Anti-pinch control method, device and equipment for electric tail door of automobile and storage medium

Abstract

The invention discloses an anti-pinch control method, device and equipment for an automobile electric tail door and a storage medium, and relates to the technical field of vehicle control. The method comprises the steps that the motor rotating speed difference of a left supporting rod and a right supporting rod of the automobile electric tail door is obtained; determining an anti-pinch area where the user is located based on the motor rotating speed difference; based on the anti-pinch area, calculating an anti-pinch threshold value of the corresponding supporting rod to obtain a target anti-pinch threshold value; and performing anti-pinch control through the target anti-pinch threshold. The specific anti-pinch area of the user is quickly identified through the motor rotating speed difference, so that the anti-pinch threshold value is dynamically updated, it is guaranteed that the anti-pinch force actually sensed by the user is consistent at all positions, and the use effect of the user is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an anti-pinch control method, device, equipment and storage medium for an electric tailgate of an automobile. Background Art

[0002] The electric tailgate has anti-pinch requirements (anti-pinch force 80-150N). The existing design sets a calibrated anti-pinch force threshold. When the motor detects that the threshold is exceeded, the anti-pinch reversal is triggered. Since the force at different positions of the tailgate is transmitted to the motor differently, when the same threshold is set, the anti-pinch force felt by users at different positions of the tailgate is different, and the user experience is poor. Summary of the invention

[0003] The main purpose of the present application is to provide a method, device, equipment and storage medium for controlling the anti-pinch control of an electric tailgate of an automobile, aiming to solve the technical problem that the anti-pinch threshold of the electric tailgate cannot be adjusted, resulting in a poor user experience.

[0004] To achieve the above-mentioned purpose, the present application proposes a vehicle electric tailgate anti-pinch control method, the vehicle electric tailgate anti-pinch control method comprising:

[0005] Obtaining the motor speed difference between the left and right support rods of the vehicle's electric tailgate;

[0006] Determine the anti-pinch area where the user is located based on the motor speed difference;

[0007] Calculate the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain a target anti-pinch threshold;

[0008] Anti-pinch control is performed using the target anti-pinch threshold.

[0009] In one embodiment, the step of determining the anti-pinch area where the user is located based on the motor speed difference comprises:

[0010] Calculating left and right brace forces based on the motor speed difference;

[0011] Calculating left and right anti-pinch forces according to the left and right support rod forces;

[0012] Calculating the distance between the user and the left and right anti-pinch points according to the left and right anti-pinch forces;

[0013] The anti-pinch zone where the user is located is determined according to the distance.

[0014] In one embodiment, the step of determining the anti-pinch area where the user is located according to the distance comprises:

[0015] When the distance is not a preset value, determining that the anti-pinch area where the user is located is a first area;

[0016] When the distance is a preset value, it is determined that the anti-pinch area where the user is located is the second area.

[0017] In one embodiment, the step of calculating the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain the target anti-pinch threshold comprises:

[0018] When the anti-pinch area is the first area, obtaining a first preset anti-pinch force of the first area, a distance between the user and the left and right anti-pinch points, a support rod position of the electric tailgate, and a first size between the vehicle body and the left and right anti-pinch points;

[0019] Calculating a size parameter based on the strut position and the first size;

[0020] The target anti-pinch thresholds of the left and right support rods are calculated by using the size parameters, the first preset anti-pinch force and the distance.

[0021] In one embodiment, the step of calculating the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain the target anti-pinch threshold comprises:

[0022] When the anti-pinch area is the second area, obtaining the angle between the vehicle body and the electric tailgate, the position of the support rod of the electric tailgate, the size information of the object to be clamped, and the second preset anti-pinch force of the second area;

[0023] The anti-pinch threshold of the corresponding support rod is calculated according to the angle, the support rod position, the size information of the object to be clamped and the second preset anti-pinch force to obtain a target anti-pinch threshold.

[0024] In one embodiment, the step of calculating the left and right support rod forces based on the motor speed difference comprises:

[0025] Obtain the motor change voltage, motor equivalent resistance and coefficient value;

[0026] The left and right support rod forces are calculated according to the coefficient value, the motor change voltage, the motor equivalent resistance and the motor speed difference.

[0027] In one embodiment, the method further comprises:

[0028] Detect the user's foot position through the UWB device;

[0029] determining the distance between the user and the left and right anti-pinch points according to the foot position;

[0030] The anti-pinch zone where the user is located is determined according to the distance.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes an anti-pinch control device for an electric tailgate of an automobile, the anti-pinch control device for an electric tailgate of an automobile comprising:

[0032] An acquisition module, used to acquire the motor speed difference between the left and right support rods of the vehicle electric tailgate;

[0033] A determination module, used to determine the anti-pinch area where the user is located based on the motor speed difference;

[0034] A calculation module, used for calculating the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain a target anti-pinch threshold;

[0035] A control module is used to perform anti-pinch control through the target anti-pinch threshold.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes an anti-pinch control device for an electric tailgate of an automobile, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the anti-pinch control method for an electric tailgate of an automobile as described above.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the automobile electric tailgate anti-pinch control method as described above are implemented.

[0038] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the automobile electric tailgate anti-pinch control method as described above are implemented.

[0039] One or more technical solutions proposed in this application obtain the motor speed difference of the left and right support rods of the vehicle electric tailgate; determine the anti-pinch area where the user is located based on the motor speed difference; calculate the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain the target anti-pinch threshold; and perform anti-pinch control through the target anti-pinch threshold. The specific anti-pinch area of ​​the user is quickly identified through the motor speed difference, so as to dynamically update the anti-pinch threshold to ensure that the anti-pinch force actually felt by the user is consistent at each position, thereby improving the user's use effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 A flow chart of the first embodiment of the vehicle electric tailgate anti-pinch control method provided in the present application;

[0043] Figure 2 This is a schematic diagram of the anti-pinch position in an embodiment of the anti-pinch control method for an electric tailgate of an automobile of the present application;

[0044] Figure 3 A flow chart of the second embodiment of the vehicle electric tailgate anti-pinch control method provided in the present application;

[0045] Figure 4 This is a schematic diagram of determining the distance between the user and the left and right anti-pinch points by using a UWB device in an embodiment of the anti-pinch control method for an electric tailgate of an automobile of the present application;

[0046] Figure 5 This is a schematic diagram of the distance between the user and the left and right anti-pinch points in an embodiment of the anti-pinch control method for an electric tailgate of an automobile of the present application;

[0047] Figure 6 A flowchart diagram of the third embodiment of the vehicle electric tailgate anti-pinch control method of the present application;

[0048] Figure 7 This is a schematic diagram of the relationship between the vehicle body and the left anti-pinch point in an embodiment of the anti-pinch control method for an electric tailgate of an automobile of the present application;

[0049] Figure 8 A flowchart diagram of a fourth embodiment of the vehicle electric tailgate anti-pinch control method of the present application;

[0050] Fig. 9 A schematic diagram of a simplified flow chart of an anti-pinch control method for an electric tailgate of an automobile provided in the second embodiment of the present application;

[0051] Fig.10 This is a schematic diagram of the module structure of the anti-pinch control device for an electric tailgate of an automobile according to an embodiment of the present application;

[0052] Fig.11 Schematic diagram of the device structure of the hardware operating environment involved in the automobile electric tailgate anti-pinch control method in the embodiment of the present application.

[0053] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0055] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0056] The main solution of the embodiment of the present application is: obtain the motor speed difference between the left and right support rods of the vehicle's electric tailgate; determine the anti-pinch area where the user is located based on the motor speed difference; calculate the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain the target anti-pinch threshold; and perform anti-pinch control through the target anti-pinch threshold.

[0057] Since the prior art sets a calibrated anti-pinch force threshold, when the motor detects that the threshold is exceeded, the anti-pinch reversal is triggered. Since the force transmitted to the motor at different positions of the back door is different, that is, when the same threshold is set, the anti-pinch force felt by users at different positions of the back door is different, and the user experience is poor.

[0058] The present application provides a solution that can identify the user's specific clamping position and dynamically update the anti-pinch threshold to ensure that the anti-pinch force actually felt by the user is consistent at all positions.

[0059] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, an automobile electric tailgate anti-pinch control device, etc. The following takes the automobile electric tailgate anti-pinch control device as an example to illustrate this embodiment and the following embodiments.

[0060] Based on this, the embodiment of the present application provides a method for controlling the anti-pinch of an electric tailgate of an automobile, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle electric tailgate anti-pinch control method of the present application.

[0061] In this embodiment, the vehicle electric tailgate anti-pinch control method includes steps S10 to S40:

[0062] Step S10: Obtain the motor speed difference between the left and right support rods of the vehicle electric tailgate.

[0063] It should be noted that the motor speed difference is the speed difference between the motors of the left support rod and the right support rod of the vehicle's electric tailgate, which can be specifically detected by a speed sensor, and the motor is the motor of the vehicle's electric tailgate.

[0064] Step S20: determining the anti-pinch area where the user is located based on the motor speed difference.

[0065] In a specific implementation, the specific anti-pinch area where the user is located can be determined according to the motor speed difference, and the anti-pinch area is divided into the left front area, left area, middle area, right area and right front area of ​​the electric tailgate, etc. The left and right support rod forces of the electric tailgate can be determined according to the motor speed difference, and thus the anti-pinch area where the user is located can be determined according to the left and right support rod forces.

[0066] Furthermore, in addition to determining the anti-pinch area where the user is located based on the motor speed difference, the anti-pinch area where the user is located can also be detected by a sensor.

[0067] like Figure 2 As shown, Figure 2 This is a schematic diagram of the anti-pinch position. The anti-pinch area is shown by the red line. From the actual anti-pinch scenario, there are two situations: when the door opening is large, the left, middle and right areas of the back door directly act on the upper body of the person; when the door opening is small, the left front, left, middle, right and right front areas, the person's hands are pinched between the door frame and the back door.

[0068] Step S30: calculating the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain a target anti-pinch threshold.

[0069] It should be noted that after determining the specific anti-pinch area, the anti-pinch threshold of the strut can be calculated based on the specific anti-pinch area. When the user is in different anti-pinch areas, the corresponding anti-pinch threshold of the strut is also different. The anti-pinch threshold of the strut can be the anti-pinch threshold of the left strut and the right strut, or the anti-pinch threshold of the left strut or the anti-pinch threshold of the right strut. The target anti-pinch threshold is the anti-pinch threshold that adjusts the initial anti-pinch threshold. By dynamically adjusting the anti-pinch threshold, it is ensured that the anti-pinch force actually felt by the user is consistent at all positions.

[0070] Step S40: performing anti-pinch control according to the target anti-pinch threshold.

[0071] In the specific implementation, after the adjusted anti-pinch threshold is obtained, anti-pinch control can be performed through the target anti-pinch threshold. When the motor detects that the anti-pinch value of the anti-pinch area where the user is located exceeds the target anti-pinch threshold, the anti-pinch reversal is triggered to protect the user's safety.

[0072] This embodiment provides an anti-pinch control method for an electric tailgate of an automobile, which obtains the motor speed difference of the left and right support rods of the electric tailgate of the vehicle; determines the anti-pinch area where the user is located based on the motor speed difference; calculates the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain a target anti-pinch threshold; and performs anti-pinch control based on the target anti-pinch threshold. The specific anti-pinch area of ​​the user is quickly identified through the motor speed difference, so as to dynamically update the anti-pinch threshold to ensure that the anti-pinch force actually felt by the user is consistent at each position, thereby improving the user's use effect.

[0073] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , step S20 specifically includes steps S201 to S204:

[0074] Step S201: Calculating left and right support rod forces based on the motor speed difference.

[0075] It should be understood that the left and right support rod forces of the electric tailgate can be calculated based on the motor speed difference, and a linear relationship between the motor speed difference and the support rod force can be established in advance, so that the left and right support rod forces can be directly calculated based on the motor speed difference.

[0076] In a feasible implementation, step S201 may include steps A10 to A11:

[0077] Step A10: Obtain the motor variable voltage, motor equivalent resistance and coefficient value.

[0078] It should be noted that the motor speed difference is related to the motor change voltage, motor equivalent resistance, coefficient value and left and right support rod force. Therefore, the motor change voltage can be obtained by collecting the voltage of the electric tailgate motor in a certain period of time. The motor equivalent resistance is the circuit equivalent resistance during the movement of the electric tailgate.

[0079] The coefficient value is a value set in advance and can be obtained by fitting and calculating based on multiple collected data. The coefficient value may include a voltage influence coefficient value and a torque influence coefficient value.

[0080] Furthermore, the balance equation of electricity and force can be established in advance, and the balance equation of electricity is shown in the following equation 1:

[0081]

[0082] In the above formula 1, U a is the loop supply voltage, R a is the equivalent internal resistance of the loop, ω n is the DC drive motor speed, L a is the equivalent inductance of the loop, K e is the linear induction constant of the magnetic circuit.

[0083] The force balance equation is shown in Equation 2:

[0084]

[0085] In the above formula 2, K T is the magnetic circuit mechanical linear induction constant, T L is the load torque, B is the magnetic field strength generated by the permanent magnet, and J is the motor moment of inertia.

[0086] By using the above formula 1 and formula 2, we can eliminate i a , establish W n with U a The relationship equation is expressed as follows:

[0087]

[0088] ω n =K1U a -K2T L

[0089] In the above formula 3, T L is the load torque, K1 is the voltage influence coefficient, and K2 is the torque influence coefficient.

[0090] By analyzing the back door force, the anti-pinch force F0 is introduced. The back door force is expressed as follows:

[0091]

[0092] In the above formula 4, T W is the turbine torque, i is the turbine worm gear ratio, F G is the back door gravity, F F is the mud trough resistance, F D is the inertia force, F0 is the anti-pinch force, F A is the motor driving force, and R is the radius of the winch wheel.

[0093] ΔW can be established according to equations 1 to 4 above n , ΔU a , F0 relationship equation, before anti-pinch, is expressed as follows:

[0094] ω n1 =K1U a1 -K2T L1 (Formula 5)

[0095] After anti-pinch, it is expressed as follows:

[0096] ω n2 =K1U a2 -K2T L2 (Formula 6)

[0097] The motor speed changes as shown in equation 7:

[0098] Δω n =K1ΔU a -K2ΔT L =K1ΔU a +K2F0Ri (Formula 7)

[0099] By giving different voltage U a , get the corresponding motor speed ω n , and fit the equation of formula 3 above to solve K1, and based on the motor characteristic curve, according to the motor speed and voltage table, the motor torque T is obtained. L , T L Substitute into equation 7 above and solve for K2.

[0100] According to the above formula 7, Δω can be obtained n The mathematical relationship between and F0 can be used to convert the anti-pinch force into the corresponding motor speed difference threshold after the anti-pinch force is selected, so as to make anti-pinch judgment.

[0101] Step A11: Calculate the left and right support rod forces according to the coefficient value, the motor change voltage, the motor equivalent resistance and the motor speed difference.

[0102] In specific implementation, the relationship of formula 7 above can be used to calculate the left and right support rod forces through the motor speed difference, motor change voltage, motor equivalent resistance, and coefficient values ​​K1 and K2. This solution process does not need to be pre-calculated by experimental calibration in the development stage. It only needs to complete self-calibration during the use of the vehicle, that is, before the vehicle is used, the first self-calibration is performed. When the ambient temperature changes, the system resistance will also change. Re-self-calibration can update the system resistance, that is, increase self-calibration within a certain temperature range. After the vehicle is used for a long time, the system resistance will change due to reasons such as aging of the rubber strip. Re-self-calibration can update the system resistance, that is, re-self-calibration after a period of use.

[0103] The left support rod force F1 and the right support rod force F2 can be calculated by the above formula 7.

[0104] Step S202: Calculating left and right anti-pinch forces according to the left and right support rod forces.

[0105] It should be noted that there is a linear relationship between the left and right anti-pinch forces of the electric tailgate and the left and right support rod forces of the electric tailgate. The left and right anti-pinch forces of the electric tailgate can be calculated through the specific linear relationship and the left and right support rod forces. The values ​​of the left and right anti-pinch forces can be the same or different. For example, the left anti-pinch force F1' is 100N and the right anti-pinch force F2' is 120N.

[0106] Step S203: Calculating the distance between the user and the left and right anti-pinch points according to the left and right anti-pinch forces.

[0107] It should be understood that the distance between the user and the left and right anti-pinch points can be calculated by the left and right anti-pinch forces, and the left and right anti-pinch points are the edge points on the left and right sides of the electric tailgate.

[0108] It should be noted that the anti-pinch force F3 at the user's location is determined based on the left and right anti-pinch forces. F3 may be equal to F1' or F2', that is, the user is located in the left anti-pinch area or the right anti-pinch area. Thus, the distance between the user and the left and right anti-pinch points is calculated based on the left and right anti-pinch forces as shown in Formula 8:

[0109]

[0110] X and Y are calculated by the above formula 8. X is the distance between the user and the left anti-pinch point, and Y is the distance between the user and the right anti-pinch point.

[0111] Furthermore, in addition to calculating the distance between the user and the left and right anti-pinch points through the left and right support pole forces and the left and right anti-pinch forces, the user's foot movement can also be detected through a kick sensor, such as using capacitance, ultrasound, UWB and other technologies.

[0112] Optionally, the step of calculating the distance between the user and the left and right anti-pinch points may also include: detecting the user's foot position through a UWB device; determining the distance between the user and the left and right anti-pinch points based on the foot position; and determining the anti-pinch area where the user is located based on the distance.

[0113] In specific implementation, UWB can not only detect feet, but also locate the specific position of feet. By using this feature, when the electric tailgate pinches the user, the UWB device can detect the position of the user's feet, and then determine the distance between the user and the left and right anti-pinch points according to the foot position, and then determine the anti-pinch area where the user is located by the distance. Figure 4 As shown, Figure 4 This is a schematic diagram of determining the distance between the user and the left and right anti-pinch points through the UWB device. The UWB device installed on the rear bumper of the vehicle detects the user's foot movement to obtain the distance between the user and the left and right anti-pinch points.

[0114] Step S204: determining the anti-pinch area where the user is located according to the distance.

[0115] It should be noted that the anti-pinch area where the user is located can be determined based on the distance between the user and the left and right anti-pinch points, such as Figure 5 As shown, Figure 5 Schematic diagram of the distance between the user and the left and right anti-pinch points. Point A is the left anti-pinch point, point B is the right anti-pinch point, X is the distance between the user and the left anti-pinch point, and Y is the distance between the user and the right anti-pinch point.

[0116] The anti-pinch area where the user is located can be determined by the distance between the user and the left and right anti-pinch points. For example, if the distance between the left and right anti-pinch points is 1m, X is 30cm, and Y is 70cm, then the area where the user is located is the left anti-pinch area.

[0117] In a feasible implementation, step S204 may include steps B10 to B11:

[0118] Step B10: When the distance is not a preset value, determining that the anti-pinch area where the user is located is the first area.

[0119] It should be noted that the preset value is 0. When X or Y is not 0, the anti-pinch area where the user is located is determined to be the first area, and the first area includes any one of the left anti-pinch area, the right anti-pinch area and the middle anti-pinch area.

[0120] Step B11: when the distance is a preset value, determining that the anti-pinch area where the user is located is the second area.

[0121] It can be understood that when the distance is 0, the anti-pinch area where the user is located is the left front anti-pinch area or the right front anti-pinch area, and the second area is the left front anti-pinch area or the right front anti-pinch area.

[0122] This embodiment calculates the left and right support rod forces based on the motor speed difference; calculates the left and right anti-pinch forces based on the left and right support rod forces; calculates the distance between the user and the left and right anti-pinch points based on the left and right anti-pinch forces; determines the anti-pinch area where the user is located based on the distance. The anti-pinch area where the user is located can be quickly determined by the left and right support rod forces calculated based on the motor speed difference, thereby accurately adjusting the threshold of the specific anti-pinch area and improving user safety.

[0123] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 6 , step S30 specifically includes steps S301 to S303:

[0124] Step S301: When the anti-pinch area is the first area, obtain a first preset anti-pinch force of the first area, a distance between the user and the left and right anti-pinch points, a support rod position of the electric tailgate, and a first size between the vehicle body and the left and right anti-pinch points.

[0125] It should be noted that when the anti-pinch area is the first area, the first preset anti-pinch force of the first area can be obtained. For example, if the first area is the middle anti-pinch area, the middle anti-pinch force F3 can be obtained as the first preset anti-pinch force. The distance between the user and the left and right anti-pinch points includes X and Y.

[0126] The support rod position of the electric tailgate includes the left support rod position of the electric tailgate and the right support rod position of the electric tailgate, such as Figure 7 As shown, Figure 7 It is a schematic diagram of the relationship between the vehicle body and the left anti-pinch point. Point A is the left anti-pinch point, point D is the left vehicle body edge point, and the first dimension between the vehicle body and the left and right anti-pinch points is the length of AD.

[0127] Step S302: Calculating size parameters according to the brace position and the first size.

[0128] In a specific implementation, the size parameters may be calculated by the position of the strut and the first size, and the size parameters include a distance m from the left vehicle body edge point to the position of the left strut and a distance n from the position of the left strut to the left anti-pinch point.

[0129] Step S303: Calculate the target anti-pinch thresholds of the left and right support rods according to the size parameter, the first preset anti-pinch force and the distance.

[0130] In a specific implementation, the pole force thresholds of the left and right poles can be calculated by using the size parameters m and n, the first preset anti-pinch force, and the distances X and Y, and the target speed threshold, i.e., the target anti-pinch threshold, can be calculated by using the pole force thresholds. The pole force threshold is calculated as shown in Formula 9:

[0131]

[0132] In the above formula 9, after the left and right strut force thresholds are calculated, the target rotation speed thresholds ΔWn1' and ΔWn2' on the left and right sides can be calculated by the above formula 7, thereby obtaining the target anti-pinch threshold.

[0133] In this embodiment, when the anti-pinch area is the first area, the first preset anti-pinch force of the first area, the distance between the user and the left and right anti-pinch points, the support rod position of the electric tailgate, and the first size between the vehicle body and the left and right anti-pinch points are obtained; the size parameters are calculated according to the support rod position and the first size; the target anti-pinch thresholds of the left and right support rods are calculated by the size parameters, the first preset anti-pinch force and the distance, and the current anti-pinch value can be quickly and dynamically adjusted according to the parameters of the user in the first area, thereby improving the accuracy of the anti-pinch threshold calculation.

[0134] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above description, and will not be described in detail later. Figure 8 , step S30 specifically includes steps S301' to S302':

[0135] Step S301 ′: when the anti-pinch area is the second area, obtaining the angle between the vehicle body and the electric tailgate, the position of the support rod of the electric tailgate, the size information of the object to be pinched, and the second preset anti-pinch force of the second area.

[0136] It should be noted that the second area is the left front area or the right front area. When the anti-pinch area where the user is located is the second area, the angle θ between the vehicle body and the electric tailgate can be obtained, the support rod position of the electric tailgate can be the left support rod position or the right support rod position, the size information of the object to be clamped can be the user's hand diameter, and can also be the size information of other parts of the user, and the second preset anti-pinch force can be the left anti-pinch force or the right anti-pinch force. When the second area is the left front area, the second preset anti-pinch force is the left anti-pinch force, and when the second area is the right front area, the second preset anti-pinch force is the right anti-pinch force.

[0137] Step S302 ′: calculating the anti-pinch threshold of the corresponding support rod according to the angle, the support rod position, the size information of the object to be clamped and the second preset anti-pinch force to obtain a target anti-pinch threshold.

[0138] In a specific implementation, the anti-pinch threshold of the corresponding strut can be calculated by the angle, the strut position, the size information of the object to be clamped and the second destructive anti-pinch force. If the second preset anti-pinch force is the left anti-pinch force, the anti-pinch threshold of the left strut is calculated. If the second preset anti-pinch force is the right anti-pinch force, the anti-pinch threshold of the right strut is calculated.

[0139] According to the position of the support rod, the distance m between the edge point of the vehicle body and the corresponding support rod can be obtained. The left support rod force threshold is calculated by the angle, distance m, size information k of the object to be clamped, and the second preset anti-pinch force F5. Then, the target speed threshold, i.e., the target anti-pinch threshold, is calculated by the left support rod force threshold. The process of calculating the left support rod force threshold is as follows:

[0140]

[0141] After the left support rod force threshold is calculated, the target rotation speed threshold of the left support rod, i.e., the left target anti-pinch threshold, is calculated by the above formula 7. Similarly, the target rotation speed threshold of the right support rod, i.e., the right target anti-pinch threshold, can be calculated by the above formula 10 and the above formula 7.

[0142] In this embodiment, when the anti-pinch area is the second area, the angle between the vehicle body and the electric tailgate, the position of the support rod of the electric tailgate, the size information of the object to be clamped, and the second preset anti-pinch force of the second area are obtained; the anti-pinch threshold of the corresponding support rod is calculated according to the angle, the position of the support rod, the size information of the object to be clamped, and the second preset anti-pinch force, and the target anti-pinch threshold is obtained. The current anti-pinch value can be dynamically adjusted quickly according to the user's parameters in the second area, so as to improve the accuracy of the anti-pinch threshold calculation.

[0143] For example, in order to help understand the implementation process of the vehicle electric tailgate anti-pinch control method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Fig. 9 , Fig. 9 A brief flow chart of an anti-pinch control method for an automobile electric tailgate is provided. Specifically, by detecting the change in motor speed and, and calculating position values ​​X and Y, or directly detecting user positions X and Y through a UWB device, it is judged that X=0 or Y=0. If so, the anti-pinch area is determined to be the second area, and the anti-pinch thresholds of the left and right strut motors are calculated. If not, the anti-pinch area is determined to be the first area, and the anti-pinch thresholds of the left and right strut motors are calculated.

[0144] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the anti-pinch control method for the electric tailgate of an automobile of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0145] This application also provides a vehicle electric tailgate anti-pinch control device, please refer to Fig.10The automobile electric tailgate anti-pinch control device comprises:

[0146] The acquisition module 10 is used to acquire the motor speed difference between the left and right support rods of the vehicle electric tailgate.

[0147] The determination module 20 is used to determine the anti-pinch area where the user is located based on the motor speed difference.

[0148] The calculation module 30 is used to calculate the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain a target anti-pinch threshold.

[0149] The control module 40 is used to perform anti-pinch control through the target anti-pinch threshold.

[0150] The automobile electric tailgate anti-pinch control device provided by the present application adopts the automobile electric tailgate anti-pinch control method in the above embodiment, which can solve the technical problem that the anti-pinch threshold of the electric tailgate cannot be adjusted, resulting in poor user experience. Compared with the prior art, the beneficial effects of the automobile electric tailgate anti-pinch control device provided by the present application are the same as the beneficial effects of the automobile electric tailgate anti-pinch control method provided by the above embodiment, and other technical features in the automobile electric tailgate anti-pinch control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0151] In one embodiment, the determination module 20 is also used to calculate the left and right support rod forces based on the motor speed difference; calculate the left and right anti-pinch forces according to the left and right support rod forces; calculate the distance between the user and the left and right anti-pinch points according to the left and right anti-pinch forces; and determine the anti-pinch area where the user is located according to the distance.

[0152] In one embodiment, the determination module 20 is further used to determine that the anti-pinch area where the user is located is the first area when the distance is not a preset value; and to determine that the anti-pinch area where the user is located is the second area when the distance is a preset value.

[0153] In one embodiment, the calculation module 30 is also used to obtain a first preset anti-pinch force of the first area, a distance between the user and the left and right anti-pinch points, a support rod position of the electric tailgate, and a first dimension between the vehicle body and the left and right anti-pinch points when the anti-pinch area is the first area; calculate size parameters according to the support rod position and the first dimension; calculate the target anti-pinch threshold of the left and right support rods through the size parameters, the first preset anti-pinch force and the distance.

[0154] In one embodiment, the calculation module 30 is also used to obtain the angle between the vehicle body and the electric tailgate, the position of the support rod of the electric tailgate, the size information of the object to be clamped, and the second preset anti-pinch force of the second area when the anti-pinch area is the second area; calculate the anti-pinch threshold of the corresponding support rod according to the angle, the position of the support rod, the size information of the object to be clamped, and the second preset anti-pinch force to obtain the target anti-pinch threshold.

[0155] In one embodiment, the determination module 20 is further used to obtain the motor change voltage, the motor equivalent resistance and the coefficient value; and calculate the left and right support rod forces according to the coefficient value, the motor change voltage, the motor equivalent resistance and the motor speed difference.

[0156] In one embodiment, the determination module 20 is further used to detect the user's foot position through a UWB device; determine the distance between the user and the left and right anti-pinch points based on the foot position; and determine the anti-pinch area where the user is located based on the distance.

[0157] The present application provides an anti-pinch control device for an electric tailgate of an automobile, the anti-pinch control device for an electric tailgate of an automobile comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the anti-pinch control method for the electric tailgate of an automobile in the above-mentioned embodiment one.

[0158] Reference below Fig.11 , which shows a schematic diagram of the structure of the electric tailgate anti-pinch control device for automobiles suitable for implementing the embodiment of the present application. The electric tailgate anti-pinch control device for automobiles in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.11 The automobile electric tailgate anti-pinch control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0159] like Fig.11As shown, the automobile electric tailgate anti-pinch control device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the automobile electric tailgate anti-pinch control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the automobile electric tailgate anti-pinch control device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows an automobile electric tailgate anti-pinch control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0160] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0161] The automobile electric tailgate anti-pinch control device provided by the present application adopts the automobile electric tailgate anti-pinch control method in the above embodiment, which can solve the technical problem that the anti-pinch threshold of the electric tailgate cannot be adjusted, resulting in poor user experience. Compared with the prior art, the beneficial effects of the automobile electric tailgate anti-pinch control device provided by the present application are the same as the beneficial effects of the automobile electric tailgate anti-pinch control method provided by the above embodiment, and other technical features in the automobile electric tailgate anti-pinch control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0162] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0163] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0164] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the automobile electric tailgate anti-pinch control method in the above-mentioned embodiment.

[0165] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0166] The computer-readable storage medium may be included in the vehicle electric tailgate anti-pinch control device; or may exist independently without being assembled into the vehicle electric tailgate anti-pinch control device.

[0167] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the anti-pinch control device of the automobile electric tailgate, the anti-pinch control device of the automobile electric tailgate: obtains the motor speed difference between the left and right support rods of the vehicle electric tailgate; determines the anti-pinch area where the user is located based on the motor speed difference; calculates the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain the target anti-pinch threshold; and performs anti-pinch control according to the target anti-pinch threshold.

[0168] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0169] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0170] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0171] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned automobile electric tailgate anti-pinch control method, and can solve the technical problem that the anti-pinch threshold of the electric tailgate cannot be adjusted, resulting in poor user experience. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the automobile electric tailgate anti-pinch control method provided by the above-mentioned embodiment, and will not be repeated here.

[0172] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned automobile electric tailgate anti-pinch control method when executed by a processor.

[0173] The computer program product provided by the present application can solve the technical problem that the anti-pinch threshold of the electric tailgate cannot be adjusted, resulting in a poor user experience. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the anti-pinch control method for the electric tailgate of an automobile provided in the above embodiment, and will not be described in detail here.

[0174] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for controlling the anti-pinch of an electric tailgate of an automobile, characterized in that: The automobile electric tailgate anti-pinch control method comprises: Obtaining the motor speed difference between the left and right support rods of the vehicle's electric tailgate; Determine the anti-pinch area where the user is located based on the motor speed difference; Calculate the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain a target anti-pinch threshold; Anti-pinch control is performed using the target anti-pinch threshold.

2. The method according to claim 1, characterized in that The step of determining the anti-pinch area where the user is located based on the motor speed difference comprises: Calculating left and right brace forces based on the motor speed difference; Calculating left and right anti-pinch forces according to the left and right support rod forces; Calculating the distance between the user and the left and right anti-pinch points according to the left and right anti-pinch forces; The anti-pinch zone where the user is located is determined according to the distance.

3. The method according to claim 2, characterized in that The step of determining the anti-pinch area where the user is located according to the distance comprises: When the distance is not a preset value, determining that the anti-pinch area where the user is located is a first area; When the distance is a preset value, it is determined that the anti-pinch area where the user is located is the second area.

4. The method according to claim 1, characterized in that The step of calculating the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain the target anti-pinch threshold comprises: When the anti-pinch area is the first area, obtaining a first preset anti-pinch force of the first area, a distance between the user and the left and right anti-pinch points, a support rod position of the electric tailgate, and a first size between the vehicle body and the left and right anti-pinch points; Calculating a size parameter based on the strut position and the first size; The target anti-pinch thresholds of the left and right support rods are calculated by using the size parameter, the first preset anti-pinch force and the distance.

5. The method according to any one of claims 1 to 4, characterized in that The step of calculating the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain the target anti-pinch threshold comprises: When the anti-pinch area is the second area, obtaining the angle between the vehicle body and the electric tailgate, the position of the support rod of the electric tailgate, the size information of the object to be clamped, and the second preset anti-pinch force of the second area; The anti-pinch threshold of the corresponding support rod is calculated according to the angle, the support rod position, the size information of the object to be clamped and the second preset anti-pinch force to obtain a target anti-pinch threshold.

6. The method according to claim 2, characterized in that The step of calculating the left and right support rod forces based on the motor speed difference comprises: Obtain the motor change voltage, motor equivalent resistance and coefficient value; The left and right support rod forces are calculated according to the coefficient value, the motor change voltage, the motor equivalent resistance and the motor speed difference.

7. The method according to claim 2, characterized in that The method further comprises: Detect the user's foot position through the UWB device; determining the distance between the user and the left and right anti-pinch points according to the foot position; The anti-pinch zone where the user is located is determined according to the distance.

8. An anti-pinch control device for an electric tailgate of an automobile, characterized in that: The device comprises: An acquisition module, used to acquire the motor speed difference between the left and right support rods of the vehicle electric tailgate; A determination module, used to determine the anti-pinch area where the user is located based on the motor speed difference; A calculation module, used for calculating the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain a target anti-pinch threshold; A control module is used to perform anti-pinch control through the target anti-pinch threshold. 9.An anti-pinch control device for an electric tailgate of an automobile, characterized in that: The device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the automobile electric tailgate anti-pinch control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the automobile electric tailgate anti-pinch control method according to any one of claims 1 to 7 are implemented.

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