lifting acceleration of the door glass, the system load after the drive motor turns off its power output, that is, the load of the glass lifting system, can also be calculated based on the system weight of the door glass and the current lifting acceleration. For example, the driving force of the drive motor on the glass lifting system can be calculated using the formula F(t)=P / v, where F(t) represents the driving force, P represents the output power of the drive motor, and v represents the glass lifting speed. Next, the system load can be calculated using the formula f(t)=F(t)-M*a=P / vM*a, where f(t) represents the system load, M represents the system weight of the door glass, generally including the mass of the door glass and components such as the slider, bracket, clip, and bolt connected to the door glass, and a represents the lifting acceleration. When the drive motor turns off its power output, P=0, so the system load f(t)=-M*a. If the system load -M*a at this time exceeds a preset threshold (for example, the maximum power P of the drive motor), then the system load can be calculated. max ), indicating excessive system load, which could put the door glass lifting process at risk of becoming uncontrollable. Therefore, preset alarm actions can be executed, such as outputting an alarm message, urgently restoring drive motor power output, or implementing other protective measures. By monitoring system load, the safety and stability of door glass lifting control can be further improved.

[0082] Furthermore, after the drive motor is calculated to shut down the power output based on the current position and the current lifting speed, and the door glass is lifted and stopped at the second position under the combined action of the system load and the system inertia, the method may further include:

[0083] (1) If the second position does not reach the soft stop position, return to the step of obtaining the lifting parameters of the door glass and subsequent steps;

[0084] (2) If the second position exceeds the soft stop position, the drive motor is controlled to reverse.

[0085] After the second position is calculated, there are three possible situations when comparing the second position with the soft stop position. In the first situation, the second position just reaches the soft stop position. Assuming that the current position of the door glass is d i , the soft stop position is d0, the sliding distance is s, then if d i -s=d0, it means that the second position has just reached the soft stop position, and the power output of the drive motor can be directly turned off. i -s>d0, which means that if the drive motor is currently powered off, the final stop position of the door glass cannot reach the soft stop position, so the power off time needs to be delayed. At this time, return to execute to obtain the lifting parameters of the door glass, that is, maintain the power output of the drive motor, and wait for the next position to recalculate the predicted stop position. The third case is that the second position exceeds the soft stop position, that is, d i -s<d0, which means that if the drive motor is currently powered off, the final stop position of the door glass will exceed the soft stop position. In this case, even if the drive motor is powered off immediately, the system load cannot completely offset the effect of system inertia. Therefore, the drive motor can be reversed (reverse output power) to use the motor driving force and system load to jointly offset the effect of system inertia. In addition, for the third type of situation, a certain false positive protection mechanism can be added. For example, when a certain position point detects d i When -s<d0, the drive motor is not immediately controlled to reverse, but waits for the next position point to recalculate the predicted stop position. If d is calculated for m consecutive position points, i -s<d0, then the drive motor is controlled to reverse. After the drive motor is controlled to reverse, if d is calculated at a subsequent position point i -s=d0, you can stop the reverse rotation of the drive motor.

[0086] In the above description, if the current position of the door glass is between the first position and the power-off calibration position, the control method of the first part is adopted; if the current position of the door glass is between the power-off calibration position and the soft stop position, the control method of the second part is adopted. However, in reality, it is feasible to adopt the control method of the first part or the control method of the second part throughout the entire lifting stroke of the door glass, and both can achieve the effect of improving the accuracy of the door glass stopping at the soft stop position. Compared with the control method of the first part, the control method of the second part can achieve higher control accuracy, but the system computing power required is also greater. Therefore, the combination of the two control methods described above is a preferred embodiment.

[0087] In an embodiment of the present application, when it is detected that the vehicle door glass is in a lifting state, the lifting parameters such as the lifting position and lifting speed of the vehicle door glass can be obtained, and then the power output of the driving motor of the vehicle door glass is adjusted according to these lifting parameters, that is, the lifting power of the vehicle door glass is adjusted, and then combined with the system load and system inertia of the glass lifting, the vehicle door glass can be stopped more accurately at the soft stop position.

[0088] like Figure 6The figure shows an operational flow diagram of the door glass lifting control method provided by an embodiment of the present application in an actual scenario. First, when it is detected that the glass lifter is in the working state, it is detected whether the door glass is in the lifting state; if the door glass is in the lifting state, and it is determined through the glass Hall signal that the door glass has reached the set function start position (the first position described above), then the fine control processing of the glass stop position is started. Specifically, the real-time position and real-time lifting speed and other parameters of the door glass can be determined through the glass Hall signal, and the driving power of the driving motor can be calculated using the voltage and frequency applied in real time by the driving motor PWM signal. Then, according to parameters such as the glass position and the glass lifting speed, the power output of the driving motor can be controlled (for example, the PWM output can be adjusted). The specific control method can refer to the description above. Through the prediction calculation of the glass stop position, it can be determined whether the door glass can reach the soft stop position after the motor is powered off. If so, the drive motor is powered off. After the motor is powered off, the glass position can also be detected in real time through the glass Hall signal to determine whether the door glass finally stops at the soft stop position. If it stops at the soft stop position, the control algorithm ends, otherwise it returns to the step of determining the real-time position and real-time lifting speed and other parameters of the door glass through the glass Hall signal. If the predicted stop position of the door glass is not the soft stop position, it is further determined whether the predicted stop position exceeds the soft stop position or does not reach the soft stop position. If it does not reach the soft stop position, the power output of the drive motor is maintained and the step of determining the real-time position and real-time lifting speed and other parameters of the door glass through the glass Hall signal is returned, waiting for the judgment of the next position point; if it exceeds the soft stop position, the excess system inertia can be offset by instantaneously reversing the drive motor, and then the drive motor is controlled to be powered off. By adopting Figure 6 The operation process shown can effectively improve the accuracy of stopping the door glass in the soft stop position.

[0089] To sum up, the embodiment of the present application starts the fine control of the glass stop position at a certain position before the soft stop position, comprehensively considers the combined effects of motor driving force, system load and system inertia, and ultimately achieves the door glass stopping more accurately at the soft stop position.

[0090] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0091] The above mainly describes a method for controlling the lifting of a vehicle door glass. The following will describe a device for controlling the lifting of a vehicle door glass.

[0092] See also Figure 7 In one embodiment of the present application, a door glass lifting control device includes:

[0093] A lifting parameter acquisition module 701 is used to acquire the lifting parameters of the door glass when it is detected that the door glass is in a lifting state;

[0094] The power output adjustment module 702 is used to adjust the power output of the driving motor of the vehicle door glass according to the system load and system inertia of the glass lifting and lowering, as well as the lifting parameters, so as to control the lifting and lowering of the vehicle door glass and stop it at a soft stop position.

[0095] In one implementation of the embodiment of the present application, the lifting parameter acquisition module may include:

[0096] The lifting parameter acquisition unit is used to acquire the lifting parameters of the door glass when it is detected that the door glass is lifted to a first position that is a preset distance away from the soft stop position.

[0097] Specifically, the lifting parameters include the current lifting speed and current position of the door glass, and the power output adjustment module may include:

[0098] a calibration map acquiring unit, configured to acquire a pre-constructed lifting parameter calibration map; wherein the lifting parameter calibration map records the calibration speeds corresponding to each position within the travel range from the first position to the soft stop position, and the calibration speed corresponding to the soft stop position is 0;

[0099] A power output adjustment unit is used to adjust the power output of the drive motor according to the system load, the system inertia, the current lifting speed, the current position and the lifting parameter calibration map.

[0100] Furthermore, the various positions include a power-off calibration position, and a calibration speed corresponding to the power-off calibration position is a power-off calibration speed. When the door glass is raised or lowered to the power-off calibration position and the raising or lowering speed is equal to the power-off calibration speed, if the drive motor turns off power output, the door glass is raised or lowered and stops at the soft stop position under the combined action of the system load and the system inertia. The power output adjustment unit may include:

[0101] a first power control subunit, configured to, if the current position is between the first position and the power-off calibration position, search the lifting parameter calibration map for a target calibration speed corresponding to the current position; if the current lifting speed is less than the target calibration speed, increase the output power of the drive motor; and if the current lifting speed is greater than the target calibration speed, reduce the output power of the drive motor;

[0102] The second power control subunit is used to calculate, based on the current position and the current lifting speed, a second position at which the door glass is lifted and stopped under the combined action of the system load and the system inertia after the drive motor turns off the power output, if the current position is between the power-off calibration position and the soft stop position; and to turn off the power output of the drive motor if the second position reaches the soft stop position.

[0103] Furthermore, the second power control subunit may include:

[0104] an acceleration calculation subunit, configured to calculate a current lifting acceleration of the door glass according to the current lifting speed;

[0105] a slip distance calculation subunit, configured to calculate, based on the current lifting speed and the current lifting acceleration, a slip distance of the door glass under the combined effects of the system load and the system inertia after the drive motor turns off power output;

[0106] The stop position calculation subunit is configured to calculate the second position according to the current position and the sliding distance.

[0107] Furthermore, the second power control subunit may further include:

[0108] a system load calculation subunit, configured to calculate the system load after the drive motor turns off power output based on the system weight of the door glass and the current lifting acceleration;

[0109] The alarm subunit is used to execute a preset alarm operation if the system load exceeds a preset threshold after the drive motor turns off the power output.

[0110] Furthermore, the power output adjustment unit may further include:

[0111] a step returning subunit, configured to return to the step of obtaining the lifting parameters of the door glass and subsequent steps if the second position does not reach the soft stop position;

[0112] The motor reversal control subunit is used to control the drive motor to reverse if the second position exceeds the soft stop position.

[0113] An embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for controlling the lifting and lowering of the vehicle door glass as described in any of the above embodiments is implemented.

[0114] An embodiment of the present application also provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the method for controlling the lifting and lowering of the vehicle door glass as described in any of the above embodiments.

[0115] Figure 8 This is a schematic diagram of a terminal device provided by an embodiment of the present application. Figure 8 As shown, the terminal device 8 of this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80. When the processor 80 executes the computer program 82, the steps in the above-mentioned embodiments of the door glass lifting control method are implemented, such as Figure 1 Alternatively, when the processor 80 executes the computer program 82, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 7 Functions of modules 701 to 702 are shown.

[0116] The computer program 82 may be divided into one or more modules / units, which are stored in the memory 81 and executed by the processor 80 to implement the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 82 in the terminal device 8.

[0117] The processor 80 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0118] The memory 81 can be an internal storage unit of the terminal device 8, such as a hard drive or memory of the terminal device 8. The memory 81 can also be an external storage device of the terminal device 8, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped with the terminal device 8. Furthermore, the memory 81 can include both an internal storage unit of the terminal device 8 and an external storage device. The memory 81 is used to store the computer program and other programs and data required by the terminal device. The memory 81 can also be used to temporarily store data that has been output or is about to be output.

[0119] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0120] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0121] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0122] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0123] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0124] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0125] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0126] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the processes in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0127] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for controlling the lifting of a vehicle door glass, characterized in that: When it is detected that the door glass is in a lifting state, obtaining lifting parameters of the door glass; When the door glass reaches the first position, the fine control of the glass stop position is initiated; The precise control of the glass stop position includes adjusting the power output of the door glass drive motor according to the glass lifting system load and system inertia, as well as the lifting parameters, to control the door glass to lift and stop at a soft stop position; the first position is located before the door glass reaches the soft stop position and is at a preset distance from the soft stop position; The lifting parameters include the current lifting speed and current position of the door glass. The power output of the driving motor of the door glass is adjusted according to the system load and system inertia of the glass lifting and lowering and the lifting parameters, including: Obtaining a pre-constructed lifting parameter calibration map; wherein the lifting parameter calibration map records calibration speeds corresponding to various positions within a travel range from the first position to the soft stop position, wherein the calibration speed corresponding to the soft stop position is 0; wherein the various positions include a power-off calibration position, wherein the calibration speed corresponding to the power-off calibration position is the power-off calibration speed; and when the vehicle door glass is lifted to the power-off calibration position and the lifting speed is equal to the power-off calibration speed, if the drive motor turns off power output, the vehicle door glass is lifted and stopped at the soft stop position under the combined action of the system load and the system inertia; If the current position is between the first position and the power-off calibration position, searching the target calibration speed corresponding to the current position from the lifting parameter calibration map; if the current lifting speed is less than the target calibration speed, increasing the output power of the drive motor; if the current lifting speed is greater than the target calibration speed, reducing the output power of the drive motor; If the current position is between the power-off calibration position and the soft stop position, a second position is calculated based on the current position and the current lifting speed, at which the door glass is lifted and stopped under the combined action of the system load and the system inertia after the drive motor turns off power output; if the second position reaches the soft stop position, the power output of the drive motor is turned off; If the second position does not reach the soft stop position, returning to the step of obtaining the lifting parameters of the door glass and subsequent steps, maintaining the power output of the drive motor, and waiting to enter the next position point to recalculate the predicted stop position; If the second position exceeds the soft stop position, the drive motor is controlled to rotate in the reverse direction.

2. The method according to claim 1, wherein The obtaining of the lifting parameters of the door glass includes: When it is detected that the vehicle door glass is raised or lowered to a first position that is a preset distance away from the soft stop position, the raising or lowering parameters of the vehicle door glass are acquired.

3. The method according to claim 1, wherein The calculating, based on the current position and the current lifting speed, of a second position at which the door glass is lifted and stopped under the combined action of the system load and the system inertia after the drive motor turns off power output comprises: Calculating the current lifting acceleration of the door glass according to the current lifting speed; calculating, based on the current lifting speed and the current lifting acceleration, a sliding distance of the door glass under the combined action of the system load and the system inertia after the drive motor turns off power output; The second position is calculated according to the current position and the slip distance.

4. The method according to claim 3, wherein After calculating the current lifting acceleration of the door glass according to the current lifting speed, the method further includes: Calculating the system load after the drive motor turns off power output based on the system weight of the door glass and the current lifting acceleration; If the system load exceeds a preset threshold after the drive motor turns off power output, a preset alarm operation is executed.

5. A door glass lifting control device, characterized in that: A lifting parameter acquisition module, configured to acquire the lifting parameters of the door glass when detecting that the door glass is in a lifting state; A power output adjustment module is used to start fine control of the glass stop position when the door glass reaches the first position; The precise control of the glass stop position includes adjusting the power output of the door glass drive motor according to the glass lifting system load and system inertia, as well as the lifting parameters, to control the door glass to lift and stop at a soft stop position; the first position is located before the door glass reaches the soft stop position and is at a preset distance from the soft stop position; The lifting parameters include the current lifting speed and current position of the door glass, and the power output adjustment module includes: a calibration map acquisition unit, configured to acquire a pre-constructed lifting parameter calibration map; wherein the lifting parameter calibration map records calibration speeds corresponding to respective positions within a travel range from the first position to the soft stop position, wherein the calibration speed corresponding to the soft stop position is 0; wherein the respective positions include a power-off calibration position, wherein the calibration speed corresponding to the power-off calibration position is the power-off calibration speed; and when the vehicle door glass is lifted to the power-off calibration position and the lifting speed is equal to the power-off calibration speed, if the drive motor turns off power output, the vehicle door glass is lifted and stopped at the soft stop position under the combined action of the system load and the system inertia; The power output adjustment module includes: a first power control subunit, configured to, if the current position is between the first position and the power-off calibration position, search the lifting parameter calibration map for a target calibration speed corresponding to the current position; if the current lifting speed is less than the target calibration speed, increase the output power of the drive motor; and if the current lifting speed is greater than the target calibration speed, reduce the output power of the drive motor; a second power control subunit, configured to calculate, based on the current position and the current lifting speed, a second position at which the door glass is lifted and stopped under the combined action of the system load and the system inertia after the drive motor turns off power output, if the current position is between the power-off calibration position and the soft stop position; and to turn off the power output of the drive motor if the second position reaches the soft stop position; The power output adjustment module further includes: a step return subunit, configured to return to the step of obtaining the lifting parameters of the door glass and subsequent steps if the second position does not reach the soft stop position, maintain the power output of the drive motor, and wait for entering the next position point to recalculate the predicted stop position; The motor reversal control subunit is used to control the drive motor to reverse if the second position exceeds the soft stop position.

6. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for controlling the lifting of the vehicle door glass according to any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for controlling the lifting of a vehicle door glass according to any one of claims 1 to 4 is implemented.

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