A method, device, and medium for preventing pinching in car doors equipped with electric suction locks.

Abstract

This application discloses an anti-pinch method, device, and medium applicable to vehicle doors with electric suction locks, belonging to the field of automotive electronic control. The anti-pinch method includes: responding to an external detection door closing signal, acquiring the door lock state of the detected door, the door lock state including at least an unlocked state and a partially locked state; querying an anti-pinch strategy library based on the door lock state to obtain an anti-pinch judgment mode corresponding to the door lock state; and finally running the anti-pinch judgment mode corresponding to the door lock state to determine whether the detected door is abnormally closed, wherein an abnormal closure indicates a risk of foreign objects being trapped when the detected door is closed. This application uses different anti-pinch judgment modes based on different door lock states, which not only increases the accuracy of the judgment but also allows for the development of targeted anti-pinch measures.

Description

Technical Field

[0001] This disclosure generally relates to the field of automotive electronic control technology, and specifically to an anti-pinch method, device, and medium applicable to vehicle doors with electric suction locks. Background Technology

[0002] Currently, new energy vehicles are generally equipped with luxurious features, and electric suction doors and electric doors, which were previously only used in luxury cars, have become standard features in new energy vehicles. However, it is unavoidable that when using electric suction doors or electric doors, there is a possibility that a hand or other foreign object may be caught in the door during the closing process. This can cause complaints from users and even affect the company's brand image.

[0003] To address the above issues, anti-pinch control methods for vehicle doors have emerged. For example, Chinese patent document CN115749507A discloses a door opening and closing control system for autonomous vehicles. This patent document uses multi-sensor fusion detection, with a door controller controlling the door motor to open and close the front and rear doors. It uses an edge pressure sensor array to collect the actual pressure on the front and rear doors and compares it with a preset threshold to achieve the anti-pinch function. However, this patent document does not consider the various states of existing door locks for targeted anti-pinch judgments. This results in current anti-pinch judgments being too general and lacking depth in understanding actual conditions, which also affects the selection of subsequent anti-pinch measures after triggering an abnormal door closing signal. Therefore, we propose an anti-pinch method suitable for vehicle doors with electric suction locks to solve the above problems. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an anti-pinch method, device and medium with multiple anti-pinch judgment modes and accurate anti-pinch judgment applicable to car doors with electric suction locks;

[0005] In a first aspect, this application provides an anti-pinch method applicable to vehicle doors with electric suction locks, comprising:

[0006] In response to an external detection door closing signal, the door lock status of the detection door is obtained, and the door lock status includes at least: unlocked state and partially locked state;

[0007] Based on the door lock status, query the anti-pinch strategy library to obtain the anti-pinch judgment mode corresponding to the door lock status; the query of the anti-pinch strategy library includes at least: the door lock status and the anti-pinch judgment mode corresponding to the door lock status;

[0008] The system operates in an anti-pinch judgment mode corresponding to the door lock state to determine whether the detected door is closing abnormally; the abnormal closing indicates that there is a risk of foreign objects being trapped when the detected door is closed.

[0009] According to the technical solution provided in the embodiments of this application, when the door lock is in the unlocked state;

[0010] The operation, in the anti-pinch judgment mode corresponding to the door lock state, determines whether the detected door is abnormally closed, specifically including:

[0011] Acquire several first pressure values ​​between the detected door and the door frame; the several first pressure values ​​are acquired by multiple pressure acquisition elements arranged along the circumference of the door frame;

[0012] If any of the first pressure values ​​is greater than its corresponding preset unlocking pressure value, the detection door is controlled to stop running;

[0013] A first prompt message is sent to the user; the first prompt message is used to inform the user that the detected door has an abnormal closing condition.

[0014] According to the technical solution provided in the embodiments of this application, after issuing the first prompt information to the user, the method further includes:

[0015] Send a request message to the user, the request message being used to prompt the user to select whether the detection door should continue to operate;

[0016] Receive the user feedback instruction information, including: continue running and stop running;

[0017] When the instruction information is determined to be a stop operation, the location information of the pressure acquisition element where the first pressure value is greater than the corresponding preset unlocking pressure value is obtained.

[0018] Based on the position information of the pressure acquisition device, the detection door is controlled to open to the target opening degree, and a second prompt message is sent to the user. The second prompt message is used to prompt the user that the detection door is abnormally closed and to check for foreign objects.

[0019] According to the technical solution provided in the embodiments of this application, the door lock state further includes: a fully locked state, which is used to reflect that the detected vehicle door is closed;

[0020] The method of receiving the user feedback instruction information, including: continue running and stop running, further includes:

[0021] When the instruction information is determined to continue execution...

[0022] After controlling the detection door to run for a preset first time, the door lock status of the detection door is obtained;

[0023] If the door lock status is determined to be fully locked, then it is confirmed that the detected door is closed;

[0024] If the door lock is determined to be in a partially locked state, a third prompt message is sent to the user. The third prompt message is used to remind the user that the door is detected to be closing abnormally and to check the electric door lock.

[0025] According to the technical solution provided in the embodiments of this application, when the door lock is in a half-locked state;

[0026] The operation, in the anti-pinch judgment mode corresponding to the door lock state, determines whether the detected door is abnormally closed, specifically including:

[0027] Obtain several first pressure values ​​between the detected door and the door frame;

[0028] If all the first pressure values ​​are greater than or equal to their corresponding preset half-lock pressure values, then determine whether the first pressure value is greater than the preset full-lock pressure value.

[0029] If any of the first pressure values ​​is determined to be greater than the preset full lock pressure value, then the steps of controlling the detection door to stop running and issuing a first prompt message to the user are executed.

[0030] According to the technical solution provided in the embodiments of this application, after determining that any of the first pressure values ​​is greater than the preset full lock pressure value, the step of controlling the detection door to stop running and issuing a first prompt message to the user further includes:

[0031] Send a request message to the user;

[0032] Receive the user feedback instruction information, including: continue running and stop running;

[0033] If the instruction information indicates that operation should continue, power is supplied to the self-closing motor inside the electric suction lock to control the door to continue operating.

[0034] If the instruction information indicates that the operation has stopped, the self-priming motor is driven to open the lock of the detection door to the unlocked state.

[0035] According to the technical solution provided in the embodiments of this application, after controlling the detection door to stop running, the method further includes:

[0036] Get the activation status of the automatic anti-pinch system;

[0037] When the automatic anti-pinch system is activated,

[0038] The automatic anti-pinch system is triggered. The automatic anti-pinch system is used to control the detection door to open to the target opening degree based on the position information of the pressure acquisition element where the first pressure value is greater than the corresponding preset unlocking pressure value, and to drive the self-priming motor to pop open the door lock of the detection door to the unlocked state.

[0039] If it is determined that the automatic anti-pinch system is not activated, then the step of sending a request message to the user is executed in the corresponding anti-pinch judgment mode.

[0040] According to the technical solution provided in the embodiments of this application, after sending the request information to the user, the method further includes:

[0041] If no instruction information is received from the user after waiting for a second preset time, the step of determining that the instruction information indicates a stop operation will be executed in the corresponding anti-pinch judgment mode.

[0042] Secondly, this application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described anti-pinch method applicable to car doors with electric suction locks.

[0043] Thirdly, this application provides a computer-readable storage medium having a computer program that, when executed by a processor, implements the steps of the above-described anti-pinch method applicable to car doors with electric suction locks.

[0044] In summary, this technical solution specifically discloses an anti-pinch method, device, and medium applicable to vehicle doors with electric suction locks. The anti-pinch method includes: in response to an external door closing signal, acquiring the door lock status of the detected vehicle door, the door lock status including at least an unlocked state and a partially locked state; once the door lock status is confirmed, querying an anti-pinch strategy library based on the door lock status to obtain an anti-pinch judgment mode corresponding to the door lock status; the query of the anti-pinch strategy library includes at least the door lock status and the anti-pinch judgment mode corresponding to the door lock status; finally, operating in the anti-pinch judgment mode corresponding to the door lock status, determining whether the detected vehicle door has an abnormal closing condition.

[0045] Existing methods for detecting door pinching are too simplistic and general. For example, they often rely solely on comparing standard pressure values ​​at various points on the door with actual pressure to determine if an object is trapped. However, this ignores the fact that existing door locks have different states, and using only a single method for object detection can lead to inaccurate pinch detection (as the standard pressure varies depending on the door lock's state). This application proposes a multi-dimensional pinch detection method based on different door lock states. This multi-dimensional approach not only improves the accuracy of pinch detection but also lays a solid foundation for selecting appropriate pinch prevention measures and recording the source of door malfunctions when abnormal door closure is detected. Attached Figure Description

[0046] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0047] Figure 1 This is a flowchart illustrating an anti-pinch method applicable to car doors equipped with electric suction locks.

[0048] Figure 2 This is a flowchart illustrating the process of an anti-pinch method for car doors with electric suction locks, where the door lock is in the unlocked state.

[0049] Figure 3 This is a flowchart illustrating the process of a method for preventing pinching in car doors with electric suction locks, where the door lock is in a semi-locked state.

[0050] Figure 4 This is a schematic diagram of a terminal device.

[0051] The following numbers are used in the diagram: 500, Terminal device; 501, CPU; 502, ROM; 503, RAM; 504, Bus; 505, I / O interface; 506, Input section; 507, Output section; 508, Storage section; 509, Communication section; 510, Driver; 511, Removable media. Detailed Implementation

[0052] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0053] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0054] Example 1

[0055] Please refer to Figure 1 The flowchart shown in this embodiment illustrates an anti-pinch method for vehicle doors with electric suction locks. This method is suitable for situations where pinching accidents are likely to occur during door closing and can be executed by the vehicle controller. Combined with... Figure 1 The anti-pinch method includes:

[0056] S100: In response to an external detection door closing signal, acquire the door lock status of the detection door, which includes at least: unlocked state and partially locked state;

[0057] Currently, door closing signals are mainly issued by users according to their needs. Common forms of issuing door closing signals include: users issuing door closing signals on their mobile phones, selecting them on the in-vehicle control screen, or pressing the door closing button on the door handle, etc.

[0058] In addition, car doors with electric suction locks (electric suction locks are two-level locks, with locking states of half-lock and full-lock) commonly found on the market are divided into two types: electric suction doors and electric doors.

[0059] Unlocked state: The door lock tongue on the door is not engaged with the latch on the door frame, indicating that the door is not closed.

[0060] Half-locked state: The car door is closed to a point where there is only a small gap between it and the door frame. The door lock tongue on the car door engages with the latch on the door frame, which is a half-locked state. At this time, the car door can be understood as "ajar", but it cannot be pulled open directly and is not locked.

[0061] In real-world scenarios, when a user gently closes the car door, the electric suction door or power door enters a half-lock state, and the self-closing motor of the electric suction lock locks the door. The difference is that a power door has an additional door opening and closing motor compared to an electric suction door; that is, it adds door opening and closing control to the electric suction door, allowing for feedback on the door opening degree. Generally, if a vehicle is equipped with an electric suction door, there is no need for anti-pinch detection in the unlocked state, because an electric suction door requires manual closing in the unlocked state (power doors can continuously close automatically controlled by the opening and closing motor), thus bringing the door to a half-lock state. Therefore, in scenarios where an electric suction door is closed, pinching accidents are unlikely to occur, and even if they do, the user can open the door immediately. Therefore, this application focuses on power doors for testing, but it should be clarified that the anti-pinch detection principle for electric suction doors in the half-lock state is the same as that for power doors.

[0062] S200: Based on the door lock state, query the anti-pinch strategy library to obtain the anti-pinch judgment mode corresponding to the door lock state; specifically, the anti-pinch strategy library is shown in Table 1. The anti-pinch strategy library includes at least: the door lock state and the anti-pinch judgment mode corresponding to the door lock state. For example, the anti-pinch judgment mode includes a first judgment mode corresponding to the unlocked state and a second judgment mode corresponding to the half-locked state.

[0063] Table 1 Example of Anti-Pinch Strategy Library Structure

[0064] Anti-pinch detection mode First Judgment Mode Second Judgment Mode

[0065] S300: Operates in the anti-pinch judgment mode corresponding to the door lock status to determine whether the door is closing abnormally; abnormal closing indicates that there is a risk of foreign objects being trapped when the door is closed. Of course, it may also be a misjudgment of door lock malfunction.

[0066] Specifically, when the obtained anti-pinch judgment mode is the first judgment mode, that is, the door lock is in the unlocked state;

[0067] Combination Figure 2 It has been confirmed that the first judgment mode has been entered. Step S300: Run in the anti-pinch judgment mode corresponding to the door lock status to judge and detect whether the door is abnormally closed. The specific steps are as follows: A1-A3.

[0068] A1: Obtain several first pressure values ​​between the detected door and the door frame; wherein, the several first pressure values ​​are collected by a plurality of pressure acquisition devices arranged along the circumference of the door frame; optionally, the type of pressure acquisition device is, for example, a pressure sensor;

[0069] In practical applications, pressure sensors resistant to high and low temperatures are used, such as flexible sensors or thin-film pressure sensors. The specific type can be selected by technicians according to requirements. The pressure sensors are then placed on the edge where the door frame contacts the door. Installation can be done locally or around the entire door frame, depending on the specific situation. For example, N (N = 1, 2, 3...) positions can be selected on the door frame for placement.

[0070] A2: When any of the first pressure values ​​is greater than the corresponding preset unlocking pressure value, control the detection door to stop running;

[0071] The first pressure value obtained is the actual pressure value at the currently selected location, denoted as F. N实 In the early stages, calibration tests will be conducted to obtain the standard pressure F corresponding to these positions in the unlocked, partially locked, and fully locked states. N开 F N半 F N全Correspondingly, these standard pressures also serve as the preset unlocking pressure values, preset half-lock pressure values, and subsequent preset full-lock pressure values. The specific values ​​should be referred to the actual calibration test results, and no specific limitations are made here.

[0072] Therefore, when any first pressure value is determined to be greater than its corresponding preset unlocking pressure value, the operating state of the opening and closing motor (operating state includes: open or stop) is controlled to stop the door from closing.

[0073] A3: Issue the first prompt message to the user; the first prompt message is used to inform the user that the detected door has an abnormal closing condition and needs to be checked for foreign objects. The foreign objects can be parts of the human body, clothing, umbrellas, or other items; the first prompt message is usually received by the vehicle-mounted terminal (due to the fast transmission speed, it can quickly alert the user to the risk of being pinched), and the first prompt message will be immediately displayed on the vehicle display screen along with a prompt sound.

[0074] Because the first alert message is triggered quickly, the user is already aware that a door closing abnormality has occurred. Therefore, after A3: sending the first alert message to the user, the following steps A4 and A5 are also included to promptly control the door to escape the "anti-pinch risk" (anti-pinch measures) or to further confirm the source of the fault.

[0075] A4: Send a request message to the user, the request message being used to prompt the user to select whether the detection door should continue to operate;

[0076] The requested information is information that the user needs to select. The content of the requested information can be "whether the door should continue to operate" or "whether the door should continue to close". Because there is a possibility that a structural fault in the door lock may cause a misjudgment and trigger an abnormal door closing signal (for example, a faulty electric suction lock may cause the door to report an abnormal closing signal even if there is no foreign object stuck in the door), the user needs to check whether there is a foreign object stuck in the door.

[0077] A5: Receive the instruction information from the user, the instruction information including: continue running and stop running;

[0078] If it is confirmed that there is no abnormality at the door when boarding and no passengers have reported being pinched, you can directly select "Continue running". If you are unsure about the current situation or if a passenger reports being pinched, select "Stop running". After receiving the user's feedback instruction, you can proceed to the next steps.

[0079] A51: When the instruction information is determined to be a stop operation, the location information of the pressure acquisition element where the first pressure value is greater than the corresponding preset unlocking pressure value is obtained;

[0080] The "stop operation" command indicates that there is a risk of foreign objects being trapped. In this case, the detection door needs to be opened a certain distance in the opposite direction. At this time, the door opening degree needs to be determined based on the position information of the pressure acquisition device at the point where the first pressure value is abnormal.

[0081] A51-1: Based on the position information of the pressure acquisition device, control the detection door to open to the target opening degree, and send a second prompt message to the user. The second prompt message is used to prompt the user that the detection door is abnormally closed and to check for foreign objects.

[0082] Because multiple pressure sensors are installed at the edge where the door frame contacts the door, the location of the foreign object can be preliminarily determined simply by the pressure sensor where the pressure value is abnormal (greater than the preset unlocking pressure value). The opening and closing motor can be controlled in time to reverse the detection door to the target opening degree. At this time, if there is indeed a pinching accident, it can also help the accident victim escape quickly.

[0083] Specifically, the target opening angles are all calibrated based on the placement of the pressure sensors. Existing electric doors include both rotary closing and lateral sliding closing types. For rotary closing electric doors, the initial calibration can divide the door opening angles into multiple categories based on the maximum opening angle. For example, based on the placement of the pressure sensors, the door opening angle at which each sensor releases pressure when it malfunctions (which can also be understood as when the pressure sensor is not under door pressure) is recorded as the target opening angle corresponding to the current pressure sensor. Similarly, if the electric door is a lateral sliding closing door, the calibration process simply records the distance between the door and the frame when each pressure sensor releases pressure. Furthermore, while detecting when the door opens to the target opening angle, a second prompt message is sent to the user, reminding them to check for foreign objects.

[0084] It should be noted that the door lock status also includes: fully locked status; the fully locked status is used to reflect that the detected door is closed. Specifically, the fully locked status means that the door lock tongue on the door is engaged with the latch on the door frame to form a fully locked status, and the door is closed / locked.

[0085] Therefore, in A5: receiving the instruction information from the user, the instruction information including the steps of continuing to run and stopping to run, it also includes the case where the instruction information is determined to be to continue running;

[0086] Specifically, A52: When the instruction information is determined to continue execution,

[0087] After controlling the detection door to run for a preset first time, the door lock status of the detection door is obtained; in addition, the first time is, for example, 7 seconds, which is set according to the time it takes for the door to run from the unlocked state to the fully locked state;

[0088] It should be noted that this scenario assumes there are no foreign objects or passengers trapped during the closing process, and the user chooses to let the door continue to operate for a period of time before checking the door status again.

[0089] A52-1: When the door lock status is determined to be fully locked, it is confirmed that the detected door is closed;

[0090] At this point, it can be confirmed that the triggering of the first prompt message was a misjudgment, because there was no foreign object and the electric suction lock could normally enter the fully locked state, so it may be a misjudgment caused by a pressure sensor malfunction.

[0091] A52-2: If the door lock status is determined to be not fully locked, a third prompt message is sent to the user. The third prompt message is used to prompt the user that the door closure is abnormal and to check the electric door lock.

[0092] At this point, it indicates that the triggering of the first prompt message is due to a malfunction of the car door lock, because there are no foreign objects present, but the electric suction lock cannot enter the fully locked state. At the same time, the third prompt message is triggered, prompting the user to check the abnormal closing of the car door and to check whether the electric suction lock is malfunctioning.

[0093] Combination Figure 3 The following explains the anti-pinch judgment when the obtained anti-pinch judgment mode is the second judgment mode, that is, when the door lock is in a half-locked state.

[0094] At this point, it has been confirmed that the second judgment mode has been entered. Step S300: Run in the anti-pinch judgment mode corresponding to the door lock status to judge and detect whether the door is abnormally closed, as detailed in steps B1-B3 below.

[0095] B1: Obtain several first pressure values ​​between the currently detected door and door frame;

[0096] B2: If all the first pressure values ​​are greater than or equal to their corresponding preset half-lock pressure values, then determine whether the first pressure value is greater than the preset full-lock pressure.

[0097] When the door is in the half-locked state, the standard pressure at different locations on the door frame will be different. The standard pressure value at this time corresponds to the F obtained from the previous calibration test. N半 ;

[0098] Since the car lock is already in a half-lock state at this time, if the first pressure value is less than the corresponding preset half-lock pressure value, it may be a malfunction of the sensor or the electric suction lock. Since the time required to move from the half-lock state to the fully locked state is short, in order to avoid misjudgment, when any first pressure value is greater than or equal to the preset half-lock pressure value, it will be compared with the fully locked pressure value. This is also to avoid the car lock causing pinching accidents when moving from the half-lock state to the fully locked state.

[0099] B3: If any of the first pressure values ​​is greater than the preset full lock pressure value, then the step of controlling the detection door to stop running and issuing a first prompt message to the user is executed. Specifically, this refers to executing the contents of the aforementioned steps A2 and A3 to prevent the door from running further and causing more serious pinching injuries. If all the first pressure values ​​are equal to the preset full lock pressure value, then the current door lock status is directly determined to be in a fully locked state. For details, please refer to the contents of the aforementioned steps A52-1 and A52-2.

[0100] When a door closure malfunction occurs, further testing is performed. Therefore, after step B3: determining that any of the first pressure values ​​is greater than the preset full lock pressure value, and then controlling the detected door to stop operating and issuing a first prompt message to the user, the process further includes:

[0101] B4: Send a request message to the user;

[0102] B5: Receive the instruction information from the user, the instruction information including: continue running and stop running;

[0103] The above process is consistent with A3 and A4 mentioned above, and is used to send a request to the user to confirm whether there are any foreign objects stuck in the container.

[0104] B51: If the instruction information indicates that operation should continue, power is supplied to the self-closing motor inside the electric suction lock to control the door to continue operating;

[0105] At this point, the car door is already in a half-locked state. The self-closing motor inside the electric door lock is controlling the door's operation. The self-closing motor will engage the latch on the door frame from the half-locked state to the fully locked state, thereby closing the car door. Therefore, if the instruction message is "continue running", then it is necessary to continue to supply power to the self-closing motor inside the electric door lock to control the car door to continue running.

[0106] In this step, the aforementioned step A52 will also be executed: when the instruction information is determined to continue running, the detection door is controlled to run for a preset first time, and the door lock status of the detection door is obtained, as well as the contents of subsequent steps A52-1 and A52-2, to determine whether the door will enter a fully locked state. It should be noted that, combined with the content of the first judgment mode and the current explanation of the second judgment mode, it is not difficult to see that under multiple judgments, a preliminary judgment will also be made on the fault of the structural components when a false judgment occurs. For example, as mentioned above, please check the electric suction lock and pressure acquisition components for faults, etc. Therefore, based on these judgment results, relevant data can be collected, potential faults can be evaluated and warned, and users can be reminded to check and repair in a timely manner. For example, if the door closing is repeatedly prompted as abnormal, but the user continues to choose to continue closing the door, it means that the user has not found that the door is trapped. When the number of false judgments is too high, the user is reminded to have the door repaired in time.

[0107] B52: If the instruction information indicates that the operation has stopped, then drive the self-priming motor to open the lock of the detection door to the unlocked state.

[0108] Conversely, if the instruction message is "stop running", it means that there is a risk of foreign objects being trapped in the door. Unlike the anti-pinch measures when the door is unlocked, the door is now close to being fully locked. The vehicle controller will directly send an electric spring command to the self-priming motor. The electric spring command is the control signal that drives the self-priming motor to control the door lock to open to the unlocked state. The door opening directly to the unlocked state can effectively prevent the further deterioration of the pinching situation in the event of a pinching accident.

[0109] In addition, both of the aforementioned anti-pinch judgment modes include the step of controlling the detection door to stop running (see steps A2 and B3); in order to improve the anti-pinch measures after the anti-pinch judgment, an automatic anti-pinch system suitable for the whole vehicle will also be developed at the same time as the anti-pinch method. The automatic anti-pinch system controls the detection door to open to the target opening degree according to the position information of the pressure acquisition element where the first pressure value is greater than the corresponding preset unlocking pressure value based on the current door lock state, and sends a third prompt message to the user, as well as a program command to drive the self-priming motor to open the door lock of the detection door to the unlocked state.

[0110] Therefore, after the step of stopping the detection door, the following steps are also included:

[0111] Step 1: Obtain the activation status of the automatic anti-pinch system;

[0112] Step 2: Determine when the automatic anti-pinch system is activated.

[0113] Regardless of whether it is currently in the first judgment mode or the second judgment mode, the automatic anti-pinch system will be automatically triggered when the detection door stops running. For example, in the first judgment mode, the detection door is directly controlled to open to the target opening degree, or in the second judgment mode, the automatic anti-pinch system will automatically send an electric spring command.

[0114] Step 3: If it is determined that the automatic anti-pinch system is not activated, then the step of sending a request message to the user in the corresponding anti-pinch judgment mode is executed, that is, the aforementioned steps A4 and A5, as well as steps B4 and B5 are executed in sequence.

[0115] Furthermore, in the state where the automatic anti-pinch system is not activated, both of the aforementioned anti-pinch judgment modes also include the step of sending a request message to the user (see steps A4 and B4). At this time, the user needs to respond to the request message. However, if the user is the one who is pinched, then the user will be unable to select the request message. Therefore, after the step of sending the request message to the user, the following steps are also included:

[0116] If no user feedback instruction is received after a second preset time, the step of determining that the instruction is to stop operation is executed in the corresponding anti-pinch judgment mode. That is, if no user feedback instruction is received within the second preset time, it is assumed that there is a foreign object stuck in the door. The door stops operating and executes the subsequent instruction to open the door to the target opening degree or to pop it open to the unlocked state, so as to minimize the occurrence of pinching accidents. Here, the second preset time can be selected as 5 seconds, and the specific time can be adjusted by the technician.

[0117] Example 2

[0118] A terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of an anti-pinch method for a car door with an electric suction lock as described in Embodiment 1.

[0119] In this embodiment, as Figure 4 As shown, the terminal device 500 includes a CPU (Central Processing Unit) 501, which can perform various appropriate actions and processes according to a program stored in ROM (Read-Only Memory) 502 or a program loaded from storage into RAM (Random Access Memory) 503. RAM 503 also stores various programs and data required for system operation. The CPU 501, ROM 502, and RAM 503 are interconnected via a bus 504. An I / O (Input / Output) interface 505 is also connected to the bus 504.

[0120] The following components are connected to I / O interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive is also connected to I / O interface 505 as needed. A removable medium 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 510 as needed so that computer programs read from it can be installed into storage section 508 as needed.

[0121] In particular, according to embodiments of the present invention, the above-described reference flow diagram Figure 1 The described process can be implemented as a computer software program. For example, Embodiment 2 of the present invention includes a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by the central processing unit (CPU) 501, it performs the functions defined in the system of the present invention.

[0122] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM) 503, read-only memory (ROM) 502, erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0123] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0124] The units described in the embodiments of the present invention can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself. The described units or modules can also be located in a processor; for example, a processor can be described as including a first generation module, an acquisition module, a search module, a second generation module, and a merging module. The names of these units or modules do not necessarily limit the specific unit or module itself; for example, the acquisition module can also be described as "an acquisition module for acquiring multiple instances to be probed in the base table".

[0125] Example 3

[0126] The present invention also provides a computer-readable medium, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device. The computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to implement an anti-pinch method applicable to car doors with electric suction locks as described in the above embodiments.

[0127] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A method for preventing pinching in car doors equipped with electric suction locks, characterized in that, include: In response to an external detection door closing signal, the door lock status of the detection door is obtained, and the door lock status includes at least: unlocked state and partially locked state; Based on the door lock status, query the anti-pinch strategy library to obtain the anti-pinch judgment mode corresponding to the door lock status; the query of the anti-pinch strategy library includes at least: the door lock status and the anti-pinch judgment mode corresponding to the door lock status; The system operates in an anti-pinch judgment mode corresponding to the door lock state to determine whether the detected door is closing abnormally; the abnormal closing indicates that there is a risk of foreign objects being trapped when the detected door is closed. The step of operating in the anti-pinch judgment mode corresponding to the door lock state, and judging whether the detected door is abnormally closed, further includes: When the door lock is in the unlocked state, several first pressure values ​​between the detected door and the door frame are acquired; the several first pressure values ​​are acquired by multiple pressure acquisition elements arranged along the circumference of the door frame. If any of the first pressure values ​​is greater than its corresponding preset unlocking pressure value, the detection door is controlled to stop running; When the door lock is in a half-locked state, acquire several first pressure values ​​between the detected door and the door frame; If all the first pressure values ​​are greater than or equal to their corresponding preset half-lock pressure values, then determine whether the first pressure value is greater than the preset full-lock pressure value. If any of the first pressure values ​​is determined to be greater than the preset full lock pressure value, then the detection door is controlled to stop running; Send a request message to the user, wherein the request message is information selected by the user; Receive the user feedback instruction information, including: continue running and stop running; If the user continues to select "continue operation" multiple times after being prompted that the door is abnormal, the user will be reminded to promptly inspect the door to improve the accuracy of the anti-pinch detection.

2. The anti-pinch method for car doors with electric suction locks according to claim 1, characterized in that, After determining that any of the first pressure values ​​is greater than its corresponding preset unlocking pressure value, and controlling the detection door to stop operating, the method further includes: A first prompt message is sent to the user; the first prompt message is used to inform the user that the detected door has an abnormal closing condition.

3. The anti-pinch method for car doors with electric suction locks according to claim 2, characterized in that, After issuing the first notification message to the user, the method further includes: Send a request message to the user, the request message being used to prompt the user to select whether the detection door should continue to operate; Receive the user feedback instruction information, including: continue running and stop running; When the instruction information is determined to be a stop operation, the location information of the pressure acquisition element where the first pressure value is greater than the corresponding preset unlocking pressure value is obtained. Based on the position information of the pressure acquisition device, the detection door is controlled to open to the target opening degree, and a second prompt message is sent to the user. The second prompt message is used to prompt the user that the detection door is abnormally closed and to check for foreign objects.

4. The anti-pinch method for car doors with electric suction locks according to claim 3, characterized in that, The door lock status also includes a fully locked status, which indicates that the detected vehicle door is closed. The method of receiving the user feedback instruction information, including: continue running and stop running, further includes: When the instruction information is determined to continue execution... After controlling the detection door to run for a preset first time, the door lock status of the detection door is obtained; If the door lock status is determined to be fully locked, then it is confirmed that the detected door is closed; If the door lock is determined to be in a partially locked state, a third prompt message is sent to the user. The third prompt message is used to remind the user that the door is detected to be closing abnormally and to check the electric door lock.

5. A method for preventing pinching in car doors with electric suction locks according to claim 4, characterized in that, The step of determining that any of the first pressure values ​​is greater than the preset full lock pressure value further includes: issuing a first prompt message to the user.

6. A method for preventing pinching in car doors with electric suction locks according to claim 5, characterized in that, After receiving the instruction information from the user, the process further includes: If the instruction information indicates that operation should continue, power is supplied to the self-closing motor inside the electric suction lock to control the door to continue operating. If the instruction information indicates that the operation has stopped, the self-priming motor is driven to open the door lock of the detected vehicle door to the unlocked state.

7. A method for preventing pinching in car doors with electric suction locks according to claim 6, characterized in that, After the control of the detection door stops operating, the following are also included: Get the activation status of the automatic anti-pinch system; When the automatic anti-pinch system is activated, The automatic anti-pinch system is triggered. The automatic anti-pinch system is used to control the detection door to open to the target opening degree based on the position information of the pressure acquisition element where the first pressure value is greater than the corresponding preset unlocking pressure value, and to drive the self-priming motor to pop open the door lock of the detection door to the unlocked state. If it is determined that the automatic anti-pinch system is not activated, then the step of sending a request message to the user is executed in the corresponding anti-pinch judgment mode.

8. A method for preventing pinching in car doors with electric suction locks according to claim 6, characterized in that, After sending the request information to the user, the method further includes: If no instruction information is received from the user after waiting for a second preset time, the step of determining that the instruction information indicates a stop operation will be executed in the corresponding anti-pinch judgment mode.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of an anti-pinch method for a car door with an electric suction lock as described in any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of an anti-pinch method for a car door with an electric suction lock as described in any one of claims 1-8.

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