A vehicle window anti-pinch detection method, device, storage medium and automobile

Abstract

The application discloses a kind of car window anti-pinch detection method, device, storage medium and car, in motor loading process, determine reference current threshold based on the current motor voltage obtained, determine the current motor direct current component based on the current motor current obtained, calculate the current motor direct current component mean of continuous N sampling periods until current time, difference is obtained by the current motor direct current component mean and the last time motor direct current component mean, reference current threshold is compensated based on the size relationship of direct current component mean difference and different level direct current component mean variation quantity to obtain target current threshold, control car window to descend when current motor direct current component is not less than target current threshold.The application updates current threshold dynamically according to the real-time acquisition of motor voltage and motor current in motor loading process, improves the accuracy of anti-pinch detection in motor starting process, effectively avoids the situation of car window false anti-pinch and car window clamping force being too large.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle window anti-pinch technology, and more particularly to a vehicle window anti-pinch detection method, device, storage medium and vehicle. Background Art

[0002] An increasing number of vehicle models are now equipped with power windows, and there are clear regulatory requirements for their anti-pinch functionality and performance. Current regulations require that during motor startup, power windows must exhibit anti-pinch functionality within a range of 4mm-200mm from the lower edge of the window frame, with an anti-pinch force of less than 100N. Existing window anti-pinch detection methods compare the collected real-time motor current with a set current threshold to determine resistance changes during motor startup. If an abnormal resistance change is detected, it is determined that the power window has encountered an obstacle during its upward movement. At this point, the window is controlled to lower to avoid an accident.

[0003] Due to the instability of the motor starting process, the motor current may easily exceed the set current threshold during the motor starting process, causing the window to be incorrectly anti-pinch; in addition, when the electric window is started 4mm away from the lower edge of the window frame, the clamping force may be too large due to the starting position being close to the area where the window anti-pinch function is turned off.

[0004] In summary, how to provide a window anti-pinch detection method to improve the accuracy of anti-pinch detection during motor startup and effectively avoid the occurrence of false window anti-pinch and excessive window clamping force has become a technical problem that technical personnel in this field urgently need to solve. Summary of the Invention

[0005] In view of this, the present invention discloses a vehicle window anti-pinch detection method, device, storage medium and vehicle, so as to improve the accuracy of anti-pinch detection during motor startup and effectively avoid the occurrence of false anti-pinch of vehicle windows and excessive clamping force of vehicle windows.

[0006] A vehicle window anti-pinch detection method, comprising:

[0007] During the motor loading process, the current motor voltage and current collected at the current moment are obtained;

[0008] Determine a corresponding reference current threshold based on the current motor voltage;

[0009] determining a current motor DC component based on the current motor current;

[0010] Based on the current motor DC component, calculate the average value of the current motor DC component of N consecutive sampling periods up to the current moment, where N is a positive integer;

[0011] Calculating the difference between the current mean value of the motor DC component and the mean value of the motor DC component at the previous moment to obtain a DC component mean difference, wherein the mean value of the motor DC component at the previous moment is the mean value of the DC component of the current for N consecutive sampling periods up to the previous moment of the current moment;

[0012] Based on the magnitude relationship between the DC component mean difference and the mean variation of DC components at different levels, the reference current threshold is compensated to obtain a target current threshold;

[0013] When the current motor DC component is not less than the target current threshold, the window is controlled to be lowered.

[0014] Optionally, determining a corresponding reference current threshold based on the current motor voltage includes:

[0015] Obtain the motor voltage and motor peak current at the peak moment of motor starting current;

[0016] Inputting the motor voltage and the motor peak current into a motor mathematical model to obtain the motor equivalent internal resistance;

[0017] Obtaining an equivalent motor peak current based on the current motor voltage and the motor equivalent internal resistance;

[0018] A preset proportional value of the equivalent motor peak current is determined as the reference current threshold.

[0019] Optionally, determining a current motor DC component based on the current motor current includes:

[0020] The current motor current is processed by a first-order lag filtering method to obtain the current current DC component.

[0021] Optionally, compensating the reference current threshold based on a magnitude relationship between the DC component mean difference and the mean variation of DC components at different levels to obtain a target current threshold includes:

[0022] If the DC component mean difference is less than the lowest level DC component mean variation, the DC component mean difference is used as a current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold;

[0023] If the DC component mean difference is less than the DC component mean change of the intermediate level and is not less than the DC component mean change of the previous level of the intermediate level, then the DC component mean change of the previous level is used as the current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold;

[0024] If the DC component mean difference is not less than the highest level DC component mean change, the highest level DC component mean change is used as the current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold.

[0025] Optionally, also include:

[0026] When the current motor DC component is less than the target current threshold, determining whether the motor meets the motor start-up end condition;

[0027] If not, return to continue acquiring the current motor voltage and the current motor current;

[0028] If yes, then exit the window anti-pinch detection process.

[0029] Optionally, the process of determining the motor start-up end condition includes:

[0030] Rolling calculation of the motor current difference at all adjacent moments within a single time period;

[0031] If n consecutive motor current differences are all smaller than the preset current variation, it is determined that the motor meets the motor start-up termination condition, and the motor is controlled to terminate the start-up, where n is a positive integer.

[0032] Optionally, also include:

[0033] If there are no consecutive n situations in which the motor current difference is less than the preset current change in multiple consecutive time periods, it is assumed that the motor meets the motor start-up end condition and the motor is controlled to end starting.

[0034] A vehicle window anti-pinch detection device, comprising:

[0035] An acquisition unit is used to acquire the current motor voltage and current collected at the current moment during the motor loading process;

[0036] a current threshold determination unit, configured to determine a corresponding reference current threshold based on the current motor voltage;

[0037] a DC component determining unit, configured to determine a current motor DC component based on the current motor current;

[0038] a component mean value determining unit, configured to calculate, based on the current motor DC component, a mean value of the current motor DC component for N consecutive sampling periods ending at a current moment, where N is a positive integer;

[0039] a mean difference determining unit, configured to calculate the difference between the current motor DC component mean and the motor DC component mean at a previous moment to obtain a DC component mean difference, wherein the motor DC component mean at the previous moment is the mean of the DC component of the current for N consecutive sampling periods up to the previous moment;

[0040] a compensation unit, configured to compensate the reference current threshold based on a magnitude relationship between the DC component mean difference and the mean variation of DC components at different levels to obtain a target current threshold;

[0041] A control unit is used to control the window to be lowered when the current motor DC component is not less than the target current threshold.

[0042] A computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the above-mentioned vehicle window anti-pinch detection method is implemented.

[0043] An automobile includes a control device, wherein the control device includes a memory and a processor;

[0044] The memory is used to store at least one instruction;

[0045] The processor is configured to execute the at least one instruction to implement the above-mentioned vehicle window anti-pinch detection step.

[0046] As can be seen from the above technical solutions, the present invention discloses a vehicle window anti-pinch detection method, device, storage medium and vehicle. During the motor loading process, the current motor voltage and current motor current collected at the current moment are obtained, the corresponding reference current threshold is determined based on the current motor voltage, and the current motor DC component is determined based on the current motor current. Then, based on the current motor DC component, the current motor DC component mean value of N consecutive sampling periods up to the current moment is calculated. The DC component mean difference is obtained by taking the difference between the current motor DC component mean value and the motor DC component mean value at the previous moment. The reference current threshold value is compensated based on the relationship between the DC component mean difference and the DC component mean change at different levels to obtain a target current threshold value. When the current motor DC component is not less than the target current threshold value, the vehicle window is controlled to lower. The present invention combines the characteristics and movement characteristics of the motor starting process and dynamically updates the current threshold value according to the real-time collected motor voltage and motor current during the motor loading process, thereby improving the accuracy of anti-pinch detection during the motor starting process, thereby effectively avoiding the occurrence of false anti-pinch of the vehicle window and excessive window clamping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute a part of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on the disclosed drawings without creative labor.

[0048] Figure 1 A window travel schematic diagram disclosed by the embodiment of the present application;

[0049] Figure 2-1 A process schematic diagram of motor co-directional starting disclosed by the embodiment of the present application;

[0050] Figure 2-2 A process schematic diagram of motor reverse starting disclosed by the embodiment of the present application;

[0051] Figure 3 A flow chart of a window anti-pinch detection method disclosed by the embodiment of the present application;

[0052] Figure 4 A flow chart of a method for determining a corresponding reference current threshold based on a current motor voltage disclosed by the embodiment of the present application;

[0053] Figure 5 A structural schematic diagram of a window anti-pinch detection device disclosed by the embodiment of the present application;

[0054] Figure 6 A structural schematic diagram of a control device in an automobile disclosed by the embodiment of the present application. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0056] In order to facilitate understanding of the window anti-pinch detection method disclosed by the present application, refer to Figure 1 The embodiment of the present application provides a window travel schematic diagram. Relevant regulations require that the window travel should have an anti-pinch function and the anti-pinch force should be less than 100N in the range of 4mm-200mm. For details, refer to Figure 1 The closing direction of the window is from the lower stop point to the upper stop point. Relevant regulations require that the window should have an anti-pinch function and the anti-pinch force should be less than 100N in the range of 4mm opening position from the lower edge of the window frame to 200mm opening position from the lower edge of the window frame.

[0057] See Figure 2-1 The schematic diagram of the motor starting process in the same direction is shown, and Figure 2-2 The schematic diagram of the motor reverse starting process is shown in the figure. Figure 2-1 and Figure 2-2 T0-T3 is the entire time period of motor startup, wherein T0-T1 is the motor idling time period, and T1-T3 is the motor loading time period.

[0058] like Figure 2-1 As shown, when the motors are started in the same direction, for the window raising process, after the window raising process stops, it will start again and turn into window raising; for the window lowering process, after the window lowering process stops, it will turn into window lowering again.

[0059] like Figure 2-2 As shown, when the motor starts in reverse, for the window raising process, after the window raising process stops, it starts again and turns into the window lowering process; for the window lowering process, after the window lowering process stops, it starts again and turns into the window raising process.

[0060] It should be noted that when the motor is started in reverse, there will be an obvious gear re-engagement process during the motor startup process. The engagement process is equivalent to an idle stroke, and the motor current will be significantly reduced at this time.

[0061] It can be seen from this that the motor starting process is unstable, so it is easy for the motor current to exceed the set current threshold, causing the window to be mis-pinched. Figure 1 When the electric window is activated 4mm away from the lower edge of the window frame, the clamping force is likely to be too large because the activation position is close to the window anti-pinch function closing area.

[0062] Based on this, an embodiment of the present invention discloses a vehicle window anti-pinch detection method, device, storage medium and vehicle. During the motor loading process, the current motor voltage and current motor current collected at the current moment are obtained, the corresponding reference current threshold is determined based on the current motor voltage, and the current motor DC component is determined based on the current motor current. Then, based on the current motor DC component, the current motor DC component average value of N consecutive sampling periods up to the current moment is calculated. The DC component average difference is obtained by taking the difference between the current motor DC component average value and the motor DC component average value at the previous moment. The reference current threshold value is compensated based on the relationship between the DC component average difference and the DC component average change amount of different levels to obtain a target current threshold value. When the current motor DC component is not less than the target current threshold value, the vehicle window is controlled to lower. The present invention combines the characteristics and movement characteristics of the motor starting process, and improves the accuracy of anti-pinch detection during the motor starting process by dynamically updating the current threshold value according to the motor voltage and motor current collected in real time during the motor loading process, thereby effectively avoiding the occurrence of false anti-pinch of the vehicle window and excessive clamping force of the vehicle window.

[0063] See also Figure 3 , a flow chart of a vehicle window anti-pinch detection method disclosed in an embodiment of the present invention, the method comprising:

[0064] Step S101: During the motor loading process, the current motor voltage and current motor current collected at the current moment are obtained;

[0065] See Figure 2-1 and Figure 2-2 As shown in Figure 1, during the T0-T1 time period, the motor is in an idling state, with a speed of 0 and no back electromotive force. During the T1-T3 time period, the motor is in a loaded state.

[0066] In this embodiment, the window controller performs window anti-pinch detection mainly based on the motor voltage and motor current collected in real time during the motor loading process. When it is detected that the window encounters an obstacle during the rising process, the window can be controlled to lower by outputting a reverse flag to the motor to drive the motor to move in the reverse direction.

[0067] Step S102: determining a corresponding reference current threshold based on the current motor voltage;

[0068] In practical applications, it is necessary to first determine the equivalent internal resistance of the motor, and then determine the reference current threshold based on the current motor voltage and the equivalent internal resistance of the motor.

[0069] Step S103, determining a current motor DC component based on the current motor current;

[0070] Specifically, the current motor current may be processed using a first-order lag filtering method to obtain a DC component of the current current.

[0071] The calculation formula for the current motor DC component is as follows:

[0072] I a1 (K)=K1*I a1 (K-1)+K2*I a (K) (1);

[0073] Where, I a1 (K) represents the current DC component of the motor, I a1 (K-1) represents the DC component of the motor current at the previous moment, I a (K) represents the current motor current, and K1 and K2 represent weighting coefficients.

[0074] Step S104: Calculate the average value of the current motor DC component for N consecutive sampling periods up to the current moment based on the current motor DC component;

[0075] Wherein, N is a positive integer.

[0076] The calculation formula for the current motor DC component mean value is as follows:

[0077]

[0078] Where, Indicates the current mean value of the motor DC component, I a1 (i) represents the DC component of the motor in the i-th sampling period.

[0079] Step S105: calculating the difference between the current mean value of the motor DC component and the mean value of the motor DC component at the previous moment to obtain a DC component mean difference;

[0080] The average value of the motor DC component at the previous moment is the average value of the DC component of the current in N consecutive sampling periods up to the previous moment.

[0081] It should be noted that, in this embodiment, during the motor startup process in the time period T1-T3, the average value of the DC component of the current within every N sampling periods is calculated in a rolling manner.

[0082] Rolling calculation is a data processing technique that performs sliding window-based calculations on time series data or data frames.

[0083] Step S106: Based on the relationship between the DC component mean difference and the DC component mean variation at different levels, the reference current threshold is compensated to obtain a target current threshold;

[0084] This embodiment sequentially subtracts the mean DC component values ​​of the motor within each of N adjacent sampling periods, and compares the DC component mean difference with the mean DC components of different levels. Then, a current threshold compensation amount is determined based on the comparison result, and the current threshold compensation amount is used to compensate the reference current threshold to obtain a target current threshold.

[0085] It can be seen from this that the target current threshold in this embodiment changes in real time, and the specific value is related to the current motor voltage and current motor current collected at the current moment.

[0086] Step S107 : When the current motor DC component is not less than the target current threshold, control the vehicle window to be lowered.

[0087] During the motor startup process in the T1-T3 time period, if the current motor DC component target current threshold is reached, the window controller will drive the motor to reverse and control the window to lower to achieve the anti-pinch function.

[0088] In practical applications, the window controller can drive the motor to reverse by sending an anti-pinch detection reversal flag to the motor.

[0089] In summary, the present invention discloses a vehicle window anti-pinch detection method. During the motor loading process, the current motor voltage and current motor current collected at the current moment are obtained, the corresponding reference current threshold is determined based on the current motor voltage, and the current motor DC component is determined based on the current motor current. Then, based on the current motor DC component, the current motor DC component mean value of N consecutive sampling periods up to the current moment is calculated. The DC component mean difference is obtained by taking the difference between the current motor DC component mean value and the motor DC component mean value at the previous moment. The reference current threshold value is compensated based on the magnitude relationship between the DC component mean difference and the DC component mean change of different levels to obtain a target current threshold value. When the current motor DC component is not less than the target current threshold value, the vehicle window is controlled to be lowered. The present invention combines the characteristics and movement characteristics of the motor starting process, and improves the accuracy of anti-pinch detection during the motor starting process by dynamically updating the current threshold value according to the motor voltage and motor current collected in real time during the motor loading process, thereby effectively avoiding the occurrence of false anti-pinch of the vehicle window and excessive clamping force of the vehicle window.

[0090] To further optimize the above embodiment, see Figure 4 , an embodiment of the present invention discloses a flow chart of a method for determining a corresponding reference current threshold based on a current motor voltage, the method comprising:

[0091] Step S201, obtaining the motor voltage and motor peak current at the peak moment of the motor starting current;

[0092] See Figure 2-1 and Figure 2-2 As shown, time T1 is the peak moment of the motor starting current. This embodiment obtains the motor voltage and the motor peak current at time T1.

[0093] Step S202: Input the motor voltage and the motor peak current into the motor mathematical model to obtain the motor equivalent internal resistance;

[0094] The mathematical model of the motor is expressed as follows:

[0095]

[0096] Where U represents the motor voltage, K e represents the motor back electromotive force constant, represents the air gap flux of the motor, ω represents the motor speed, I a Represents the motor current, R a represents the motor equivalent resistance, and L represents the inductance.

[0097] It should be noted that, in this embodiment, a is the peak current of the motor.

[0098] Since the peak current of the motor at time T1 is the maximum value of the motor current, the equivalent internal resistance of the motor determined based on the peak current of the motor is the minimum internal resistance of the motor.

[0099] Step S203: Obtaining an equivalent motor peak current based on the current motor voltage and the motor equivalent internal resistance;

[0100] During the time period T1-T3, the equivalent motor peak current can be obtained by calculating the quotient of the current motor voltage and the motor equivalent internal resistance.

[0101] Step S204: Determine a preset proportional value of the equivalent motor peak current as a reference current threshold.

[0102] The value of the preset ratio is determined according to actual needs, such as 70%-85%, and the present invention does not limit this.

[0103] In this embodiment, a preset proportional value of the equivalent motor peak current is used as a reference current threshold for starting the holiday detection.

[0104] To further optimize the above embodiment, step S106 may specifically include:

[0105] If the DC component mean difference is less than the lowest level DC component mean variation, the DC component mean difference is used as a current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold;

[0106] If the DC component mean difference is less than the DC component mean change of the intermediate level and is not less than the DC component mean change of the previous level of the intermediate level, the DC component mean change of the previous level is used as the current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold;

[0107] If the DC component mean difference is not less than the highest level DC component mean change, the highest level DC component mean change is used as the current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold.

[0108] For example, assuming there are a first-level DC component mean change, a second-level DC component mean change, and a third-level DC component mean change, the first-level DC component mean change is the lowest-level DC component mean change, the second-level DC component mean change is the middle-level DC component mean change, and the third-level DC component mean change is the highest-level DC component mean change.

[0109] If the DC component mean difference is less than the first-level DC component mean change, the DC component mean difference is used as the current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold.

[0110] If the DC component mean difference is less than the secondary DC component mean change and not less than the primary DC component mean change, the primary DC component mean change is used as the current threshold compensation to compensate the reference current threshold and obtain the target current threshold.

[0111] If the DC component mean difference is not less than the three-level DC component mean change, the three-level DC component mean change is used as the current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold.

[0112] To further optimize the above embodiment, after step S106, the vehicle window anti-pinch detection method may further include:

[0113] When the current motor DC component is less than the target current threshold, determine whether the motor meets the motor start end condition;

[0114] If not, return to step S101 to continue acquiring the current motor voltage and current motor current;

[0115] If yes, then exit the window anti-pinch detection process.

[0116] The present invention primarily leverages the characteristics of the motor startup process to implement window anti-pinch detection during unstable motor startup. Therefore, it is necessary to determine the end point of the unstable motor startup process to avoid initiating window anti-pinch detection during stable motor operation. Therefore, the window anti-pinch detection process is terminated after the motor startup completes.

[0117] The process of determining the motor start-up end condition of the present invention includes:

[0118] Rolling calculation of the motor current difference at all adjacent moments within a single time period;

[0119] If n consecutive motor current differences are all smaller than the preset current variation, it is determined that the motor meets the motor start-up termination condition, and the motor is controlled to terminate the start-up.

[0120] The value of a single time period is determined according to actual needs, such as 20ms-30ms, and the present invention does not limit this.

[0121] n is a positive integer, and its value is determined according to actual needs, such as 3 to 5 times, which is not limited in the present invention.

[0122] If there are n consecutive motor current differences that are all smaller than the preset current variation within a single time period, the above determination process is repeated in the next single time period.

[0123] The process of determining the motor start-up end condition of the present invention may further include:

[0124] If there is no situation in which n consecutive motor current differences are all less than the preset current change in multiple consecutive time periods, it is assumed that the motor meets the motor start-up end condition and the motor is controlled to end starting.

[0125] If there are no consecutive n motor current differences that are less than the preset current change within multiple consecutive time periods (for example, 200ms-300ms), it is assumed that the motor startup process has ended and the motor begins to enter a stable operation process.

[0126] In order to further optimize the above embodiment, the present invention also discloses a vehicle window anti-pinch detection device.

[0127] See also Figure 5 , a schematic structural diagram of a vehicle window anti-pinch detection device disclosed in an embodiment of the present invention, the device may include:

[0128] The acquisition unit 301 is used to acquire the current motor voltage and current motor current collected at the current moment during the motor loading process;

[0129] See Figure 2-1 and Figure 2-2 As shown in Figure 1, during the T0-T1 time period, the motor is in an idling state, with a speed of 0 and no back electromotive force. During the T1-T3 time period, the motor is in a loaded state.

[0130] In this embodiment, the window controller performs window anti-pinch detection mainly based on the motor voltage and motor current collected in real time during the motor loading process. When it is detected that the window encounters an obstacle during the rising process, the window can be controlled to lower by outputting a reverse flag to the motor to drive the motor to move in the reverse direction.

[0131] A current threshold determination unit 302 is configured to determine a corresponding reference current threshold based on the current motor voltage;

[0132] In practical applications, it is necessary to first determine the equivalent internal resistance of the motor, and then determine the reference current threshold based on the current motor voltage and the equivalent internal resistance of the motor.

[0133] a DC component determining unit 303, configured to determine a current motor DC component based on the current motor current;

[0134] The DC component determination unit 303 may be specifically configured to:

[0135] The current motor current is processed by a first-order lag filtering method to obtain the DC component of the current.

[0136] The calculation formula for the current motor DC component is as follows:

[0137] Ia1 (K)=K1*I a1 (K-1)+K2*I a (K) (1);

[0138] Where, I a1 (K) represents the current DC component of the motor, I a1 (K-1) represents the DC component of the motor current at the previous moment, I a (K) represents the current motor current, and K1 and K2 represent weighting coefficients.

[0139] a component mean value determining unit 304 for calculating, based on the current motor DC component, a mean value of the current motor DC component for N consecutive sampling periods ending at a current moment, where N is a positive integer;

[0140] The calculation formula for the current motor DC component mean value is as follows:

[0141]

[0142] Where, Indicates the current mean value of the motor DC component, I a1 (i) represents the DC component of the motor in the i-th sampling period.

[0143] a mean difference determining unit 305 configured to calculate the difference between the current motor DC component mean value and the motor DC component mean value at a previous moment to obtain a DC component mean difference, wherein the motor DC component mean value at the previous moment is the mean value of the DC component of the current over N consecutive sampling periods up to the previous moment;

[0144] It should be noted that, in this embodiment, during the motor startup process in the time period T1-T3, the average value of the DC component of the current within every N sampling periods is calculated in a rolling manner.

[0145] Rolling calculation is a data processing technique that performs sliding window-based calculations on time series data or data frames.

[0146] a compensation unit 306 for compensating the reference current threshold based on a magnitude relationship between the DC component mean difference and the DC component mean variation at different levels to obtain a target current threshold;

[0147] This embodiment sequentially subtracts the mean DC component values ​​of the motor within each of N adjacent sampling periods, and compares the DC component mean difference with the mean DC components of different levels. Then, a current threshold compensation amount is determined based on the comparison result, and the current threshold compensation amount is used to compensate the reference current threshold to obtain a target current threshold.

[0148] Therefore, the target current threshold in the embodiment is real-time change, and the specific value is related to the current motor voltage and the current motor current collected at the current time.

[0149] The control unit 307 is configured to control the window to descend when the current motor direct current component is not less than the target current threshold.

[0150] During the motor starting process in the T1-T3 period, if the current motor direct current component target current threshold, the window controller drives the motor to reverse to control the window to descend to realize the anti-pinch function.

[0151] In actual application, the window controller can drive the motor to reverse by sending an anti-pinch detection reverse flag to the motor.

[0152] In summary, the application discloses a window anti-pinch detection device, which obtains the current motor voltage and the current motor current collected at the current time during the motor loading process, determines the corresponding reference current threshold based on the current motor voltage, and determines the current motor direct current component based on the current motor current. Then, the current motor direct current component mean value of the continuous N sampling periods from the current time is calculated based on the current motor direct current component, the direct current component mean value difference is obtained by subtracting the current motor direct current component mean value from the motor direct current component mean value at the last time, and the reference current threshold is compensated based on the size relationship between the direct current component mean value difference and the direct current component mean value change of different levels to obtain the target current threshold. When the current motor direct current component is not less than the target current threshold, the window is controlled to descend. The application combines the characteristics and motion characteristics of the motor starting process, dynamically updates the current threshold according to the real-time collected motor voltage and motor current during the motor loading process, improves the accuracy of anti-pinch detection during the motor starting process, and effectively avoids the occurrence of window false anti-pinch and excessive window clamping force.

[0153] To further optimize the above embodiment, the current threshold determination unit 302 can be specifically configured to:

[0154] obtain the motor voltage and the motor peak current at the motor starting current peak time;

[0155] input the motor voltage and the motor peak current into a motor mathematical model to obtain a motor equivalent internal resistance;

[0156] obtain an equivalent motor peak current based on the current motor voltage and the motor equivalent internal resistance;

[0157] determine a preset proportion value of the equivalent motor peak current as the reference current threshold.

[0158] To further optimize the above embodiment, the compensation unit 306 can be specifically configured to:

[0159] If the DC component mean difference is less than the lowest level DC component mean variation, the DC component mean difference is used as a current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold;

[0160] If the DC component mean difference is less than the DC component mean change of the intermediate level and is not less than the DC component mean change of the previous level of the intermediate level, then the DC component mean change of the previous level is used as the current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold;

[0161] If the DC component mean difference is not less than the highest level DC component mean change, the highest level DC component mean change is used as the current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold.

[0162] To further optimize the above embodiment, the vehicle window anti-pinch detection device may further include:

[0163] a judgment unit, configured to judge whether the motor satisfies a motor start-up end condition when the current motor DC component is less than a target current threshold;

[0164] a continuing unit, configured to return to executing the acquiring unit 301 and continue acquiring the current motor voltage and the current motor current if the determining unit determines that the result is no;

[0165] The exit unit is used to exit the window anti-pinch detection process when the judgment unit determines that the answer is yes.

[0166] To further optimize the above embodiment, the vehicle window anti-pinch detection device may further include: a start-end condition determination unit.

[0167] The start and end condition determination unit is specifically used for:

[0168] Rolling calculation of the motor current difference at all adjacent moments within a single time period;

[0169] If n consecutive motor current differences are all smaller than the preset current variation, it is determined that the motor meets the motor start-up termination condition, and the motor is controlled to terminate the start-up, where n is a positive integer.

[0170] The start and end condition determination unit may also be used to:

[0171] If there are no consecutive n situations in which the motor current difference is less than the preset current change in multiple consecutive time periods, it is assumed that the motor meets the motor start-up end condition and the motor is controlled to end starting.

[0172] It should be noted that, for the specific working principles of the various components in the device embodiment, please refer to the corresponding parts of the method embodiment, which will not be repeated here.

[0173] Corresponding to the above embodiment, the present invention further discloses a computer-readable storage medium, which stores at least one instruction. When the at least one instruction is executed by a processor, the steps shown in the embodiment of the vehicle window anti-pinch detection method are implemented.

[0174] In summary, the present invention discloses a computer-readable storage medium. During the motor loading process, the current motor voltage and current motor current collected at the current moment are obtained, a corresponding reference current threshold is determined based on the current motor voltage, and the current motor DC component is determined based on the current motor current. Then, based on the current motor DC component, the current motor DC component mean value for N consecutive sampling periods up to the current moment is calculated. The DC component mean difference is obtained by taking the difference between the current motor DC component mean value and the motor DC component mean value at the previous moment. The reference current threshold value is compensated based on the magnitude relationship between the DC component mean difference and the DC component mean change at different levels to obtain a target current threshold value. When the current motor DC component is not less than the target current threshold value, the window is controlled to be lowered. The present invention combines the characteristics and motion characteristics of the motor starting process, and improves the accuracy of anti-pinch detection during the motor starting process by dynamically updating the current threshold value according to the motor voltage and motor current collected in real time during the motor loading process, thereby effectively avoiding the occurrence of false anti-pinch of the window and excessive window clamping force.

[0175] Corresponding to the above embodiment, the present invention also discloses a car, which includes a control device, such as Figure 6 As shown, the control device may include: a processor 1 and a memory 2;

[0176] The processor 1 and the memory 2 communicate with each other via a communication bus 3.

[0177] Processor 1, configured to execute at least one instruction;

[0178] Memory 2, used to store at least one instruction;

[0179] The processor 1 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0180] The memory 2 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0181] The processor executes at least one instruction to implement the steps shown in the embodiment of the vehicle window anti-pinch detection method.

[0182] In summary, the present invention discloses an automobile, which includes a control device. During the motor loading process, a processor 1 in the control device obtains the current motor voltage and current motor current collected at the current moment, determines a corresponding reference current threshold based on the current motor voltage, and determines the current motor DC component based on the current motor current. Then, based on the current motor DC component, the average value of the current motor DC component for N consecutive sampling periods up to the current moment is calculated. The DC component mean difference is obtained by taking the difference between the current motor DC component mean and the motor DC component mean at the previous moment. The reference current threshold is compensated based on the relationship between the DC component mean difference and the change in the DC component mean of different levels to obtain a target current threshold. When the current motor DC component is not less than the target current threshold, the window is controlled to be lowered. The present invention combines the characteristics and movement characteristics of the motor starting process and improves the accuracy of anti-pinch detection during the motor starting process by dynamically updating the current threshold according to the motor voltage and motor current collected in real time during the motor loading process, thereby effectively avoiding the occurrence of false anti-pinch of the window and excessive window clamping force.

[0183] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0184] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0185] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle window anti-pinch detection method, characterized in that: include: During the motor loading process, the current motor voltage and current collected at the current moment are obtained; Determine a corresponding reference current threshold based on the current motor voltage; determining a current motor DC component based on the current motor current; Based on the current motor DC component, calculate the average value of the current motor DC component of N consecutive sampling periods up to the current moment, where N is a positive integer; Calculating the difference between the current mean value of the motor DC component and the mean value of the motor DC component at the previous moment to obtain a DC component mean difference, wherein the mean value of the motor DC component at the previous moment is the mean value of the DC component of the current for N consecutive sampling periods up to the previous moment of the current moment; Based on the magnitude relationship between the DC component mean difference and the mean variation of DC components at different levels, the reference current threshold is compensated to obtain a target current threshold; When the current motor DC component is not less than the target current threshold, the window is controlled to be lowered.

2. The vehicle window anti-pinch detection method according to claim 1, characterized in that: The determining a corresponding reference current threshold based on the current motor voltage includes: Obtain the motor voltage and motor peak current at the peak moment of motor starting current; Inputting the motor voltage and the motor peak current into a motor mathematical model to obtain the motor equivalent internal resistance; Obtaining an equivalent motor peak current based on the current motor voltage and the motor equivalent internal resistance; A preset proportional value of the equivalent motor peak current is determined as the reference current threshold.

3. The vehicle window anti-pinch detection method according to claim 1, characterized in that: The determining of the current motor DC component based on the current motor current includes: The current motor current is processed by a first-order lag filtering method to obtain the current motor DC component.

4. The vehicle window anti-pinch detection method according to any one of claims 1 to 3, characterized in that: The compensating the reference current threshold based on the magnitude relationship between the DC component mean difference and the mean variation of DC components at different levels to obtain a target current threshold includes: If the DC component mean difference is less than the lowest level DC component mean variation, the DC component mean difference is used as a current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold; If the DC component mean difference is less than the DC component mean change of the intermediate level and is not less than the DC component mean change of the previous level of the intermediate level, then the DC component mean change of the previous level is used as the current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold; If the DC component mean difference is not less than the highest level DC component mean change, the highest level DC component mean change is used as the current threshold compensation amount to compensate the reference current threshold to obtain the target current threshold.

5. The vehicle window anti-pinch detection method according to claim 1, characterized in that: Also includes: When the current motor DC component is less than the target current threshold, determining whether the motor meets the motor start-up end condition; If not, return to continue acquiring the current motor voltage and the current motor current; If yes, then exit the window anti-pinch detection process.

6. The vehicle window anti-pinch detection method according to claim 5, characterized in that: The process of determining the motor start end condition includes: Rolling calculation of the motor current difference at all adjacent moments within a single time period; If n consecutive motor current differences are all smaller than the preset current variation, it is determined that the motor meets the motor start-up termination condition, and the motor is controlled to terminate the start-up, where n is a positive integer.

7. The vehicle window anti-pinch detection method according to claim 6, characterized in that: Also includes: If there are no consecutive n situations in which the motor current difference is less than the preset current change in multiple consecutive time periods, it is assumed that the motor meets the motor start-up end condition and the motor is controlled to end starting.

8. A vehicle window anti-pinch detection device, characterized in that: include: An acquisition unit is used to acquire the current motor voltage and current collected at the current moment during the motor loading process; a current threshold determination unit, configured to determine a corresponding reference current threshold based on the current motor voltage; a DC component determining unit, configured to determine a current motor DC component based on the current motor current; a component mean value determining unit, configured to calculate, based on the current motor DC component, a mean value of the current motor DC component for N consecutive sampling periods ending at a current moment, where N is a positive integer; a mean difference determining unit, configured to calculate the difference between the current motor DC component mean and the motor DC component mean at a previous moment to obtain a DC component mean difference, wherein the motor DC component mean at the previous moment is the mean of the DC component of the current for N consecutive sampling periods up to the previous moment; a compensation unit, configured to compensate the reference current threshold based on a magnitude relationship between the DC component mean difference and the mean variation of DC components at different levels to obtain a target current threshold; A control unit is used to control the window to be lowered when the current motor DC component is not less than the target current threshold.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the vehicle window anti-pinch detection method according to any one of claims 1 to 7 is implemented.

10. A car, comprising a control device, characterized in that: The control device includes a memory and a processor; The memory is used to store at least one instruction; The processor is configured to execute the at least one instruction to implement the vehicle window anti-pinch detection step according to any one of claims 1 to 7.

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