Compensation method and device for vehicle window ripple, vehicle and storage medium

Abstract

The application relates to a method and device for compensating a window ripple, a vehicle and a storage medium. The method comprises the following steps: recording a time length from a motor starting to detecting a first ripple, and acquiring generation time points of multiple ripples after detecting the first ripple; acquiring a ripple frequency according to the generation time points of the multiple ripples, and generating an initial compensation value of the first ripple based on the ripple frequency and the generation time points; correcting the initial compensation value according to a current starting parameter of the motor to obtain a final compensation value, and compensating the window ripple by using the final compensation value. The embodiment of the application can compensate the ripple at the motor starting moment, and correct the compensated ripple, so that the anti-pinch position accuracy of the window is improved, and the use experience of a user is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle window ripple compensation, and in particular to a vehicle window ripple compensation method and device, a vehicle, and a storage medium. BACKGROUND

[0002] Automated vehicle window demand is increasing, and the use of vehicle window anti-pinch functions is becoming more and more widespread. Compared with Hall anti-pinch technology for vehicle windows, ripple anti-pinch technology is gradually replacing the market due to its low cost advantage.

[0003] However, in related technologies, the position accuracy control of ripple anti-pinch technology for vehicle windows is still not as good as that of Hall anti-pinch technology. The main reason is that ripple technology extracts the ripple of the motor for counting, and the accuracy is reduced due to the inability to collect the motor ripple at the moment of motor start, thereby affecting the user experience, which needs to be improved. SUMMARY

[0004] The present application provides a vehicle window ripple compensation method, device, vehicle, and storage medium to solve the technical problem that in related technologies, the ripple cannot be collected at the moment of motor start, resulting in low anti-pinch position accuracy of the vehicle window and affecting the user experience.

[0005] The first aspect of the present application provides a vehicle window ripple compensation method, comprising the following steps: recording the time length of the first ripple detected after the motor starts, and obtaining the generation time of a plurality of ripples after the first ripple is detected; obtaining the ripple frequency according to the generation time of the plurality of ripples, and generating an initial compensation value of the first ripple based on the ripple frequency and the generation time; and correcting the initial compensation value according to the current start parameter of the motor to obtain a final compensation value, so as to compensate the vehicle window ripple using the final compensation value.

[0006] According to the above technical means, the present application can compensate the ripple at the moment of motor start, and correct the compensated ripple, thereby improving the anti-pinch position accuracy of the vehicle window and improving the user experience.

[0007] Optionally, in one embodiment of the present application, the step of obtaining the ripple frequency according to the generation time of the plurality of ripples, and generating the initial compensation value of the first ripple based on the ripple frequency and the generation time, comprises: inputting the time length, the ripple frequency, and the generation time into a preset initial compensation calculation formula to obtain the initial compensation value.

[0008] According to the above technical means, the present application can obtain the initial compensation value using the preset compensation calculation formula.

[0009] Optionally, in an embodiment of the present application, the step of correcting the initial compensation value according to the current starting parameter of the motor to obtain a final compensation value comprises: correcting the proportionality coefficient under the preset reference environment and the ripple frequency by using a plurality of test proportionality coefficients obtained by performing window test on the motor under different voltages and different ambient temperatures to obtain a corrected proportionality coefficient and a corrected ripple frequency; and inputting the corrected proportionality coefficient and the corrected ripple frequency into the preset compensation calculation formula to obtain the final compensation value.

[0010] According to the above technical means, the proportionality coefficient and the ripple frequency in the preset compensation calculation formula can be corrected to obtain the final compensation value.

[0011] Optionally, in an embodiment of the present application, before the step of correcting the proportionality coefficient under the preset reference environment and the ripple frequency by using a plurality of test proportionality coefficients obtained by performing window test on the motor under different voltages and different ambient temperatures to obtain a corrected proportionality coefficient and a corrected ripple frequency, the method further comprises: recording a reference sampling voltage under the preset reference environment; recording displacement values of the window and a number of ripples obtained in a preset time period, and calculating a test ripple frequency in the preset time period, by powering on for at least two times; calculating a number of ripples corresponding to a unit displacement based on the displacement values of the window and the number of ripples to obtain at least one group of theoretical ripple values; comparing the at least one group of theoretical ripple values with the number of ripples detected in the preset time period to obtain a test compensation value; and inputting the test compensation value and the test ripple frequency into the preset compensation calculation formula to obtain the test proportionality coefficient.

[0012] According to the above technical means, the sampling point voltage can be introduced as a change value describing the external environment of the window to correct the compensation value of the motor starting ripple number, so that the corrected final compensation value is obtained to improve the anti-pinch position accuracy of the window.

[0013] Optionally, in an embodiment of the present application, the step of correcting the proportionality coefficient under the preset reference environment and the ripple frequency by using a plurality of test proportionality coefficients obtained by performing window test on the motor under different voltages and different ambient temperatures to obtain a corrected proportionality coefficient and a corrected ripple frequency comprises: obtaining a current sampling voltage according to the current starting parameter of the motor; and fitting the corrected proportionality coefficient and the corrected ripple frequency based on the test proportionality coefficient, the reference sampling voltage and the current sampling voltage.

[0014] According to the above technical means, a plurality of test data can be fitted by a fitting method to obtain the corrected proportionality coefficient and the corrected ripple frequency, thereby improving the overall accuracy.

[0015] The second aspect embodiment of the application provides a device for compensating window ripple, comprising: a recording module configured to record a time length of a first ripple detected after starting a motor and to obtain time points of generation of multiple ripples after detecting the first ripple; a generating module configured to obtain a ripple frequency according to the time points of generation of the multiple ripples and to generate an initial compensation value of the first ripple based on the ripple frequency and the time points of generation; and a compensating module configured to correct the initial compensation value according to a current starting parameter of the motor to obtain a final compensation value, and to compensate the window ripple by using the final compensation value.

[0016] Optionally, in one embodiment of the application, the generating module comprises a first calculation unit configured to input the time length, the ripple frequency and the time points of generation into a preset compensation calculation formula to obtain the initial compensation value.

[0017] Optionally, in one embodiment of the application, the compensating module comprises a testing unit configured to correct a proportionality coefficient in the preset reference environment and the ripple frequency by using multiple testing proportionality coefficients obtained by testing the motor under different voltages and different ambient temperatures to obtain a corrected proportionality coefficient and a corrected ripple frequency; and a second calculation unit configured to input the corrected proportionality coefficient and the corrected ripple frequency into a preset compensation calculation formula to obtain the final compensation value.

[0018] Optionally, in one embodiment of the application, the compensating module further comprises a recording unit configured to record a reference sampling voltage in the preset reference environment; a third calculation unit configured to record displacement values of a window and a number of ripples obtained in a preset time period, and to calculate a testing ripple frequency in the preset time period when the motor is powered on for at least two times; a fourth calculation unit configured to calculate a number of ripples corresponding to a unit displacement based on the displacement values of the window and the number of ripples to obtain at least one group of ripple theoretical values; a comparison unit configured to compare the at least one group of ripple theoretical values with the number of ripples detected in the preset time period to obtain a testing compensation value; and a fifth calculation unit configured to input the testing compensation value and the testing ripple frequency into the preset compensation calculation formula to obtain the testing proportionality coefficient.

[0019] Optionally, in one embodiment of the application, the testing unit comprises an obtaining sub-unit configured to obtain a current sampling voltage according to a current starting parameter of the motor; and a fitting sub-unit configured to fit the corrected proportionality coefficient and the corrected ripple frequency based on the testing proportionality coefficient, the reference sampling voltage and the current sampling voltage.

[0020] The third aspect of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the compensation method for window ripple as described in the above embodiments.

[0021] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program executable by a processor to implement the compensation method for window ripple as described above.

[0022] The beneficial effects of the embodiments of the present application are as follows:

[0023] (1) The embodiments of the present application can use the ripple frequency and the ripple generation time to preliminarily compensate for the window ripple.

[0024] (2) The embodiments of the present application can use the sampling point voltage as a change value describing the external environment of the window, and introduce the variable to correct the compensation value of the motor start ripple number, so as to obtain the corrected final compensation value, thereby improving the anti-pinch position accuracy of the window.

[0025] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0027] Figure 1 A flow chart of a compensation method for window ripple according to an embodiment of the present application;

[0028] Figure 2 A schematic diagram of a motor start ripple according to an embodiment of the present application;

[0029] Figure 3 A flow chart of a compensation method for window ripple according to an embodiment of the present application;

[0030] Figure 4 A structural schematic diagram of a compensation device for window ripple according to an embodiment of the present application;

[0031] Figure 5 A structural schematic diagram of a vehicle according to an embodiment of the present application.

[0032] Wherein, 10 is a compensation device for window ripple; 100 is a recording module, 200 is a generating module, and 300 is a compensation module. DETAILED DESCRIPTION

[0033] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0034] The method, device, vehicle and storage medium for compensating for a window ripple of an embodiment of the present application are described below with reference to the drawings. In view of the technical problems in the related art mentioned in the background, the first ripple cannot be collected at the moment of starting the motor, resulting in low accuracy of the anti-pinch position of the window and affecting the user experience. The present application provides a method for compensating for a window ripple, in which the ripples generated after the first ripple is detected are used to obtain the frequency of the ripples, and the ripples detected within the time period from the first ripple to the motor starting are compensated for according to the frequency of the ripples and the time of generation of the ripples, and the initial compensation value is corrected according to the current starting parameters of the motor to obtain the final compensation value, so as to compensate for the window ripple by using the final compensation value, thereby improving the accuracy of the anti-pinch position of the window and improving the user experience. Thus, the technical problem that the first ripple cannot be collected at the moment of starting the motor in the related art, resulting in low accuracy of the anti-pinch position of the window and affecting the user experience is solved.

[0035] Specifically, Figure 1 A flowchart of a method for compensating for a window ripple provided by an embodiment of the present application is shown.

[0036] As Figure 1 shown, the method for compensating for a window ripple includes the following steps:

[0037] In step S101, the time period from the first ripple detected after the motor starts is recorded, and the time of generation of a plurality of ripples after the first ripple is detected is obtained.

[0038] As Figure 2 shown, an important parameter of the ripple motor is the time of generation of the ripple, which is affected by the motor model, input voltage, environmental factors, running load and other factors. At the same time, the longer the generation time is, the more ripples are lost. Therefore, the present application records the time period from the first ripple detected after the motor starts to be less than a certain time period, such as less than or equal to 20 ms, and continuously records the time of generation of a plurality of consecutive ripples after the first ripple is detected.

[0039] In step S102, the frequency of the ripples is obtained according to the time of generation of the ripples, and the initial compensation value of the first ripple is generated based on the frequency of the ripples and the time of generation.

[0040] In actual implementation, the embodiment of the present application can obtain the ripple frequency according to the generation time of multiple consecutive ripples after the first ripple, thereby generating an initial compensation value of the first ripple based on the ripple frequency and the generation time.

[0041] The calculation formula for the ripple frequency can be:

[0042] v 标 = / t 标 ,

[0043] Among them, v 标 is the ripple frequency, n is the number of ripples (can be 8), t 标 To produce the moment.

[0044] Optionally, in one embodiment of the present application, the ripple frequency is obtained according to the generation time of multiple ripples, and the initial compensation value of the first ripple is generated based on the ripple frequency and the generation time, including: inputting the duration, ripple frequency and generation time into a preset initial compensation calculation formula to obtain the initial compensation value.

[0045] As a possible implementation method, the embodiment of the present application can use a preset initial compensation calculation formula, take the duration, ripple frequency and generation time as input, and output an initial compensation value.

[0046] The preset initial compensation calculation formula may be:

[0047] N 初 =0* 标 ,

[0048] Among them, N 初 is the initial compensation value, and t0 is the duration of the first ripple detected after the motor starts.

[0049] In step S103 , the initial compensation value is corrected according to the current starting parameters of the motor to obtain a final compensation value, so as to compensate the window ripple using the final compensation value.

[0050] Those skilled in the art will understand that the frequency of the motor is low at the moment of starting, and the frequency of the ripple is different under different voltages and load conditions. Therefore, the embodiment of the present application needs to correct it to obtain the final compensation value, and use the final compensation value to compensate for the window ripple.

[0051] Optionally, in an embodiment of the present application, the initial compensation value is corrected according to the current starting parameters of the motor to obtain a final compensation value, including: correcting the proportionality coefficient and the ripple frequency under the preset reference environment by using a plurality of test proportionality coefficients obtained by performing a window test on the motor under different voltages and different ambient temperatures to obtain a corrected proportionality coefficient and a corrected ripple frequency; and inputting the corrected proportionality coefficient and the corrected ripple frequency into a preset compensation calculation formula to obtain the final compensation value.

[0052] As a possible implementation manner, in the embodiment of the present application, the proportionality coefficient and the ripple frequency under the preset reference environment are corrected by using a plurality of test proportionality coefficients obtained by performing a window test on the motor under different voltages and different ambient temperatures to obtain a corrected proportionality coefficient and a corrected ripple frequency, and the corrected proportionality coefficient and the corrected ripple frequency are input into a preset compensation calculation formula to obtain a final compensation value, so that the window ripple is compensated by using the final compensation value, thereby improving the anti-pinch position accuracy of the window and improving the user experience.

[0053] It should be noted that the preset compensation calculation formula will be described below.

[0054] Optionally, in an embodiment of the present application, before the proportionality coefficient and the ripple frequency under the preset reference environment are corrected by using a plurality of test proportionality coefficients obtained by performing a window test on the motor under different voltages and different ambient temperatures to obtain a corrected proportionality coefficient and a corrected ripple frequency, the method further includes: recording a reference sampling voltage under the preset reference environment; energizing and recording a displacement value of the window and a number of ripples obtained in a preset time period for at least twice, and calculating a test ripple frequency in the preset time period; calculating a number of ripples corresponding to a unit displacement based on the displacement value of the window and the number of ripples to obtain at least one group of ripple theoretical values; comparing the at least one group of ripple theoretical values with the number of ripples detected in the preset time period to obtain a test compensation value; and inputting the test compensation value and the test ripple frequency into a preset compensation calculation formula to obtain a test proportionality coefficient.

[0055] Here, the preset compensation calculation formula is described, which can be:

[0056] N 补 =kvt+λ,

[0057] wherein N 补 is the test compensation value, k is the proportionality coefficient, v is the test ripple frequency, t is the preset time period, and λ is a correction number.

[0058] In actual execution, the embodiment of the present application can first record a reference sampling voltage u0 under a preset reference environment, such as 13.5V and 15℃, and record a window displacement value S by energizing for a fixed time for multiple times.

[0059] For example, the embodiment of the present application can perform power-on test within fixed time 500 ms, 1000 ms, record two displacements S1, S2, and record the number of ripples N1, N2 obtained at the same time, and then calculate the number of ripples corresponding to unit displacement:

[0060] ΔN / ΔS=(N2-N1) / (S2-S1).

[0061] Further, by reselecting time for power-on test, such as 50 ms, 100 ms, 200 ms, 500 ms, etc., and recording displacements S1, S2, S3, S4, etc. corresponding to the running of the vehicle window, the number of ripples corresponding to the displacement theory is recorded and compared with the number of ripples directly obtained, and the test compensation value can be obtained from multiple sets of data, and N 补1 , N 补2 , N 补3 , N 补4 , etc. and v1, v2, v3, v4, etc.

[0062] The embodiment of the present application can input multiple test compensation values and test ripple frequency into the preset compensation calculation formula to obtain test proportion coefficients k1, k2, k3, k4, etc.

[0063] Optionally, in an embodiment of the present application, multiple test proportion coefficients obtained by testing the vehicle window of the motor under different voltages and different environmental temperatures are used to correct the proportion coefficient and the ripple frequency under the preset reference environment to obtain the corrected proportion coefficient and the corrected ripple frequency, including: obtaining the current sampling voltage according to the current starting parameter of the motor; based on the test proportion coefficient, the reference sampling voltage and the current sampling voltage, the corrected proportion coefficient and the corrected ripple frequency are fitted.

[0064] In actual execution process, the embodiment of the present application can obtain the current sampling voltage u according to the current starting parameter of the motor, and utilize the test proportion coefficient, the reference sampling voltage and the current sampling voltage to fit the corrected proportion coefficient and the corrected ripple frequency. For example, based on the different test times, the fitting formula of the corrected proportion coefficient can be as follows:

[0065]

[0066] The fitting formula of the corrected ripple frequency can be as follows:

[0067]

[0068] Wherein, is the compensation value under the preset reference environment, and K4 can be obtained by the above-mentioned fitting formula of the corrected proportion coefficient.

[0069] Further, the above modified proportion coefficient and modified ripple frequency are substituted into the preset compensation calculation formula, and a final compensation value can be obtained.

[0070] N 终 =(u)v 标 (u)t+λ,

[0071] wherein, λ is a supplementary value, which can be set according to actual conditions.

[0072] Through the modified preset compensation calculation formula, the final compensation value can be obtained by the embodiment of the application.

[0073] In combination with Figure 2 and Figure 3 , the working principle of the compensation method for the window ripple of the embodiment of the application is described in one embodiment.

[0074] As shown in Figure 3 , the embodiment of the application can include the following steps:

[0075] Step S301: Motor start ripple detection.

[0076] As shown in Figure 2 , an important parameter of the ripple motor is the motor ripple generation time, which is affected by factors such as motor model, input voltage, environmental factors, and running load. At the same time, the longer the generation time is, the more the number of lost ripples is. Therefore, the embodiment of the application needs to record the time length of the first ripple detected after the motor starts to be less than a certain time length, such as less than or equal to 20 ms, and continuously record the generation time of multiple consecutive ripples after the first ripple is detected.

[0077] Step S302: Compensation processing is performed on the number of ripples generated within 20 ms of the motor ripple.

[0078] In actual execution process, the embodiment of the application can obtain the ripple frequency according to the generation time of the multiple consecutive ripples after the first ripple, so as to generate the initial compensation value of the first ripple based on the ripple frequency and the generation time.

[0079] wherein, the calculation formula of the ripple frequency can be:

[0080] v 标 = / t 标 ,

[0081] wherein, v 标 is the ripple frequency, n is the number of ripples (which can be 8), and t 标 is the generation time.

[0082] As a possible implementation manner, the initial compensation calculation formula can be used to take the time length, the ripple frequency and the generation time as inputs, and output the initial compensation value.

[0083] The preset initial compensation calculation formula can be:

[0084] N 初 = 0 标 ,

[0085] N 初 is the initial compensation value, and t0 is the time length of the first ripple detected after the motor starts.

[0086] Step S303: correcting the calculated value to further improve the accuracy.

[0087] At the starting moment of the motor, the frequency is low, and the frequencies of the ripples under different voltages and load conditions are different, which need to be corrected.

[0088] As a possible implementation manner, the application embodiment can obtain multiple test proportion coefficients by testing the motor under different voltages and different environmental temperatures, thereby correcting the proportion coefficient and the ripple frequency under the preset reference environment, obtaining the corrected proportion coefficient and the corrected ripple frequency, and inputting the corrected proportion coefficient and the corrected ripple frequency into the preset compensation calculation formula to obtain the final compensation value, so as to compensate the window ripple by using the final compensation value, thereby improving the anti-pinch position accuracy of the window and improving the user experience.

[0089] The preset compensation calculation formula can be:

[0090] N 补 = kvt + λ

[0091] N 补 is the test compensation value, k is the proportion coefficient, v is the test ripple frequency, t is the preset time period, and λ is the correction number.

[0092] In actual execution process, the application embodiment can first record the reference sampling voltage u0 under the preset reference environment, such as 13.5V and 15℃ environment, and record the window displacement value S by multiple fixed time energization.

[0093] For example, the application embodiment can perform energization test within the fixed time of 500ms and 1000ms, and record the displacement S1 and S2, and record the ripple number N1 and N2 obtained by the two times, and then calculate the ripple number corresponding to the unit displacement:

[0094] ΔN / ΔS = (N2-N1) / (S2-S1).

[0095] Further, the energizing test is performed by reselecting the time, such as 50 ms, 100 ms, 200 ms, 500 ms, etc., and the displacements S1, S2, S3, S4, etc. corresponding to the running of the vehicle window are recorded respectively. The theoretical displacement corresponding to the ripple number and the directly obtained ripple number are recorded and compared. A plurality of sets of data can be used to obtain the test compensation value, and N 补1 , N 补2 , N 补3 , N 补4 , etc. and v1, v2, v3, v4, etc. are obtained.

[0096] The plurality of test compensation values and test ripple frequencies can be input into the preset compensation calculation formula to obtain test proportion coefficients k1, k2, k3, k4, etc. according to the embodiments of the present application.

[0097] In the actual execution process, the current sampling voltage u can be obtained according to the current starting parameters of the motor, and the test proportion coefficient, the reference sampling voltage and the current sampling voltage are used to fit to obtain the correction proportion coefficient and the correction ripple frequency. For example, based on the different test times, the fitting formula of the correction proportion coefficient can be as follows:

[0098]

[0099] The fitting formula of the correction ripple frequency can be as follows:

[0100]

[0101] wherein, is the compensation value in the preset reference environment, and K4 can be obtained by the above-mentioned correction proportion coefficient fitting formula.

[0102] Further, the above-mentioned correction proportion coefficient and correction ripple frequency are substituted into the preset compensation calculation formula to obtain:

[0103] N 终 = K(u) v 标 (u) t + λ,

[0104] wherein λ is a supplementary value, which can be set according to the actual situation.

[0105] Through the above-mentioned correction proportion coefficient and correction ripple frequency, the final compensation value can be obtained by the preset compensation calculation formula according to the embodiments of the present application.

[0106] According to the compensation method for the window ripple wave provided in the embodiment of the present application, the ripples in the time period after the first ripple wave is detected and the ripple frequency obtained according to the generation time of the ripples can be compensated, the initial compensation value is corrected according to the current starting parameter of the motor, and the final compensation value is obtained, so that the window ripple wave is compensated by using the final compensation value, thereby improving the anti-pinch position accuracy of the window and improving the user experience. Therefore, the technical problem that the ripple wave cannot be collected at the moment of starting the motor in the related art, resulting in low anti-pinch position accuracy of the window and affecting the user experience is solved.

[0107] Secondly, the compensation device for the window ripple wave provided in the embodiment of the present application is described with reference to the accompanying drawings.

[0108] Figure 4 is a block schematic diagram of the compensation device for the window ripple wave in the embodiment of the present application.

[0109] As shown in Figure 4 , the compensation device for the window ripple wave 10 comprises a recording module 100, a generation module 200 and a compensation module 300.

[0110] Specifically, the recording module 100 is configured to record the time period after the first ripple wave is detected after the motor is started, and obtain the generation time of a plurality of ripple waves after the first ripple wave is detected.

[0111] The generation module 200 is configured to obtain the ripple frequency according to the generation time of the plurality of ripple waves, and generate an initial compensation value of the first ripple wave based on the ripple frequency and the generation time.

[0112] The compensation module 300 is configured to correct the initial compensation value according to the current starting parameter of the motor, obtain a final compensation value, and compensate the window ripple wave by using the final compensation value.

[0113] Optionally, in an embodiment of the present application, the generation module 200 comprises a first calculation unit.

[0114] The first calculation unit is configured to input the time period, the ripple frequency and the generation time into a preset compensation calculation formula to obtain the initial compensation value.

[0115] Optionally, in an embodiment of the present application, the compensation module 300 comprises a test unit and a second calculation unit.

[0116] The test unit is configured to correct the proportionality coefficient in the preset reference environment and the ripple frequency by using a plurality of test proportionality coefficients obtained by testing the window of the motor under different voltages and different environmental temperatures, to obtain a corrected proportionality coefficient and a corrected ripple frequency.

[0117] The second calculation unit is configured to input the correction proportion coefficient and the correction ripple frequency into a preset compensation calculation formula to obtain a final compensation value.

[0118] Optionally, in an embodiment of the present application, the compensation module 300 further comprises a recording unit, a third calculation unit, a fourth calculation unit, a comparison unit and a fifth calculation unit.

[0119] The recording unit is configured to record a reference sampling voltage under a preset reference environment.

[0120] The third calculation unit is configured to record a displacement value of the vehicle window and a number of ripples obtained in a preset time period during at least two times of energization, and calculate a test ripple frequency in the preset time period.

[0121] The fourth calculation unit is configured to calculate a number of ripples corresponding to a unit displacement based on the displacement value of the vehicle window and the number of ripples, to obtain at least one group of ripple theoretical values.

[0122] The comparison unit is configured to compare the at least one group of ripple theoretical values with the number of ripples detected in the preset time period to obtain a test compensation value.

[0123] The fifth calculation unit is configured to input the test compensation value and the test ripple frequency into the preset compensation calculation formula to obtain a test proportion coefficient.

[0124] Optionally, in an embodiment of the present application, the test unit comprises an acquisition subunit and a fitting subunit.

[0125] The acquisition subunit is configured to obtain a current sampling voltage according to a current starting parameter of the motor.

[0126] The fitting subunit is configured to fit the correction proportion coefficient and the correction ripple frequency based on the test proportion coefficient, the reference sampling voltage and the current sampling voltage.

[0127] It should be noted that the foregoing explanation of the compensation method for the vehicle window ripple also applies to the compensation device for the vehicle window ripple of this embodiment, which will not be described here again.

[0128] The compensation device for the vehicle window ripple according to the embodiments of the present application can compensate the ripples in a period from when the motor is started to when a first ripple is detected by using the generation time of multiple ripples after the first ripple is detected and the ripple frequency obtained according to the generation time of the multiple ripples, and correct the initial compensation value according to the current starting parameter of the motor to obtain a final compensation value, so as to compensate the vehicle window ripple by using the final compensation value, thereby improving the anti-pinch position accuracy of the vehicle window and improving the user experience. Thus, the technical problem that the motor cannot collect ripples at the moment of starting in the related art, resulting in low anti-pinch position accuracy of the vehicle window and affecting the user experience is solved.

[0129] Figure 5 A structural schematic diagram of a vehicle is provided for the embodiments of the present application. The vehicle can include:

[0130] The memory 501, the processor 502 and the computer program stored in the memory 501 and executable on the processor 502.

[0131] The processor 502 implements the compensation method of the vehicle window ripple provided in the above embodiments when executing the program.

[0132] Further, the vehicle further includes:

[0133] The communication interface 503 is used for communication between the memory 501 and the processor 502.

[0134] The memory 501 is used to store the computer program executable on the processor 502.

[0135] The memory 501 can include a high-speed RAM memory, and can also include a non-volatile memory, for example, at least one disk memory.

[0136] If the memory 501, the processor 502 and the communication interface 503 are independently implemented, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and complete the communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 5 Only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0137] Optionally, in specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can complete the communication between each other through an internal interface.

[0138] The processor 502 can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement one or more embodiments of the application.

[0139] The embodiment further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the compensation method of the vehicle window ripple as described above.

[0140] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or N embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0141] In addition, the terms "first", "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0142] Any process or method descriptions in flow charts or otherwise described herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing the specified logic functions or processes, and the preferred embodiments of the application include additional implementations in which the order of execution or the functions themselves can be changed, including according to the intended function, by being performed at substantially the same time or in reverse order, as will be appreciated by those skilled in the art.

[0143] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0144] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0145] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0146] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing module, or each of the units can be physically present separately, or two or more units can be integrated in one module. The integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0147] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A method of compensating for window ripple, characterized by, The method comprises the following steps: record the time length of detecting the first ripple after starting the motor, and obtain the generation time of multiple ripples after detecting the first ripple; obtain the ripple frequency according to the generation time of the multiple ripples, and generate the initial compensation value of the first ripple based on the ripple frequency and the generation time; and correct the initial compensation value according to the current starting parameter of the motor to obtain the final compensation value, and compensate the window ripple by using the final compensation value; the method of obtaining the ripple frequency according to the generation time of the multiple ripples, and generating the initial compensation value of the first ripple based on the ripple frequency and the generation time, comprises: input the time length, the ripple frequency and the generation time into a preset initial compensation calculation formula to obtain the initial compensation value.

2. The method of claim 1, wherein, the method of correcting the initial compensation value according to the current starting parameter of the motor to obtain the final compensation value, comprises: correct the proportionality coefficient under the preset reference environment and the ripple frequency by using multiple test proportionality coefficients obtained by testing the motor under different voltages and different environmental temperatures, to obtain a corrected proportionality coefficient and a corrected ripple frequency; input the corrected proportionality coefficient and the corrected ripple frequency into a preset compensation calculation formula to obtain the final compensation value.

3. The method of claim 2, wherein, Before correcting the proportionality coefficient under the preset reference environment and the ripple frequency by using multiple test proportionality coefficients obtained by testing the motor under different voltages and different environmental temperatures, to obtain a corrected proportionality coefficient and a corrected ripple frequency, the method further comprises: record a reference sampling voltage under the preset reference environment; energize for at least two preset time periods, record the displacement value of the window and the number of ripples obtained in the preset time period, and calculate the test ripple frequency in the preset time period; based on the displacement value of the window and the number of ripples, calculate the number of ripples corresponding to a unit displacement to obtain at least one group of ripple theoretical values; compare the at least one group of ripple theoretical values with the number of ripples detected in the preset time period to obtain a test compensation value; input the test compensation value and the test ripple frequency into the preset compensation calculation formula to obtain the test proportionality coefficient.

4. The method of claim 3, wherein, the method of correcting the proportionality coefficient under the preset reference environment and the ripple frequency by using multiple test proportionality coefficients obtained by testing the motor under different voltages and different environmental temperatures, to obtain a corrected proportionality coefficient and a corrected ripple frequency, comprises: obtain a current sampling voltage according to the current starting parameter of the motor; fit the corrected proportionality coefficient and the corrected ripple frequency based on the test proportionality coefficient, the reference sampling voltage and the current sampling voltage.

5. A device for compensating for window ripples, characterized in that comprise: a recording module for recording the time length of detecting the first ripple after starting the motor, and obtaining the generation time of multiple ripples after detecting the first ripple; a generating module for obtaining the ripple frequency according to the generation time of the multiple ripples, and generating the initial compensation value of the first ripple based on the ripple frequency and the generation time; and The compensation module is configured to correct the initial compensation value according to current starting parameters of the motor to obtain a final compensation value, and to compensate the window ripple with the final compensation value. The generating module comprises: The first calculation unit is configured to input the time length, the ripple frequency and the generation time into a preset initial compensation calculation formula to obtain the initial compensation value.

6. The apparatus of claim 5, wherein, The compensation module comprises: The test unit is configured to correct a preset reference environmental proportionality coefficient and the ripple frequency with a plurality of test proportionality coefficients obtained by testing the motor under different voltages and different environmental temperatures to obtain a corrected proportionality coefficient and a corrected ripple frequency. The second calculation unit is configured to input the corrected proportionality coefficient and the corrected ripple frequency into a preset compensation calculation formula to obtain the final compensation value.

7. A vehicle characterized by comprising: The computer program is stored in the memory and executable on the processor, and the processor executes the program to implement the compensation method of the window ripple according to any one of claims 1-4. The program is executed by the processor to implement the compensation method of the window ripple according to any one of claims 1-4.

8. A computer readable storage medium having stored thereon a computer program, characterized in that, ​

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