Adaptive electric vehicle door anti-pinch control method and device

Abstract

The application relates to a self-adaptive electric vehicle door anti-pinch control method and device, and relates to the technical field of electric vehicle door control.The method comprises the following steps: continuously controlling an electric support rod to contract, reporting a corresponding first real-time support rod force, and reporting a first real-time relative angle when the electric vehicle door rotates relative to the closing state of the electric vehicle door; based on the real-time support rod force and the first real-time relative angle, performing a lock catch engagement detection action or a first anti-pinch action; if the lock catch reaches an engagement position, the electric vehicle door is pulled towards the closing position, a converted force value corresponding to a lock tongue rotating torque is reported, and a second real-time relative angle when the electric vehicle door continues to rotate relative to the closing position of the electric vehicle door is reported; based on the converted force value and the second real-time relative angle, an electric vehicle door position recognition action or a second anti-pinch action is performed.The application is aimed at a door closing action, and the working parameters of various components are regulated and controlled to ensure that the electric vehicle door performs anti-pinch determination and avoids that a user is pinched by the electric vehicle door.

Description

Technical Field

[0001] This application relates to the field of electric vehicle door control technology, specifically to an adaptive electric vehicle door anti-pinch control method and device. Background Technology

[0002] With advancements in the automotive industry, electric doors, previously only used in luxury cars, are now gradually being adopted in other vehicles. This has led to the urgent need for automakers to address the issue of door anti-pinch protection. Traditional anti-pinch strategies typically involve calibration during the vehicle prototyping stage, setting a fixed force value. During automatic door closing, if the closing force reaches this fixed value, an anti-pinch detection is initiated.

[0003] Electric door closing generally involves two processes: the first is the electric traction process, and the second is the electric lock engagement process. During the electric traction process, the door seal strip barely contacts the sheet metal and has almost no impact on the door closing force. Therefore, the door closing force is very stable during this process, making it easy to determine whether a foreign object is trapped. However, during the electric engagement phase, both the door seal strip and the door frame seal strip begin to compress, causing a sharp increase in the door closing force. It is difficult to determine whether the door is pinched during this phase, thus traditional anti-pinch control strategies pose a significant risk of injuring the user.

[0004] Therefore, to meet this usage requirement, an adaptive electric vehicle door anti-pinch control technology is provided. Summary of the Invention

[0005] This application provides an adaptive electric vehicle door anti-pinch control method and device. For the closing action, it monitors each component and adjusts it based on the working parameters of each component, so as to ensure that the electric vehicle door can still accurately determine the anti-pinch function even when the door sealing reaction force gradually decreases over time, thus preventing the user from being pinched by the electric vehicle door.

[0006] To achieve the above objectives, this application provides the following solution.

[0007] In a first aspect, this application provides an adaptive electric vehicle door anti-pinch control method, the method comprising the following steps:

[0008] In response to the closing signal of the electric door, the electric support rod of the electric door is controlled to continuously retract. The first real-time support rod force corresponding to the continuous retraction of the electric support rod is reported based on a first preset period, and the first real-time relative angle between the electric door and the closed state is reported based on a second preset period.

[0009] Based on the real-time strut force and the first real-time relative angle, execute the lock engagement detection action or execute the first anti-pinch action corresponding to the electric vehicle door;

[0010] If the latch reaches the engaged position, the electric magnetic lock continues to rotate the latch, continuously pulling the electric door toward the closed position. Based on the third preset cycle, it reports the converted force value corresponding to the latch rotation torque, and based on the fourth preset cycle, it reports the second real-time relative angle of the electric door relative to the closed position when the door continues to rotate.

[0011] Based on the calculated force value and the second real-time relative angle, perform the electric vehicle door position recognition action or perform the second anti-pinch action.

[0012] Furthermore, based on the real-time strut force and the first real-time relative angle, the following steps are performed to detect the latch engagement of the electric door and whether the first anti-pinch action is executed:

[0013] Based on the first real-time relative angle, obtain the standard value of the electric strut force corresponding to the anti-pinch database;

[0014] If the value of the electric strut force standard value corresponding to the first real-time relative angle minus the real-time strut force is not less than a preset first threshold, then the first anti-pinch action is executed; otherwise, the lock engagement detection action corresponding to the electric vehicle door is executed.

[0015] Furthermore, based on the calculated force value and the second real-time relative angle, the electric vehicle door position recognition action or the second anti-pinch action is performed, including the following steps:

[0016] Based on the second real-time relative angle, the standard value of the electric strut force corresponding to the anti-pinch database is obtained;

[0017] If the value of the electric strut force standard value corresponding to the second real-time relative angle minus the real-time strut force is not less than the preset second threshold, then the second anti-pinch action is executed; otherwise, the electric door position recognition action is executed.

[0018] Furthermore, the first anti-pinch action is performed, including the following steps:

[0019] Control the electric strut to stop and spring back;

[0020] Performing the latch engagement detection action corresponding to the electric vehicle door includes the following steps:

[0021] Determine whether the latch corresponding to the electric vehicle door is in the engaged position.

[0022] Furthermore, a second anti-pinch action is performed, including the following steps:

[0023] Control the electric strut and the electric magnetic locking to stop and release;

[0024] Performing the electric vehicle door position recognition action includes the following steps:

[0025] Identify whether the electric vehicle door is in the closed position.

[0026] Secondly, this application provides an adaptive electric vehicle door anti-pinch control device, the device comprising:

[0027] The first monitoring module is used to respond to the closing signal of the electric door, control the electric support rod of the electric door to continuously retract, report the first real-time support rod force corresponding to the continuous retraction of the electric support rod based on a first preset period, and report the first real-time relative angle of the electric door when it rotates relative to the closed state of the electric door based on a second preset period.

[0028] The first control module is used to perform a latch engagement detection action or a first anti-pinch action corresponding to the electric door based on the real-time strut force and the first real-time relative angle.

[0029] The second monitoring module is used to control the electric suction lock to continuously rotate the bolt when the latch reaches the engagement position, continuously pulling the electric door to the closed position, and to report the converted force value corresponding to the bolt rotation torque based on a third preset period, and to report the second real-time relative angle of the electric door relative to the closed position when the electric door continues to rotate based on a fourth preset period.

[0030] The second control module is used to perform an electric door position recognition action or a second anti-pinch action based on the calculated force value and the second real-time relative angle.

[0031] Furthermore, the first control module is also used to obtain the standard value of the electric strut force corresponding to the anti-pinch database based on the first real-time relative angle;

[0032] The first control module is further configured to execute a first anti-pinch action when the value of the real-time strut force minus the standard value of the electric strut force corresponding to the first real-time relative angle is not less than a preset first threshold; otherwise, execute a lock engagement detection action corresponding to the electric vehicle door.

[0033] Furthermore, the second control module is also used to obtain the standard value of the electric strut force corresponding to the anti-pinch database based on the second real-time relative angle;

[0034] The second control module is further configured to execute a second anti-pinch action when the value of the electric strut force subtracted from the standard value of the electric strut force corresponding to the second real-time relative angle is not less than a preset second threshold, and otherwise execute the electric door position recognition action.

[0035] Furthermore, the first anti-pinch action is to control the electric support rod to stop and spring back;

[0036] The action of performing the latch engagement detection for the electric vehicle door is to determine whether the latch for the electric vehicle door has reached the engagement position.

[0037] Furthermore, the second anti-pinch action is to control the electric support rod and the electric magnetic lock to stop and pop open;

[0038] Performing the electric vehicle door position recognition action involves identifying whether the electric vehicle door is in the closed position.

[0039] The beneficial effects of the technical solution provided in this application include:

[0040] This application monitors each component during the closing action and adjusts them based on the working parameters of each component. This ensures that even when the door sealing reaction force gradually decreases over time, the electric door can still accurately determine whether to pinch the user, thus preventing the user from being pinched by the electric door. Attached Figure Description

[0041] Terminology Explanation:

[0042] MCU: Micro Controller Unit.

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart of the steps of the adaptive electric vehicle door anti-pinch control method provided in the embodiments of this application;

[0045] Figure 2 This is a schematic diagram of the execution structure of the adaptive electric vehicle door anti-pinch control method provided in the embodiments of this application;

[0046] Figure 3 This is a flowchart illustrating the principle of the adaptive electric vehicle door anti-pinch control method provided in the embodiments of this application;

[0047] Figure 4 This is a structural block diagram of the adaptive electric vehicle door anti-pinch control device provided in the embodiments of this application. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0050] This application provides an adaptive electric vehicle door anti-pinch control method and device. For the closing action, it monitors each component and adjusts it based on the working parameters of each component, so as to ensure that the electric vehicle door can still accurately determine the anti-pinch function even when the door sealing reaction force gradually decreases over time, thus preventing the user from being pinched by the electric vehicle door.

[0051] To achieve the aforementioned technical effects, the overall concept of this application is as follows:

[0052] An adaptive anti-pinch control method for electric vehicle doors, the method comprising the following steps:

[0053] S1. Responding to the closing signal of the electric door, control the electric support rod of the electric door to continuously retract, report the first real-time support rod force corresponding to the continuous retraction of the electric support rod based on the first preset period, and report the first real-time relative angle between the electric door and the closed state when the electric door is rotating based on the second preset period.

[0054] S2. Based on the real-time strut force and the first real-time relative angle, perform the corresponding latch engagement detection action of the electric door or perform the first anti-pinch action.

[0055] S3. If the latch reaches the engagement position, the electric magnetic lock continues to rotate the latch, continuously pulling the electric door toward the closed position. Based on the third preset cycle, the calculated force value corresponding to the latch rotation torque is reported, and based on the fourth preset cycle, the second real-time relative angle of the electric door relative to the closed position is reported.

[0056] S4. Based on the calculated force value and the second real-time relative angle, perform the electric vehicle door position recognition action or perform the second anti-pinch action.

[0057] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0058] Firstly, see [the following] Figures 1-3 As shown in the figure, this application provides an adaptive electric vehicle door anti-pinch control method, which includes the following steps:

[0059] S1. Responding to the closing signal of the electric door, control the electric support rod of the electric door to continuously retract, report the first real-time support rod force corresponding to the continuous retraction of the electric support rod based on the first preset period, and report the first real-time relative angle between the electric door and the closed state when the electric door is rotating based on the second preset period.

[0060] S2. Based on the real-time strut force and the first real-time relative angle, perform the corresponding latch engagement detection action of the electric door or perform the first anti-pinch action.

[0061] S3. If the latch reaches the engagement position, the electric magnetic lock continues to rotate the latch, continuously pulling the electric door toward the closed position. Based on the third preset cycle, the calculated force value corresponding to the latch rotation torque is reported, and based on the fourth preset cycle, the second real-time relative angle of the electric door relative to the closed position is reported.

[0062] S4. Based on the calculated force value and the second real-time relative angle, perform the electric vehicle door position recognition action or perform the second anti-pinch action.

[0063] It should be noted that the following supplementary information is provided based on expertise in this field:

[0064] Electric doors: These are car doors that can be opened or closed without human intervention, relying solely on an electric power-assisted mechanism.

[0065] Electric traction process: refers to the process by which the electric door closes to the point where the door latch and door lock just engage through an electric limit switch or electric strut and other assist mechanisms.

[0066] Electric closing process: refers to the process by which the electric door is pulled from the state where the door lock and door latch are just engaged until the door is fully closed by the electric closing lock.

[0067] In this embodiment, the closing action is monitored for each component, and the working parameters of each component are adjusted to ensure that the electric door can still accurately determine the anti-pinch function even when the door sealing reaction force gradually decreases over time, thus preventing the user from being pinched by the electric door.

[0068] Furthermore, based on the real-time strut force and the first real-time relative angle, the following steps are performed to detect the latch engagement of the electric door and whether the first anti-pinch action is executed:

[0069] Based on the first real-time relative angle, obtain the standard value of the electric strut force corresponding to the anti-pinch database;

[0070] If the value of the electric strut force standard value corresponding to the first real-time relative angle minus the real-time strut force is not less than a preset first threshold, then the first anti-pinch action is executed; otherwise, the lock engagement detection action corresponding to the electric vehicle door is executed.

[0071] Furthermore, based on the calculated force value and the second real-time relative angle, the electric vehicle door position recognition action or the second anti-pinch action is performed, including the following steps:

[0072] Based on the second real-time relative angle, the standard value of the electric strut force corresponding to the anti-pinch database is obtained;

[0073] If the value of the electric strut force standard value corresponding to the second real-time relative angle minus the real-time strut force is not less than the preset second threshold, then the second anti-pinch action is executed; otherwise, the electric door position recognition action is executed.

[0074] Furthermore, the first anti-pinch action is performed, including the following steps:

[0075] Control the electric strut to stop and spring back;

[0076] Performing the latch engagement detection action corresponding to the electric vehicle door includes the following steps:

[0077] Determine whether the latch corresponding to the electric vehicle door is in the engaged position.

[0078] Furthermore, a second anti-pinch action is performed, including the following steps:

[0079] Control the electric strut and the electric magnetic locking to stop and release;

[0080] Performing the electric vehicle door position recognition action includes the following steps:

[0081] Identify whether the electric vehicle door is in the closed position.

[0082] Based on the technical solution of the embodiments of this application, an electric anti-pinch control system can be specifically constructed, as shown in the accompanying drawings. Figure 2 As shown, the main components and structure of the system are as follows:

[0083] Part 1 is the right front door assembly, Part 2 is the body, Parts 4 and 5 are door hinges, Parts 4 and 5 connect Parts 1 and 2 together, and allow Part 1 to rotate around the rotation axis of Parts 4 and 5, Part 6 is the electric door support rod, and the two ends of Part 6 are respectively connected and fixed to Parts 1 and Part 2 by ball pins. Part 6 can push or pull Part 1 to rotate around the rotation axis of Parts 4 and 5 (hereinafter referred to as the door rotation axis) through its own extension and retraction, and Part 7 is the electric suction door lock. When Part 1 rotates along the door rotation axis to the position where the latch just engages under the action of Part 6, Part 7 can further close Part 1 completely.

[0084] Part 8 is the anti-pinch control memory for electric vehicle doors, and Part 9 is the MCU, which can receive the strut force data from Part 6 and the rotation angle data from Parts 4 and 5, and match the strut force data with the rotation angle data according to the data transmission time, and store them in Part 8.

[0085] Part 10 is the door closing button, and part 3 is the door latch, which is fixed to part 2 by bolts.

[0086] The specific operation of this electric anti-pinch control system when implementing the technical solution of the embodiments of this application is as follows:

[0087] First, factory calibration and initial anti-pinch data storage:

[0088] The vehicle undergoes its first calibration before leaving the factory. After the vehicle assembly is complete, factory calibration and initial anti-pinch data storage begin when testing the electric door closing function. Initially, part 1 is at its maximum opening position. Pressing part 10 sends a "close door" signal to part 9. Upon receiving the "close door" signal, part 9 immediately sends a "close door" signal to part 6. Upon receiving the "close door" signal, part 6 immediately begins the shortening-electric traction phase. During shortening, part 6 pulls part 1 to rotate around the door's rotation axis. During rotation, part 6 sends the current force value of the support rod to part 9 at regular intervals. Simultaneously, part 4 sends the rotation angle of the part relative to the closed door state to part 9. Part 9 matches the force value of part 6 with the angle value of part 4 according to the reception time, matching those with the same reception time together and storing the results in part 8. When part 1, driven by part 6, rotates until part 7 and part 11 just engage, the electric traction phase ends, and the electric engagement phase begins. During the electric closing phase, the latch of part 7 covers part 3, and the latch of part 7 begins to rotate, pulling part 1 to gradually rotate along the door's rotation axis, thus fully closing part 1. During this process, part 7 also sends the torque of the latch rotation to part 9 at regular intervals. Part 9 matches the torque value of part 7 with the angle value of part 4, grouping together those with the same receiving time and storing the result in part 8. This completes the factory calibration and initial anti-pinch data storage.

[0089] Secondly, anti-pinch detection and anti-pinch activation:

[0090] When the user presses part 10, part 10 sends a "close door" signal to part 9. Upon receiving the "close door" signal, part 9 immediately sends a "close door" signal to part 6. Upon receiving the "close door" signal, part 6 immediately begins the shortening-electric traction phase. During the shortening process, part 6 pulls part 1 to rotate around the door's rotation axis. During rotation, part 6 sends its current output force value to part 9 at regular intervals. Simultaneously, part 4 also sends the rotation angle of the part relative to the closed door state to part 9. Part 9 matches the force value of part 6 with the angle value of part 4 according to the received signal time and retrieves the anti-pinch data stored in part 8 for comparison. At the same angle value, it compares the actual force value of part 6 with the force value at the current angle in the anti-pinch data. If the difference is greater than 50N, it means that part 1 encountered an obstacle during the closing process, causing the force value of part 6 to increase. Part 9 then sends a "stop closing and spring open" command to part 6. Upon receiving the command, part 6 immediately stops contracting and begins to extend, pushing part 1 to open around the door's rotation axis. If the above situation does not occur, part 1 will rotate smoothly around the door's rotation axis. When part 1, driven by part 6, rotates until part 7 and part 3 just engage, the electric traction stage ends and the electric engagement stage begins. During the electric engagement stage, the latch of part 7 covers part 3, and the latch of part 7 begins to rotate, pulling part 1 to gradually rotate along the door's rotation axis. Part 7 begins to send the latch torque data to part 9. Part 9 matches the torque data of part 7 with the rotation angle data of part 4 over time and compares it with the anti-pinch data. If the torque difference is converted into a force value greater than 50N, part 9 will immediately send a "stop closing and spring open" command to part 7. Part 7 will immediately stop the closing action and move the latch in the opposite direction to push part 1 away around the door's rotation axis, thus achieving anti-pinch.

[0091] Thirdly, the anti-pinch data is being updated:

[0092] The resistance to closing the car door mainly comes from the door seal and the door frame seal. The sealing force of these two seals gradually decreases over time. The anti-pinch data stored in part 8 will become increasingly unreasonable (force value is too large) over time. Therefore, each time the door closes without triggering the anti-pinch function, the data obtained during this period will be stored in part 8 and overwrite the previous anti-pinch data in part 8. Part 9 will use this as a benchmark for the next anti-pinch judgment, and so on. If the anti-pinch function is triggered, it will not be overwritten.

[0093] Secondly, see Figure 4 As shown, based on the same inventive concept as the method embodiment, this application provides an adaptive electric vehicle door anti-pinch control device, which includes:

[0094] The first monitoring module is used to respond to the closing signal of the electric door, control the electric support rod of the electric door to continuously retract, report the first real-time support rod force corresponding to the continuous retraction of the electric support rod based on a first preset period, and report the first real-time relative angle of the electric door when it rotates relative to the closed state of the electric door based on a second preset period.

[0095] The first control module is used to perform a latch engagement detection action or a first anti-pinch action corresponding to the electric door based on the real-time strut force and the first real-time relative angle.

[0096] The second monitoring module is used to control the electric suction lock to continuously rotate the bolt when the latch reaches the engagement position, continuously pulling the electric door to the closed position, and to report the converted force value corresponding to the bolt rotation torque based on a third preset period, and to report the second real-time relative angle of the electric door relative to the closed position when the electric door continues to rotate based on a fourth preset period.

[0097] The second control module is used to perform an electric door position recognition action or a second anti-pinch action based on the calculated force value and the second real-time relative angle.

[0098] It should be noted that the following supplementary information is provided based on expertise in this field:

[0099] Electric doors: These are car doors that can be opened or closed without human intervention, relying solely on an electric power-assisted mechanism.

[0100] Electric traction process: refers to the process by which the electric door closes to the point where the door latch and door lock just engage through an electric limit switch or electric strut and other assist mechanisms.

[0101] Electric closing process: refers to the process by which the electric door is pulled from the state where the door lock and door latch are just engaged until the door is fully closed by the electric closing lock.

[0102] This application embodiment monitors each component during the closing action and adjusts them based on the working parameters of each component. This ensures that even when the door sealing reaction force gradually decreases over time, the electric door can still accurately determine whether to pinch the user, thus preventing the user from being pinched by the electric door.

[0103] Furthermore, the first control module is also used to obtain the standard value of the electric strut force corresponding to the anti-pinch database based on the first real-time relative angle;

[0104] The first control module is further configured to execute a first anti-pinch action when the value of the real-time strut force minus the standard value of the electric strut force corresponding to the first real-time relative angle is not less than a preset first threshold; otherwise, execute a lock engagement detection action corresponding to the electric vehicle door.

[0105] Furthermore, the second control module is also used to obtain the standard value of the electric strut force corresponding to the anti-pinch database based on the second real-time relative angle;

[0106] The second control module is further configured to execute a second anti-pinch action when the value of the electric strut force subtracted from the standard value of the electric strut force corresponding to the second real-time relative angle is not less than a preset second threshold, and otherwise execute the electric door position recognition action.

[0107] Furthermore, the first anti-pinch action is to control the electric support rod to stop and spring back;

[0108] The action of performing the latch engagement detection for the electric vehicle door is to determine whether the latch for the electric vehicle door has reached the engagement position.

[0109] Furthermore, the second anti-pinch action is to control the electric support rod and the electric magnetic lock to stop and pop open;

[0110] Performing the electric vehicle door position recognition action involves identifying whether the electric vehicle door is in the closed position.

[0111] Based on the technical solution of the embodiments of this application, an electric anti-pinch control system can be specifically constructed, as shown in the accompanying drawings. Figure 2 As shown, the main components and structure of the system are as follows:

[0112] Part 1 is the right front door assembly, Part 2 is the body, Parts 4 and 5 are door hinges, Parts 4 and 5 connect Parts 1 and 2 together, and allow Part 1 to rotate around the rotation axis of Parts 4 and 5, Part 6 is the electric door support rod, and the two ends of Part 6 are respectively connected and fixed to Parts 1 and Part 2 by ball pins. Part 6 can push or pull Part 1 to rotate around the rotation axis of Parts 4 and 5 (hereinafter referred to as the door rotation axis) through its own extension and retraction, and Part 7 is the electric suction door lock. When Part 1 rotates along the door rotation axis to the position where the latch just engages under the action of Part 6, Part 7 can further close Part 1 completely.

[0113] Part 8 is the anti-pinch control memory for electric vehicle doors, and Part 9 is the MCU, which can receive the strut force data from Part 6 and the rotation angle data from Parts 4 and 5, and match the strut force data with the rotation angle data according to the data transmission time, and store them in Part 8.

[0114] Part 10 is the door closing button, and part 3 is the door latch, which is fixed to part 2 by bolts.

[0115] The specific operation of this electric anti-pinch control system when implementing the technical solution of the embodiments of this application is as follows:

[0116] First, factory calibration and initial anti-pinch data storage:

[0117] The vehicle undergoes its first calibration before leaving the factory. After the vehicle assembly is complete, factory calibration and initial anti-pinch data storage begin when testing the electric door closing function. Initially, part 1 is at its maximum opening position. Pressing part 10 sends a "close door" signal to part 9. Upon receiving the "close door" signal, part 9 immediately sends a "close door" signal to part 6. Upon receiving the "close door" signal, part 6 immediately begins the shortening-electric traction phase. During shortening, part 6 pulls part 1 to rotate around the door's rotation axis. During rotation, part 6 sends the current force value of the support rod to part 9 at regular intervals. Simultaneously, part 4 sends the rotation angle of the part relative to the closed door state to part 9. Part 9 matches the force value of part 6 with the angle value of part 4 according to the reception time, matching those with the same reception time together and storing the results in part 8. When part 1, driven by part 6, rotates until part 7 and part 11 just engage, the electric traction phase ends, and the electric engagement phase begins. During the electric closing phase, the latch of part 7 covers part 3, and the latch of part 7 begins to rotate, pulling part 1 to gradually rotate along the door's rotation axis, thus fully closing part 1. During this process, part 7 also sends the torque of the latch rotation to part 9 at regular intervals. Part 9 matches the torque value of part 7 with the angle value of part 4, grouping together those with the same receiving time and storing the result in part 8. This completes the factory calibration and initial anti-pinch data storage.

[0118] Secondly, anti-pinch detection and anti-pinch activation:

[0119] When the user presses part 10, part 10 sends a "close door" signal to part 9. Upon receiving the "close door" signal, part 9 immediately sends a "close door" signal to part 6. Upon receiving the "close door" signal, part 6 immediately begins the shortening-electric traction phase. During the shortening process, part 6 pulls part 1 to rotate around the door's rotation axis. During rotation, part 6 sends its current output force value to part 9 at regular intervals. Simultaneously, part 4 also sends the rotation angle of the part relative to the closed door state to part 9. Part 9 matches the force value of part 6 with the angle value of part 4 according to the received signal time and retrieves the anti-pinch data stored in part 8 for comparison. At the same angle value, it compares the actual force value of part 6 with the force value at the current angle in the anti-pinch data. If the difference is greater than 50N, it means that part 1 encountered an obstacle during the closing process, causing the force value of part 6 to increase. Part 9 then sends a "stop closing and spring open" command to part 6. Upon receiving the command, part 6 immediately stops contracting and begins to extend, pushing part 1 to open around the door's rotation axis. If the above situation does not occur, part 1 will rotate smoothly around the door's rotation axis. When part 1, driven by part 6, rotates until part 7 and part 3 just engage, the electric traction stage ends and the electric engagement stage begins. During the electric engagement stage, the latch of part 7 covers part 3, and the latch of part 7 begins to rotate, pulling part 1 to gradually rotate along the door's rotation axis. Part 7 begins to send the latch torque data to part 9. Part 9 matches the torque data of part 7 with the rotation angle data of part 4 over time and compares it with the anti-pinch data. If the torque difference is converted into a force value greater than 50N, part 9 will immediately send a "stop closing and spring open" command to part 7. Part 7 will immediately stop the closing action and move the latch in the opposite direction to push part 1 away around the door's rotation axis, thus achieving anti-pinch.

[0120] Thirdly, the anti-pinch data is being updated:

[0121] The resistance to closing the car door mainly comes from the door seal and the door frame seal. The sealing force of these two seals gradually decreases over time. The anti-pinch data stored in part 8 will become increasingly unreasonable (force value is too large) over time. Therefore, each time the door closes without triggering the anti-pinch function, the data obtained during this period will be stored in part 8 and overwrite the previous anti-pinch data in part 8. Part 9 will use this as a benchmark for the next anti-pinch judgment, and so on. If the anti-pinch function is triggered, it will not be overwritten.

[0122] It should be noted that the adaptive electric vehicle door anti-pinch control device provided in this application has similar technical problems, technical means and technical effects to the adaptive electric vehicle door anti-pinch control method in principle.

[0123] It should be noted that in this application, relational terms such as "comparison" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0124] The above are merely specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An adaptive electric vehicle door anti-pinch control method, characterized in that, The method includes the following steps: In response to the closing signal of the electric door, the electric support rod of the electric door is controlled to continuously retract. The first real-time support rod force corresponding to the continuous retraction of the electric support rod is reported based on a first preset period, and the first real-time relative angle between the electric door and the closed state is reported based on a second preset period. Based on the real-time strut force and the first real-time relative angle, execute the lock engagement detection action or execute the first anti-pinch action corresponding to the electric vehicle door; If the latch reaches the engaged position, the electric magnetic lock continues to rotate the latch, continuously pulling the electric door toward the closed position. Based on the third preset cycle, it reports the converted force value corresponding to the latch rotation torque, and based on the fourth preset cycle, it reports the second real-time relative angle of the electric door relative to the closed position when the door continues to rotate. Based on the calculated force value and the second real-time relative angle, perform the electric vehicle door position recognition action or perform the second anti-pinch action.

2. The adaptive electric vehicle door anti-pinch control method as described in claim 1, characterized in that, Based on the real-time strut force and the first real-time relative angle, the following steps are performed to detect the engagement of the electric door latch and whether to perform the first anti-pinch action: Based on the first real-time relative angle, obtain the standard value of the electric strut force corresponding to the anti-pinch database; If the value of the electric strut force standard value corresponding to the first real-time relative angle minus the real-time strut force is not less than a preset first threshold, then the first anti-pinch action is executed; otherwise, the lock engagement detection action corresponding to the electric vehicle door is executed.

3. The adaptive electric vehicle door anti-pinch control method as described in claim 1, characterized in that, Based on the calculated force value and the second real-time relative angle, the electric vehicle door position recognition action or the second anti-pinch action is performed, including the following steps: Based on the second real-time relative angle, the standard value of the electric strut force corresponding to the anti-pinch database is obtained; If the value of the electric strut force standard value corresponding to the second real-time relative angle minus the real-time strut force is not less than the preset second threshold, then the second anti-pinch action is executed; otherwise, the electric door position recognition action is executed.

4. The adaptive electric vehicle door anti-pinch control method as described in claim 1, characterized in that, Performing the first anti-pinch action includes the following steps: Control the electric strut to stop and spring back; Performing the latch engagement detection action corresponding to the electric vehicle door includes the following steps: Determine whether the latch corresponding to the electric vehicle door is in the engaged position.

5. The adaptive electric vehicle door anti-pinch control method as described in claim 1, characterized in that, Performing the second anti-pinch action includes the following steps: Control the electric strut and the electric magnetic locking to stop and release; Performing the electric vehicle door position recognition action includes the following steps: Identify whether the electric vehicle door is in the closed position.

6. An adaptive electric vehicle door anti-pinch control device, characterized in that, The device includes: The first monitoring module is used to respond to the closing signal of the electric door, control the electric support rod of the electric door to continuously retract, report the first real-time support rod force corresponding to the continuous retraction of the electric support rod based on a first preset period, and report the first real-time relative angle of the electric door when it rotates relative to the closed state of the electric door based on a second preset period. The first control module is used to perform a latch engagement detection action or a first anti-pinch action corresponding to the electric door based on the real-time strut force and the first real-time relative angle. The second monitoring module is used to control the electric suction lock to continuously rotate the bolt when the latch reaches the engagement position, continuously pulling the electric door to the closed position, and to report the converted force value corresponding to the bolt rotation torque based on a third preset period, and to report the second real-time relative angle of the electric door relative to the closed position when the electric door continues to rotate based on a fourth preset period. The second control module is used to perform an electric door position recognition action or a second anti-pinch action based on the calculated force value and the second real-time relative angle.

7. The adaptive electric vehicle door anti-pinch control device as described in claim 6, characterized in that: The first control module is also used to obtain the standard value of the electric strut force corresponding to the anti-pinch database based on the first real-time relative angle; The first control module is further configured to execute a first anti-pinch action when the value of the real-time strut force minus the standard value of the electric strut force corresponding to the first real-time relative angle is not less than a preset first threshold; otherwise, execute a lock engagement detection action corresponding to the electric vehicle door.

8. The adaptive electric vehicle door anti-pinch control device as described in claim 6, characterized in that: The second control module is also used to obtain the standard value of the electric strut force corresponding to the anti-pinch database based on the second real-time relative angle; The second control module is further configured to execute a second anti-pinch action when the value of the electric strut force subtracted from the standard value of the electric strut force corresponding to the second real-time relative angle is not less than a preset second threshold, and otherwise execute the electric door position recognition action.

9. The adaptive electric vehicle door anti-pinch control device as described in claim 6, characterized in that: The first anti-pinch action is to control the electric support rod to stop and spring back; The action of performing the latch engagement detection for the electric vehicle door is to determine whether the latch for the electric vehicle door has reached the engagement position.

10. The adaptive electric vehicle door anti-pinch control device as described in claim 6, characterized in that: The second anti-pinch action is to control the electric support rod and the electric magnetic locking to stop and pop open; Performing the electric vehicle door position recognition action involves identifying whether the electric vehicle door is in the closed position.

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