Electric charging port cover anti-pinch control method and device, equipment and medium

Abstract

The application discloses an electric charging port cover anti-pinch control method, device, equipment and medium, and relates to the technical field of vehicle intelligent control. The method comprises the following steps: when it is detected that there is an external obstruction in the movement process of the electric charging port cover, controlling the electric charging port cover to move reversely in the current movement direction based on a reverse driving command; performing real-time external obstruction detection in the reverse movement process, and controlling the electric charging port cover to move reversely in the current movement direction again when it is detected that there is an external obstruction; and when the number of times of reverse movement of the electric charging port cover is greater than a preset number of times, controlling the electric charging port cover to stop moving. The application can effectively realize anti-pinch operation of the electric charging port cover, and avoid the occurrence of the pinching phenomenon and the resulting personal injury.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control of vehicles, in particular to an electric charging port cover anti-pinch control method, device, equipment and medium. BACKGROUND

[0002] The charging port cover is an important part of an electric vehicle. At present, an electric opening and closing type control is mostly used. An opening / closing driving instruction is generally sent by a domain controller to drive the charging port cover to open / close. If there is an external obstruction in the process of the charging port cover action, the driving action will not stop, thereby causing a pinch danger.

[0003] At present, for the anti-pinch control when the charging port cover is opened or closed, a common method is to determine the opening and closing block points, and obtain the current state of the charging port cover, thereby solving the problem that the opening and closing of the charging port cover cannot be accurately controlled.

[0004] The above control method can avoid the inconvenience and safety hazards caused by the charging port cover not being completely opened or closed, and solve the problem that the opening and closing of the charging port cover cannot be accurately controlled. However, it cannot solve the pinch problem caused by the external obstruction in the process of the charging port cover action. Therefore, how to effectively realize the anti-pinch control in the process of the electric charging port cover action has become a problem to be solved at present. SUMMARY

[0005] The present application provides an electric charging port cover anti-pinch control method, device, equipment and medium, which can effectively realize the anti-pinch operation of the electric charging port cover and avoid the pinch phenomenon to cause personal injury.

[0006] In a first aspect, the present application provides an electric charging port cover anti-pinch control method, which comprises:

[0007] When it is detected that there is an external obstruction in the process of the electric charging port cover action, the electric charging port cover is controlled to move reversely in the current action direction based on a reverse driving command;

[0008] Real-time external obstruction detection is performed in the reverse movement process, and the electric charging port cover is controlled to move reversely in the current action direction again when it is detected that there is an external obstruction each time;

[0009] When the number of times of the reverse movement of the electric charging port cover again is greater than a preset number of times, the electric charging port cover is controlled to stop moving.

[0010] In combination with the first aspect, in an implementation mode, before the electric charging port cover is controlled to move reversely in the current action direction based on the reverse driving command when it is detected that there is an external obstruction in the process of the electric charging port cover action, the method further comprises:

[0011] The domain controller sends an electric charging port cover unlocking or locking drive command to the electric charging port cover, the electric charging port cover performs a corresponding action, and whether there is an external obstruction during the execution process is detected:

[0012] If there is no external obstruction, the arrival control of the electric charging port cover is realized based on the output time of the drive command;

[0013] If there is an external obstruction, the electric charging port cover is controlled to move in the opposite direction based on the reverse drive command.

[0014] In combination with the first aspect, in an implementation manner, the arrival control of the electric charging port cover based on the output time of the drive command specifically comprises:

[0015] Timing the output time of the drive command of the domain controller:

[0016] If the output time of the drive command is less than the set time and the electric charging port cover has arrived at the target position, stop sending the drive command to the electric charging port cover, and the electric charging port cover stops moving;

[0017] If the output time of the drive command is not less than the set time and the electric charging port cover has not arrived at the target position, stop sending the drive command to the electric charging port cover, and the electric charging port cover stops moving.

[0018] In combination with the first aspect, in an implementation manner, the external obstruction detection is performed in real time during the reverse movement, and the electric charging port cover is controlled to move in the opposite direction again when the external obstruction is detected each time, specifically comprising:

[0019] The external obstruction detection is performed in real time during the first reverse movement of the electric charging port cover;

[0020] Based on the detection result, when the external obstruction is detected each time, the electric charging port cover is controlled to move in the opposite direction again based on the reverse drive command, and the number of times of the reverse movement of the electric charging port cover is recorded.

[0021] In combination with the first aspect, in an implementation manner, the number of times of the reverse movement of the electric charging port cover is used to control the electric charging port cover to stop moving when the number of times of the reverse movement is greater than a preset number, specifically comprising:

[0022] Based on the number of times of the reverse movement of the electric charging port cover:

[0023] When the number of times of the reverse movement is not greater than the preset number, the electric charging port cover moves in the opposite direction based on the latest reverse drive command until it reaches the maximum position;

[0024] When the number of times of reverse action again is greater than the preset number of times, the domain controller stops sending the driving command to the electric charging port cover, and the electric charging port cover stops action.

[0025] In combination with the first aspect, in an implementation mode, after the domain controller stops sending the driving command to the electric charging port cover when the number of times of reverse action again is greater than the preset number of times, and the electric charging port cover stops action, the method further includes: performing electric charging port cover failure prompting.

[0026] In combination with the first aspect, in an implementation mode, when the electric charging port cover reverses action towards the current action direction based on the latest reverse driving command until reaching the maximum position, the method further includes:

[0027] According to the total output time of the driving command of the domain controller:

[0028] If the total output time is less than the set time and the electric charging port cover has reached the maximum position, the driving command is stopped from being sent to the electric charging port cover, and the electric charging port cover stops action;

[0029] If the total output time is not less than the set time and the electric charging port cover has not reached the maximum position, the driving command is stopped from being sent to the electric charging port cover, and the electric charging port cover stops action.

[0030] The second aspect, the embodiment of the application provides an electric charging port cover anti-pinch control device, the electric charging port cover anti-pinch control device includes:

[0031] The first detection module is used for detecting that there is external obstruction in the action process of the electric charging port cover, and controlling the electric charging port cover to reverse action towards the current action direction based on the reverse driving command;

[0032] The second detection module is used for detecting external obstruction in real time in the reverse action process, and controlling the electric charging port cover to reverse action towards the current action direction again each time external obstruction is detected;

[0033] The execution module is used for controlling the electric charging port cover to stop action when the number of times of reverse action again is greater than the preset number of times based on the number of times of reverse action again of the electric charging port cover.

[0034] The third aspect, the embodiment of the application provides an electric charging port cover anti-pinch control device, the electric charging port cover anti-pinch control device includes a processor, a memory, and an electric charging port cover anti-pinch control program stored in the memory and executable by the processor, wherein the electric charging port cover anti-pinch control program is executed by the processor to implement the steps of the electric charging port cover anti-pinch control method described above.

[0035] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, and the computer readable storage medium stores an electric charging port cover anti-pinch control program. When the electric charging port cover anti-pinch control program is executed by a processor, the steps of the electric charging port cover anti-pinch control method described above are implemented.

[0036] The technical scheme provided by the embodiments of the present application has the following beneficial effects.

[0037] In the process of the electric charging port cover moving, if an external object blocks the electric charging port cover, the anti-pinch function is activated through the external object blocking signal, the actuator reversely runs, and drives the electric charging port cover to move to the fully open or fully closed position in the reverse direction. In the reverse running process, if the external object blocks again or the user repeatedly pinches or pulls the electric charging port cover to hinder the normal movement of the electric charging port cover, the external object blocking signal is monitored, and the number of triggering times is memorized. If the number of triggering times is greater than a preset number of times, the domain controller is locked and no longer sends a driving command. The electric charging port cover failure prompt is displayed on the instrument display screen. The anti-pinch operation of the electric charging port cover is effectively realized, the pinching phenomenon is avoided, and personnel injury is avoided. In addition, no new hardware needs to be adapted, and no additional cost is increased. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 FIG. 1 is a flowchart of an electric charging port cover anti-pinch control method according to an embodiment of the present application;

[0039] Figure 2 FIG. 2 is a functional module diagram of an electric charging port cover anti-pinch control device according to an embodiment of the present application;

[0040] Figure 3 FIG. 3 is a hardware structure diagram of an electric charging port cover anti-pinch control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to enable personnel in the technical field to better understand the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0042] In order to make the purpose, technical scheme and advantages of the present application more clear, the embodiments of the present application will be described in further detail below with reference to the drawings.

[0043] In a first aspect, the embodiments of the present application provide an electric charging port cover anti-pinch control method.

[0044] In an embodiment, with reference to Figure 1 ,Figure 1 The flowchart of the anti-pinch control method of the electric charging port cover is shown in the figure. As shown in the figure, the anti-pinch control method of the electric charging port cover comprises: Figure 1

[0045] S1: When it is detected that there is an external obstruction in the action process of the electric charging port cover, control the electric charging port cover to move reversely in the current action direction based on the reverse drive command.

[0046] In the present application, the detection of the external obstruction can be realized by corresponding sensors, such as distance sensors, human body sensors, etc., to realize the detection of the external obstruction. For example, when the distance sensor is used to realize the external obstruction detection, the distance between the electric charging port cover and the vehicle body changes regularly during the opening or closing process of the electric charging port cover. If there is an obstruction of other objects in the action process of the electric charging port cover, the distance between the electric charging port cover and the vehicle body will not change regularly, and the torque of the motor used to drive the electric charging port cover will change. Based on this, it can be determined that there is an obstruction between the electric charging port cover and the vehicle body. When the human body sensor is used to realize the external obstruction detection, if a human body is detected between the electric charging port cover and the vehicle body during the opening or closing process of the electric charging port cover, it is determined that there is an external obstruction or there is a possibility of an external obstruction of the electric charging port cover. At this time, it is determined that there is an external obstruction in the action process of the electric charging port cover.

[0047] Further, in an embodiment, before the electric charging port cover is controlled to move reversely in the current action direction based on the reverse drive command when it is detected that there is an external obstruction in the action process of the electric charging port cover, it further comprises:

[0048] The domain controller sends the electric charging port cover unlocking or locking drive command to the electric charging port cover, and the electric charging port cover performs the corresponding action and detects whether there is an external obstruction during the execution process:

[0049] If there is no external obstruction, the output time of the drive command is used to realize the arrival control of the electric charging port cover;

[0050] If there is an external obstruction, the electric charging port cover is controlled to move reversely in the current action direction based on the reverse drive command.

[0051] ​For the above process, specifically, when the domain controller sends an electric charging port cover unlocking drive command to the electric charging port cover, the electric charging port cover performs an opening action, and when the domain controller sends an electric charging port cover locking drive command to the electric charging port cover, the electric charging port cover performs a closing action. For the reverse action of the electric charging port cover in the direction of the current action based on the reverse drive command in the application, specifically, when the electric charging port cover is performing an opening action, if a reverse drive command is received, the opening action being performed is interrupted, and then a closing action is performed; when the electric charging port cover is performing a closing action, if a reverse drive command is received, the closing action being performed is interrupted, and then an opening action is performed, to realize the reverse action in the direction of the current action.

[0052] Further, in an embodiment, the arrival control of the electric charging port cover is realized based on the output time of the drive command, specifically including:

[0053] Timing the output time of the drive command of the domain controller:

[0054] If the output time of the drive command is less than the set time and the electric charging port cover has arrived at the target position, stop sending the drive command to the electric charging port cover, and the electric charging port cover stops moving;

[0055] If the output time of the drive command is not less than the set time and the electric charging port cover has not arrived at the target position, stop sending the drive command to the electric charging port cover, and the electric charging port cover stops moving.

[0056] For example, the domain controller sends an electric charging port cover unlocking drive command to the electric charging port cover, and the electric charging port cover performs an opening action. When there is no external obstruction during the execution of the opening action, if the output time of the drive command is less than the set time, and it is detected that the electric charging port cover has been completely opened, stop sending the drive command; if the output time of the drive command is not less than the set time, and it is detected that the electric charging port cover has not moved to the completely opened position, stop sending the drive command, and the electric charging port cover stops moving.

[0057] S2: Real-time external obstruction detection is performed during the reverse action, and the electric charging port cover is controlled to reverse the action in the direction of the current action again each time it is detected that there is an external obstruction;

[0058] Further, in an embodiment, real-time external obstruction detection is performed during the reverse action, and the electric charging port cover is controlled to reverse the action in the direction of the current action again each time it is detected that there is an external obstruction, specifically including:

[0059] S201: During the first reverse action of the electric charging port cover, the detection of external obstruction is performed in real time. That is, when the electric charging port cover starts to move, if an external obstruction is detected, the electric charging port cover will perform a reverse action. During this reverse action, the detection of external obstruction of the electric charging port cover is still performed in real time.

[0060] S202: Based on the detection results, each time a foreign object obstruction is detected, the electric charging port cover is controlled to reverse in the current direction of action based on a reverse drive command, and the number of times the electric charging port cover reverses again is recorded. Specifically, when the electric charging port cover is reversing, if a foreign object obstruction is detected, the electric charging port cover will reverse again, and then continue to detect foreign objects. If a foreign object obstruction is detected, the electric charging port cover will reverse again, and so on, while the number of times the reverse action is repeated is recorded.

[0061] To better understand the number of times a reverse action is performed, the following example illustrates how to count the number of reverse actions.

[0062] If initially the domain controller sends an unlock drive command to the electric charging port cover, the cover will open. If an obstruction is detected during the opening process, the cover will close based on a reverse drive command. This is the first reverse action. If an obstruction is detected during the closing process, the cover will open again based on a reverse drive command, resulting in one reverse action. If an obstruction is detected during the opening process, the cover will close again based on a reverse drive command, resulting in two reverse actions. If an obstruction is detected during the closing process, the cover will open again based on a reverse drive command, resulting in three reverse actions, and so on.

[0063] S3: Based on the number of times the electric charging port cover reverses again, control the electric charging port cover to stop moving when the number of times it reverses again exceeds a preset number.

[0064] Each time a reverse action is performed, the number of reverse actions is recorded, and a preset number of actions is also set. When the recorded number of reverse actions exceeds the preset number of actions, the electric charging port cover is controlled to stop moving and remain stationary.

[0065] Furthermore, in one embodiment, based on the number of times the electric charging port cover reverses its movement, the electric charging port cover is controlled to stop moving when the number of reverse movements exceeds a preset number. Specifically, this includes:

[0066] The number of times of reverse action again based on the electric charging port cover:

[0067] When the number of times of reverse action again is not greater than the preset number of times, the electric charging port cover reverses action based on the latest reverse drive command in the current action direction until reaching the maximum position;

[0068] When the number of times of reverse action again is greater than the preset number of times, the domain controller stops sending the drive command to the electric charging port cover, and the electric charging port cover stops action.

[0069] The preset number of times in the application can be 3 times, for example, when the number of times of reverse action again is 2 times, the next action based on the latest reverse drive command is closing action, and if the external obstruction is not detected again during the closing action, it is executed until completely closed, and the maximum position at this time is the completely closed position.

[0070] For example, when the number of times of reverse action again is 3 times, the next action based on the latest reverse drive command is closing action, and the external obstruction is detected again during the closing action, at this time, according to the previous setting, the electric charging port cover needs to perform the opening action, and the number of times of reverse action again reaches 4 times, which exceeds the preset number of times, therefore, at this time, the domain controller stops sending the drive command to the electric charging port cover, and the electric charging port cover stops action.

[0071] In the application, when the number of times of reverse action again is greater than the preset number of times, the domain controller stops sending the drive command to the electric charging port cover, and the electric charging port cover stops action, further comprising: performing electric charging port cover fault prompt. When the number of times of reverse action again is greater than the preset number of times, it indicates that the electric charging port cover has encountered many external obstructions during the action, and the electric charging port cover has been unable to normally close or open without human intervention, therefore, at this time, the electric charging port cover fault can be prompted on the central control instrument, reminding the driver to actively check the electric charging port cover, so as to solve the fault in time and ensure the driving safety.

[0072] In the application, when the electric charging port cover reverses action based on the latest reverse drive command in the current action direction until reaching the maximum position, further comprising:

[0073] According to the total output time of the drive command of the domain controller:

[0074] If the total output time is less than the set time and the electric charging port cover has reached the maximum position, stop sending the drive command to the electric charging port cover, and the electric charging port cover stops action;

[0075] If the total output time is not less than the set time and the electric charging port cover has not reached the maximum position, stop sending the drive command to the electric charging port cover, and the electric charging port cover stops action.

[0076] This means that after the electric charging port cover begins to move, the total movement time must be less than a set time. If the total movement time is not less than the set time, the electric charging port cover will stop moving regardless of whether it reaches its maximum position. This time limit is implemented to prevent the electric charging port cover from remaining in motion for extended periods. During repeated reverse movements of the electric charging port cover, the speed controlled by the controller means that even if the number of reverse movements does not exceed the preset number, a considerable amount of time may have passed. If the electric charging port cover continues to move without restriction, it may affect other vehicle components. Therefore, to ensure vehicle safety, even if the number of reverse movements does not exceed the preset number and the electric charging port cover has not reached its maximum position, but the total movement time of the electric charging port cover is not less than the set time, the drive command to the electric charging port cover is stopped, the electric charging port cover stops moving, and a fault warning is displayed on the central control instrument panel to remind the driver to proactively check and repair the fault, ensuring driving safety.

[0077] The anti-pinch control method for the electric charging port cover in this embodiment activates the anti-pinch function by detecting an obstruction signal when the electric charging port cover is in operation. The actuator reverses its direction, driving the electric charging port cover to the fully open or fully closed position. If an obstruction is detected again during the reverse operation, or if the user repeatedly pinches or pulls the cover, hindering its normal operation, the system monitors the obstruction signal and memorizes the number of triggers. If the number of triggers exceeds a preset number, the domain controller locks and stops sending drive commands, and displays a fault message for the electric charging port cover on the instrument display screen. This effectively prevents the electric charging port cover from being pinched and causing personal injury. Furthermore, it requires no new hardware adaptation and incurs no additional cost.

[0078] Secondly, embodiments of this application also provide an anti-pinch control device for an electric charging port cover.

[0079] In one embodiment, reference is made to Figure 2 , Figure 2 This is a schematic diagram of the functional modules of the anti-pinch control device for the electric charging port cover of this application. Figure 2 As shown, the electric charging port cover anti-pinch control device includes: a first detection module, a second detection module, and an execution module.

[0080] The first detection module is configured to detect that there is an external obstruction in the action process of the electric charging port cover, and control the electric charging port cover to move reversely in the current action direction based on a reverse driving command.

[0081] In a third aspect, an electric charging port cover anti-pinch control device is provided. The electric charging port cover anti-pinch control device can be a personal computer (PC), a notebook computer, a server, or other device with data processing function.

[0082] Reference is made to Figure 3 , Figure 3 FIG. 1 is a schematic diagram of a hardware structure of an electric charging port cover anti-pinch control device according to an embodiment of the present application. In the embodiment, the electric charging port cover anti-pinch control device can include a processor, a memory, a communication interface, and a communication bus.

[0083] The communication bus can be of any type, and is configured to interconnect the processor, the memory, and the communication interface.

[0084] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, and is configured to interconnect devices inside the electric charging port cover anti-pinch control device, and to interconnect the electric charging port cover anti-pinch control device with other devices (e.g., other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber interface, an ATM interface, or the like. The user device can be a display, a keyboard, or the like.

[0085] The memory can be of various types, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), or the like.

[0086] The processor can be a general processor, which can invoke an electric charging port cover anti-pinch control program stored in the memory and execute the electric charging port cover anti-pinch control method provided in the embodiments of the present application. For example, the general processor can be a central processing unit (CPU). The method executed when the electric charging port cover anti-pinch control program is invoked can refer to the embodiments of the electric charging port cover anti-pinch control method of the present application, which will not be described herein.

[0087] Those skilled in the art can understand that the hardware structure shown in the foregoing embodiments is not a limitation to the present application, and can include more or less components, or combine certain components, or different component arrangement. Figure 3 The hardware structure shown in the foregoing embodiments is not a limitation to the present application, and can include more or less components, or combine certain components, or different component arrangement.

[0088] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium.

[0089] The computer readable storage medium of the present application stores an electric charging port cover anti-pinch control program, wherein the electric charging port cover anti-pinch control program is executed by the processor to implement the steps of the electric charging port cover anti-pinch control method as described above.

[0090] The method implemented when the electric charging port cover anti-pinch control program is executed can refer to the embodiments of the electric charging port cover anti-pinch control method of the present application, which will not be described herein.

[0091] It should be noted that the serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0092] The terms "comprising" and "having" and any variations thereof in the specification and claims of the present application and the above-described drawings are intended to cover not exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device. The terms "first", "second" and "third" and the like descriptions are used to distinguish different objects, and do not represent the order or limit the types of "first", "second" and "third".

[0093] In the description of the embodiments of the present application, "exemplary", "for example" or "for instance" is used to mean as an example, illustration or description. Any embodiment or design scheme described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the words "exemplary", "for example" or "for instance" are intended to present the relevant concept in a specific manner.

[0094] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text only describes the relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can mean that A exists alone, A and B exist together, and B exists alone, and in addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0095] In some of the processes described in the embodiments of the present application, a plurality of operations or steps are included in a specific order, but it should be understood that these operations or steps can be executed or in parallel without the order in which they appear in the embodiments of the present application, and the serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0096] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk) as described above, and includes a plurality of instructions for making a terminal device execute the method described in each embodiment of the present application.

[0097] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An electric power charging port cover anti-pinch control method, characterized in that, The anti-pinch control method of the electric charging port cover comprises the following steps: When it is detected that there is an external obstacle during the movement of the electric charging port cover, the electric charging port cover is controlled to move reversely in the current movement direction based on a reverse drive command; During the reverse movement, real-time detection of the external obstacle is performed, and each time it is detected that there is an external obstacle, the electric charging port cover is controlled to move reversely in the current movement direction again; When the number of times of reverse movement of the electric charging port cover is greater than a preset number of times, the electric charging port cover is controlled to stop moving; Before the electric charging port cover is controlled to move reversely in the current movement direction based on the reverse drive command when it is detected that there is an external obstacle during the movement of the electric charging port cover, the method further comprises the following steps: The domain controller sends an electric charging port cover unlocking or locking drive command to the electric charging port cover, and the electric charging port cover performs corresponding movement and detects whether there is an external obstacle during the movement; If there is no external obstacle, the output time of the drive command is used to achieve the arrival control of the electric charging port cover; If there is an external obstacle, the electric charging port cover is controlled to move reversely in the current movement direction based on a reverse drive command; The output time of the drive command of the domain controller is timed; If the output time of the drive command is less than a set time and the electric charging port cover has reached the target position, the drive command is stopped from being sent to the electric charging port cover, and the electric charging port cover stops moving; If the output time of the drive command is not less than the set time and the electric charging port cover has not reached the target position, the drive command is stopped from being sent to the electric charging port cover, and the electric charging port cover stops moving. During the reverse movement, real-time detection of the external obstacle is performed, and each time it is detected that there is an external obstacle, the electric charging port cover is controlled to move reversely in the current movement direction again; 2. The anti-pinch control method for an electric charging port cover as claimed in claim 1, wherein, During the first reverse movement of the electric charging port cover, real-time detection of the external obstacle is performed; Based on the detection result, each time it is detected that there is an external obstacle, the electric charging port cover is controlled to move reversely in the current movement direction again based on a reverse drive command, and the number of times of reverse movement of the electric charging port cover is recorded. The number of times of reverse movement of the electric charging port cover is used to control the electric charging port cover to stop moving when the number of times of reverse movement is greater than a preset number of times, and the control method comprises the following steps:

3. The anti-pinch control method for a power charging port cover as claimed in claim 2, wherein, Based on the number of times of reverse movement of the electric charging port cover: When the number of times of reverse movement is not greater than the preset number of times, the electric charging port cover moves reversely in the current movement direction based on the latest reverse drive command until it reaches the maximum position; When the number of times of reverse movement is greater than the preset number of times, the domain controller stops sending the drive command to the electric charging port cover, and the electric charging port cover stops moving. After the domain controller stops sending the drive command to the electric charging port cover and the electric charging port cover stops moving when the number of times of reverse movement is greater than the preset number of times, the method further comprises the following step:

4. The anti-pinch control method for a power charging port cover as claimed in claim 3, wherein, When the electric charging port cover moves reversely in the current movement direction based on the latest reverse drive command until it reaches the maximum position, the method further comprises the following steps:

5. The anti-pinch control method for a power charging port cover as claimed in claim 3, wherein, ​ According to the total output time of the drive command of the domain controller: If the total output time is less than the set time and the electric charging port cover has reached the maximum position, stop sending the drive command to the electric charging port cover, and the electric charging port cover stops moving; If the total output time is not less than the set time and the electric charging port cover has not reached the maximum position, stop sending the drive command to the electric charging port cover, and the electric charging port cover stops moving.

6. An electric power charging port cover anti-pinch control device, characterized by, The electric charging port cover anti-pinch control device comprises: The first detection module is configured to detect that there is an external obstruction during the movement of the electric charging port cover, and control the electric charging port cover to move reversely in the current movement direction based on a reverse drive command; The second detection module is configured to detect the external obstruction in real time during the reverse movement, and control the electric charging port cover to move reversely in the current movement direction again each time the external obstruction is detected; The execution module is configured to control the electric charging port cover to stop moving when the number of times of reverse movement of the electric charging port cover is greater than a preset number of times; Before the electric charging port cover is controlled to move reversely in the current movement direction based on the reverse drive command when it is detected that there is an external obstruction during the movement of the electric charging port cover, the domain controller sends an electric charging port cover unlocking or locking drive command to the electric charging port cover, and the electric charging port cover performs a corresponding movement and detects whether there is an external obstruction during the movement; If there is no external obstruction, the electric charging port cover is controlled to reach based on the output time of the drive command; If there is an external obstruction, the electric charging port cover is controlled to move reversely in the current movement direction based on the reverse drive command; The output time of the drive command of the domain controller is timed: If the output time of the drive command is less than the set time and the electric charging port cover has reached the target position, stop sending the drive command to the electric charging port cover, and the electric charging port cover stops moving; If the output time of the drive command is not less than the set time and the electric charging port cover has not reached the target position, stop sending the drive command to the electric charging port cover, and the electric charging port cover stops moving. The electric charging port cover anti-pinch control device comprises a processor, a memory, and an electric charging port cover anti-pinch control program stored in the memory and executable by the processor, wherein the electric charging port cover anti-pinch control program is executed by the processor to implement the steps of the electric charging port cover anti-pinch control method according to any one of claims 1 to 5. The computer readable storage medium stores an electric charging port cover anti-pinch control program, wherein the electric charging port cover anti-pinch control program is executed by the processor to implement the steps of the electric charging port cover anti-pinch control method according to any one of claims 1 to 5.

7. An electric power charging port cover anti-pinch control device, characterized by, ​ 8. A computer-readable storage medium, characterized in that, ​

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