Automobile electric tailgate anti-pinch control method, device, equipment and storage medium

Abstract

This application discloses a method, device, equipment, and storage medium for controlling the anti-pinch function of an electric tailgate. The method relates to the field of vehicle control technology and includes the following steps: obtaining the motor speed difference between the left and right struts of the electric tailgate; determining the anti-pinch zone in which the user is located based on the motor speed difference; calculating the anti-pinch threshold of the corresponding strut based on the anti-pinch zone to obtain a target anti-pinch threshold; and performing anti-pinch control based on the target anti-pinch threshold. The motor speed difference is used to quickly identify the user's specific anti-pinch zone, thereby dynamically updating the anti-pinch threshold to ensure that the anti-pinch force actually felt by the user is consistent at all locations, thereby improving user experience.

Description

Technical Field

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

[0002] Electric tailgates require anti-pinch force (80-150N). The current design sets a calibrated anti-pinch force threshold. When the motor detects that the threshold has been exceeded, it triggers anti-pinch reversal. Because the force transmitted to the motor varies at different tailgate positions, even with the same threshold, the anti-pinch force felt by users at different tailgate positions varies, resulting in a poor user experience. Summary of the Invention

[0003] The main purpose of this 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 objectives, the present application proposes a method for controlling an electric tailgate of an automobile to prevent pinching. The method comprises:

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

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

[0007] Calculating an 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 zone where the user is located based on the motor speed difference includes:

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

[0011] Calculating left and right anti-pinch forces based on the left and right support rod forces;

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

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

[0014] In one embodiment, the step of determining the anti-pinch zone where the user is located based on the distance includes:

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

[0016] When the distance is a preset value, the anti-pinch area where the user is located is determined to be 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 a 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 position of a support rod of the electric tailgate, and a first dimension 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] Calculate target anti-pinch thresholds of the left and right support rods 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 a 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 position of the support rod, 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's changing voltage, motor equivalent resistance, and coefficient values;

[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 based on the foot position;

[0030] The anti-pinch area 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 obtain the motor speed difference between the left and right support rods of the vehicle's electric tailgate;

[0033] a determination module, configured to determine an anti-pinch zone where a user is located based on the motor speed difference;

[0034] a calculation module, configured to calculate an anti-pinch threshold of a 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 automobile electric tailgate, which includes: a memory, a processor, and a computer program stored on the memory and runnable on the processor, and the computer program is configured to implement the steps of the automobile electric tailgate anti-pinch control method 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, it implements the steps of the automobile electric tailgate anti-pinch control method as described above.

[0039] This application proposes one or more technical solutions that obtain the motor speed difference between the left and right struts of a vehicle's electric tailgate; determine the user's anti-pinch zone based on this motor speed difference; calculate the anti-pinch threshold for the corresponding strut based on this anti-pinch zone to obtain a target anti-pinch threshold; and implement anti-pinch control based on this target anti-pinch threshold. The motor speed difference is used to quickly identify the user's specific anti-pinch zone, allowing the anti-pinch threshold to be dynamically updated to ensure that the anti-pinch force actually felt by the user is consistent at all locations, improving user experience. 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] Figure 1 A flowchart of the first embodiment of the anti-pinch control method for an electric tailgate of an automobile provided in this 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 flowchart illustrating a second embodiment of the electric tailgate anti-pinch control method for an automobile of the present application is provided;

[0045] Figure 4 This is a schematic diagram of determining the distance between the user and the left and right anti-pinch points using a UWB device in one 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 illustrating a third embodiment of the vehicle electric tailgate anti-pinch control method of the present application is provided;

[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 illustrating a fourth embodiment of the vehicle electric tailgate anti-pinch control method of the present application is provided;

[0050] Figure 9 A schematic diagram of a simplified flow chart of an anti-pinch control method for an electric tailgate of an automobile provided in Example 2 of the present application;

[0051] Figure 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] Figure 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 explained 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 merely used to explain the technical solutions of the present application and are not intended 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: obtaining the motor speed difference between the left and right support rods of the vehicle's electric tailgate; determining the anti-pinch area where the user is located based on the motor speed difference; calculating the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain the target anti-pinch threshold; and performing anti-pinch control through the target anti-pinch threshold.

[0057] Since the existing technology 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 will be different, that is, when the same threshold is set, the anti-pinch force felt by the user at different positions of the back door is different, and the user experience is poor.

[0058] This 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 may be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of implementing the above functions, such as an automobile electric tailgate anti-pinch control device. This embodiment and the following embodiments will be described below using an automobile electric tailgate anti-pinch control device as an example.

[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. 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 anti-pinch control method for an electric tailgate of an automobile includes steps S10 to S40:

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

[0063] It should be noted that the motor speed difference is the speed difference between the motors of the left and right support rods 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 zone where the user is located can be determined based on the motor speed difference. The anti-pinch zones are divided into the left front zone, left side zone, middle zone, right side zone, and right front zone of the electric tailgate. The motor speed difference can be used to determine the left and right support rod forces of the electric tailgate, and thus the user's anti-pinch zone can be determined based on 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 is opened widely, the left, middle, and right areas of the back door directly act on the person's upper body. When the door is opened narrowly, the person's hand is pinched between the door frame and the back door in the left front, left, middle, right, and right front areas.

[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 is adjusted to 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 each position.

[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. The method obtains the motor speed difference between the left and right tailgate struts; determines the user's anti-pinch zone based on the motor speed difference; calculates the anti-pinch threshold for the corresponding strut based on the anti-pinch zone to obtain a target anti-pinch threshold; and performs anti-pinch control based on the target anti-pinch threshold. The motor speed difference allows for rapid identification of the user's specific anti-pinch zone, allowing for dynamic updates of the anti-pinch threshold to ensure consistent anti-pinch force at all locations, improving user experience.

[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 embodiment 1 can be referred to the above introduction and will not be described in detail later. 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 forces. Therefore, the motor change voltage can be obtained by collecting the voltage of the electric tailgate motor within a certain period of time. The motor equivalent resistance is the equivalent resistance of the circuit during the movement of the electric tailgate.

[0079] The coefficient value is a pre-set value that can be calculated by fitting multiple collected data. The coefficient value can include the voltage influence coefficient value and the torque influence coefficient value.

[0080] Furthermore, the balance equation of electricity and force can be established in advance. 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 circuit, ω n is the speed of the DC drive motor, 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 below:

[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 relational 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 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 the above equations 1 to 4 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 (Equation 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 to obtain 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 variable voltage, the motor equivalent resistance, and the motor speed difference.

[0102] In practice, the relationship in Equation 7 above can be used to calculate the left and right strut forces using the motor speed difference, the motor voltage change, the motor equivalent resistance, and the coefficients K1 and K2. This solution does not require pre-calculation through experimental calibration during the development phase; it can be self-calibrated during vehicle use. This involves initial self-calibration before use. As ambient temperature changes, the system resistance also changes. Re-calibration updates the system resistance, essentially increasing the self-calibration within a certain temperature range. After extended use, the system resistance can change due to factors such as rubber strip aging. This can be updated through re-calibration, typically after a period of use.

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

[0104] Step S202: Calculating left and right anti-pinch forces based on 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 based on 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 based on 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 can be equal to F1' or F2', that is, the user is located in the left anti-pinch area or the right anti-pinch area. 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 follows:

[0109]

[0110] X and Y are calculated using Equation 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 implementations, UWB can not only detect feet, but also locate the specific position of the feet. By utilizing 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 based on the foot position, and thus determine the anti-pinch area where the user is located based on 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 using a 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 the 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, which 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, and can quickly determine the anti-pinch area where the user is located through 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 embodiment 1 can be referred to the above introduction and will not be described in detail later. 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 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 strut positions and the first size.

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

[0129] Step S303: Calculating target anti-pinch thresholds of the left and right support rods using the size parameters, the first preset anti-pinch force, and the distance.

[0130] In a specific implementation, the strut force thresholds of the left and right struts can be calculated using the size parameters m and n, the first preset anti-pinch force, and the distances X and Y. The target speed threshold, i.e., the target anti-pinch threshold, can then be calculated using the strut force thresholds. The strut force thresholds are calculated using the following 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 using 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 position of the support rod of the electric tailgate, and the first dimension 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 dimension; 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 above-mentioned embodiment 1 can be referred to the above introduction 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 user is in the second anti-pinch area, the angle θ between the vehicle body and the electric tailgate can be obtained. The electric tailgate support rod position can be the left support rod position or the right support rod position. The size information of the object to be pinched can be the user's hand diameter or the size information of other parts of the user. 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. 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 an 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 based on the angle, strut position, size 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] The distance m between the vehicle body edge point and the corresponding strut can be obtained based on the strut position. The left strut force threshold is calculated using the angle, distance m, the size information k of the object to be clamped, and the second preset anti-pinch force F5. The target speed threshold, i.e., the target anti-pinch threshold, is then calculated based on the left strut force threshold. The process of calculating the left strut force threshold is as follows:

[0140]

[0141] After calculating the left support rod force threshold, the target rotation speed threshold for the left support rod, i.e., the left target anti-pinch threshold, is calculated using Equation 7. Similarly, the target rotation speed threshold for the right support rod, i.e., the right target anti-pinch threshold, can be calculated using Equation 10 and Equation 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 quickly and dynamically adjusted according to the user's parameters in the second area, thereby improving 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 embodiment 1, please refer to Figure 9 , Figure 9 A simplified flowchart of an anti-pinch control method for an electric tailgate is provided. Specifically, the method comprises detecting the change in motor speed and calculating position values ​​X and Y, or directly detecting the user's position X and Y through a UWB device, determining whether X=0 or Y=0, and if so, determining that the anti-pinch area is the second area and calculating the anti-pinch thresholds of the left and right strut motors. If not, determining that the anti-pinch area is the first area and calculating the anti-pinch thresholds of the left and right strut motors.

[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. Simple transformations in more forms based on this technical concept are all within the scope of protection of the present application.

[0145] This application also provides an anti-pinch control device for an electric tailgate of an automobile, please refer to Figure 10The vehicle electric tailgate anti-pinch control device includes:

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

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

[0148] The calculation module 30 is configured to calculate an 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 configured to perform anti-pinch control according to the target anti-pinch threshold.

[0150] The anti-pinch control device for an electric tailgate provided in this application utilizes the anti-pinch control method for an electric tailgate provided in the aforementioned embodiment, thereby resolving the technical issue of the inability to adjust the anti-pinch threshold for an electric tailgate, resulting in a poor user experience. Compared to the prior art, the anti-pinch control device for an electric tailgate provided in this application achieves the same beneficial effects as the anti-pinch control method for an electric tailgate provided in the aforementioned embodiment. The other technical features of the anti-pinch control device are the same as those disclosed in the aforementioned embodiment and are not further detailed 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 based on the left and right support rod forces; calculate the distance between the user and the left and right anti-pinch points based on the left and right anti-pinch forces; and determine the anti-pinch area where the user is located based on the distance.

[0152] In one embodiment, the determination module 20 is further configured 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 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 dimension between the vehicle body and the left and right anti-pinch points when the anti-pinch area is the first area; calculate the 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 further 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 based on 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 configured 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 user's anti-pinch area based on the distance.

[0157] The present application provides an anti-pinch control device for an electric tailgate of an automobile, which includes: 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 Figure 11 , which shows a schematic structural diagram of an automotive electric tailgate anti-pinch control device suitable for implementing an embodiment of the present application. The automotive electric tailgate anti-pinch control device 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), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 11 The illustrated automobile electric tailgate anti-pinch control device is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0159] like Figure 11As shown, the vehicle 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 based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. Various programs and data required for the operation of the vehicle electric tailgate anti-pinch control device are also stored in RAM 1004. Processing device 1001, ROM 1002, and RAM 1004 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, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the vehicle electric tailgate anti-pinch control device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a vehicle electric tailgate anti-pinch control device with various systems, it should be understood that it is not required to implement or have all of 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 processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising 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 via 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 anti-pinch control device for an electric tailgate provided in this application utilizes the anti-pinch control method for an electric tailgate provided in the aforementioned embodiment, resolving the technical issue of the inability to adjust the anti-pinch threshold for an electric tailgate, which results in a poor user experience. Compared to the prior art, the beneficial effects of the anti-pinch control device for an electric tailgate provided in this application are the same as those of the anti-pinch control method provided in the aforementioned embodiment. Other technical features of the anti-pinch control device for an electric tailgate provided in this application are the same as those disclosed in the aforementioned embodiment and are not further elaborated upon here.

[0162] It should be understood that the various parts disclosed in this application can be implemented using 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 description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0164] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) 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 this 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 thereof. 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 thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction 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 thereof.

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

[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 automobile electric tailgate anti-pinch control device, the automobile electric tailgate anti-pinch control device: 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 based on 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 stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving 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., through the Internet using an Internet service provider).

[0169] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of 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 box can also occur in a different order than that marked in the accompanying drawings. For example, two 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 box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0170] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0171] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned anti-pinch control method for an electric tailgate. This computer-readable storage medium can address the technical issue of being unable to adjust the anti-pinch threshold for an electric tailgate, resulting in a poor user experience. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the anti-pinch control method for an electric tailgate provided in the aforementioned embodiment, and are not further elaborated here.

[0172] The present application also provides a computer program product, comprising 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 in this application can resolve the technical issue of being unable to adjust the anti-pinch threshold for an electric tailgate, resulting in a poor user experience. Compared to the prior art, the computer program product provided in this application has the same beneficial effects as the anti-pinch control method for an electric tailgate provided in the aforementioned embodiment, and will not be further elaborated here.

[0174] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application 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 function of an electric tailgate of an automobile, characterized in that: The automobile electric tailgate anti-pinch control method comprises: Obtain the motor speed difference between the left and right support rods of the vehicle's electric tailgate; Determining the anti-pinch area where the user is located based on the motor speed difference; Calculating an 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, wherein The step of determining the anti-pinch area where the user is located based on the motor speed difference comprises: Calculating left and right support rod forces based on the motor speed difference; Calculating left and right anti-pinch forces based on the left and right support rod forces; Calculating the distance between the user and the left and right anti-pinch points based on the left and right anti-pinch forces; The anti-pinch area where the user is located is determined according to the distance.

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

4. The method according to claim 1, wherein The step of calculating the anti-pinch threshold of the corresponding support rod based on the anti-pinch area to obtain a 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 position of a support rod of the electric tailgate, and a first dimension 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; Calculate target anti-pinch thresholds of the left and right support rods using the size parameters, 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 a 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 position of the support rod, 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, wherein The step of calculating the left and right support rod forces based on the motor speed difference comprises: Obtain the motor's changing voltage, motor equivalent resistance, and coefficient values; 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, wherein 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 based on the foot position; The anti-pinch area 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 obtain the motor speed difference between the left and right support rods of the vehicle's electric tailgate; a determination module, configured to determine an anti-pinch zone where a user is located based on the motor speed difference; a calculation module, configured to calculate an anti-pinch threshold of a 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 includes: 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.

Images