Anti-pinch control method and device, vehicle and electronic equipment

Abstract

The embodiment of the invention relates to the technical field of vehicles, and provides an anti-pinch control method and device, a vehicle and electronic equipment, and the method comprises the steps: intercepting the edge interruption time of a square wave signal after a current driving motor is started and enters a steady state through a sliding window, and obtaining a plurality of continuous periodic time arrays corresponding to the sliding window; determining a time reference value corresponding to each sliding window based on the time in the periodic time array, taking a difference value between the time reference values of two target sliding windows before and after in the current anti-pinch detection period as a reference difference value, determining an instant stress level, obtaining a corresponding counting added value, and determining the anti-pinch detection time of the current anti-pinch detection period. The counting added value of the current target sliding window is accumulated with the historical accumulated value of the previous target sliding window, the current accumulated value of the current target sliding window is obtained, if the current accumulated value is larger than the preset counting threshold value, the anti-pinch device is controlled to execute the preset anti-pinch strategy, anti-pinch detection is more sensitive, and the anti-pinch effect is better. And a clamped object or a person can be effectively prevented from being injured.

Description

Technical Field

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

[0002] With the development of vehicle technology, more and more vehicles are adding anti-pinch detection strategies in the control process. Electric seats provide a variety of adjustment functions, such as front and rear, up and down adjustment, and backrest angle adjustment, but there may be a risk of pinching passengers during the adjustment process.

[0003] However, in the related art, the anti-pinch system of the vehicle seat realizes anti-pinch by identifying the motor current and setting the limit. The anti-pinch determination is made based on the motor current, and the anti-pinch force is determined by how long it exceeds the threshold and lasts. For devices with continuous detection, the clamping force is already relatively large, which may cause damage to the clamped object or person.

[0004] In addition, the electric seat may be subject to various internal and external interferences during movement. The vibration during driving and the difference in passenger weight will have a great impact on the motor current, which will affect the accuracy of anti-pinch control. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, device, vehicle and electronic device to solve the technical problems in the related art that the anti-pinch control implemented by identifying the motor current size and setting limits is not sensitive enough, which may cause harm to the clamped objects or people, and the anti-pinch control accuracy is poor due to the influence of interference.

[0006] The embodiment of the present application provides an anti-pinch control method, the anti-pinch control method comprising: after the current driving motor of the anti-pinch device starts and enters a steady state, intercepting the time of the edge interruption of the square wave signal of the current driving motor through a sliding window to obtain a periodic time array corresponding to multiple continuous sliding windows; determining a time reference value corresponding to each sliding window according to all the times in the periodic time array corresponding to each sliding window; within the current anti-pinch detection cycle, determining a reference difference value based on the time reference value corresponding to the target sliding window and the time reference value corresponding to the previous sliding window, and determining the instantaneous force level of the target sliding window based on the reference difference, the previous sliding window being a preset interval number before the target sliding window Sliding window; obtaining a count increase value of the target sliding window based on the instantaneous force level matching, wherein each instantaneous force level is pre-configured with a preset count increase value; accumulating the count increase value of the current target sliding window with the historical cumulative value of the previous target sliding window to obtain a current cumulative value of the current target sliding window, wherein the previous target sliding window is a target sliding window before the current target sliding window, and if the current target sliding window is the first target sliding window, the historical cumulative value of the previous target sliding window is a preset initial increase value; if the current cumulative value of the current target sliding window is greater than a preset count threshold, controlling the anti-pinch device to execute a preset anti-pinch strategy.

[0007] In one embodiment of the present application, after determining the instantaneous force level of the target sliding window based on the reference difference, the method further includes: if there are a preset number of consecutive target sliding windows whose instantaneous force levels are all less than or equal to a preset threshold force level, determining the next target sliding window as the first target sliding window of the new current anti-pinch detection cycle.

[0008] In one embodiment of the present application, before determining the instantaneous force level of the target sliding window based on the reference difference, the method includes, if the reference difference is less than or equal to 0, determining the next target sliding window as the first target sliding window of the new current anti-pinch detection cycle, and triggering the step of determining the reference difference based on the time reference value corresponding to the next target sliding window and the time reference value corresponding to the previous sliding window of the next target sliding window; if the reference difference is greater than 0, triggering the step of determining the instantaneous force level of the target sliding window based on the reference difference.

[0009] In one embodiment of the present application, before the count increase value of the current target sliding window is accumulated with the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window, the method includes: if the current target sliding window is the last target sliding window of the current anti-pinch detection cycle, and the current cumulative value of the current target sliding window is less than or equal to the preset count threshold, the next target sliding window is determined as the first target sliding window of the new current anti-pinch detection cycle.

[0010] In one embodiment of the present application, before the current drive motor of the anti-pinch device starts and enters a steady state, the method includes: in the starting phase of the current drive motor of the anti-pinch device, obtaining the current starting angular velocity of the current drive motor; if the current starting angular velocity is greater than or equal to the preset starting angular velocity, determining a pre-calibrated calibration count value as the preset counting threshold; if the current starting angular velocity is less than the preset starting angular velocity, determining the current equivalent mass coefficient according to the current starting angular velocity and the preset starting angular velocity, determining the anti-pinch revision value based on the current equivalent mass coefficient and the preset adjustment coefficient, and obtaining the preset counting threshold based on the difference between the calibration count value and the anti-pinch revision value.

[0011] In one embodiment of the present application, a time reference value corresponding to each sliding window is determined based on all the time in the periodic time array corresponding to each sliding window, including: determining an average value corresponding to each sliding window based on all the time in the periodic time array corresponding to each sliding window, and using the average value corresponding to each sliding window as the time reference value corresponding to each sliding window; or, determining a cumulative time value corresponding to each sliding window based on all the time in the periodic time array corresponding to each sliding window, and using the cumulative time value corresponding to each sliding window as the time reference value corresponding to each sliding window.

[0012] In one embodiment of the present application, the preset anti-pinch strategy includes at least one of controlling the current drive motor to retract and generating an anti-pinch fault alarm.

[0013] The embodiment of the present application also provides an anti-pinch control device, which includes: an acquisition module, which is used to intercept the time of the edge interruption of the square wave signal of the current drive motor of the anti-pinch device through a sliding window after the current drive motor of the anti-pinch device starts and enters a steady state, so as to obtain a periodic time array corresponding to multiple continuous sliding windows; a time reference value determination module, which is used to determine the time reference value corresponding to each sliding window according to all the times in the periodic time array corresponding to each sliding window; an instantaneous force level determination module, which is used to determine a reference difference value based on the time reference value corresponding to the target sliding window and the time reference value corresponding to the previous sliding window within the current anti-pinch detection cycle, and determine the instantaneous force level of the target sliding window based on the reference difference, wherein the previous sliding window is a preset interval number before the target sliding window. A sliding window; a count increase value determination module, used to obtain the count increase value of the target sliding window based on the instantaneous force level matching, wherein each instantaneous force level is pre-configured with a preset count increase value; a current cumulative value determination module, used to accumulate the count increase value of the current target sliding window with the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window, wherein the previous target sliding window is a target sliding window before the current target sliding window, and if the current target sliding window is the first target sliding window, the historical cumulative value of the previous target sliding window is a preset initial increase value; an anti-pinch control module, used to control the anti-pinch device to execute a preset anti-pinch strategy if the current cumulative value of the current target sliding window is greater than a preset count threshold.

[0014] An embodiment of the present application further provides a vehicle, the vehicle anti-pinch device and the anti-pinch control device including any one of the above embodiments.

[0015] An embodiment of the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any one of the above embodiments when executing the computer program.

[0016] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method described in any one of the above embodiments is implemented.

[0017] In the scheme implemented by the anti-pinch control method, device, vehicle and electronic device provided above, the anti-pinch control method intercepts the edge interruption time of the square wave signal after the current drive motor starts to enter the steady state through a sliding window, and obtains a periodic time array corresponding to multiple continuous sliding windows, and then determines the time reference value corresponding to each sliding window through the time in the periodic time array, and takes the difference between the time reference values ​​of the two target sliding windows before and after the current anti-pinch detection cycle as the reference difference, and then determines the instantaneous force level through the reference difference, and then obtains the corresponding count increase value, and accumulates the count increase value of the current target sliding window with the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window. If the current cumulative value is greater than the preset count threshold, the anti-pinch device is controlled to execute the preset anti-pinch strategy, providing a more sensitive anti-pinch detection method, which determines anti-pinch within a shorter stroke and can effectively prevent the clamped object or person from being injured. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0019] Figure 1 A schematic diagram of an application scenario of the anti-pinch control method provided in an embodiment of the present application;

[0020] Figure 2 A schematic flow chart of the anti-pinch control method provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of a square wave signal of a current driving motor provided in an embodiment of the present application;

[0022] Figure 4 A flowchart of a self-learning method for preset counting thresholds provided in an embodiment of the present application;

[0023] Figure 5 A specific flow chart of the anti-pinch control method provided in the embodiment of the present application;

[0024] Figure 6 Another specific flow chart of the anti-pinch control method provided in the embodiment of the present application;

[0025] Figure 7 A schematic diagram of the structure of the anti-pinch control device provided in an embodiment of the present application;

[0026] Figure 8A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] See also Figure 1 , Figure 1 A schematic diagram of an application scenario of the anti-pinch control method provided in an embodiment of the present application is as follows: Figure 1 As shown, the anti-pinch control method can be applied to anti-pinch devices such as seats, and the vehicle seat includes one or more drive motors 110, a parameter acquisition device 120 and an anti-pinch controller 130. The seat can be set on a vehicle, ship, aircraft or other vehicle, or it can be a separate seat fixed in a specific space. The drive motor can be a motor that drives the seat cushion, backrest, armrest and other components on the seat to move, and is used to drive any of the above components to move or rotate in the horizontal direction, vertical direction and other directions. This is only an example and is not limited. The parameter acquisition device can be a motor speed detection device that is clearly related to the number of pole pairs, such as a Hall signal or current ripple detection for position detection of the drive motor. The MCU (controller) detects accurate timers such as the Hall signal interval and the ripple cycle. The anti-pinch controller is electrically connected or communicated with the parameter acquisition device and the drive motor respectively. The anti-pinch controller is, for example, a control chip. The anti-pinch controller can obtain data fed back by the parameter acquisition device. The anti-pinch controller can also control the operation of the drive motor 0, for example, by reducing the current output to the drive motor to reduce the rotation speed of the drive motor, control the drive motor to retreat, etc.

[0029] As an example, the anti-pinch controller memory is used to store a computer program, which is used to control the anti-pinch controller processor to operate according to the anti-pinch control method provided in any of the following embodiments. A technician can design a computer program according to the scheme of the embodiment of the present disclosure. How the computer program controls the processor to operate is well known in the art, so it will not be described in detail here.

[0030] See also Figure 2 As shown, Figure 2 A flowchart of an anti-pinch control method provided in an embodiment of the present application is provided, and the method comprises the following steps:

[0031] Step S210, after the current driving motor of the anti-pinch device starts and enters a steady state, the time of the edge interruption of the square wave signal of the current driving motor is intercepted through a sliding window to obtain a period time array corresponding to multiple continuous sliding windows.

[0032] The size of the sliding window may be a fixed step size or a non-fixed step size obtained according to the step size value rule set by a person skilled in the art. When the accumulated time value corresponding to each sliding window is subsequently used as the time reference value corresponding to each sliding window, the sliding window may take a fixed step size to ensure the normal implementation of the solution.

[0033] The anti-pinch device may be a component such as a vehicle seat, a vehicle window, a tailgate, etc., or may be other anti-pinch devices driven by a motor.

[0034] The anti-pinch device may have one or more drive motors. Generally speaking, when the anti-pinch device has multiple drive motors, during each movement, generally one drive motor is in working state, and the working drive motor is used as the current drive motor.

[0035] After the current drive motor starts and enters the steady state, the square wave signal collected by the parameter collection device such as the Hall sensor becomes regular. As an example, the collection method of the cycle time array can refer to Figure 3 , Figure 3 A schematic diagram of a square wave signal of a current driving motor provided in an embodiment of the present application, such as Figure 3 As shown, there is a square wave signal edge interruption time T 0 , T 1 , T 2 …Here we only take three times as an example, and the subsequent time values ​​can be taken in sequence according to this example. The more square waves the motor generates per rotation, the more sensitive the algorithm control is. For the ripple algorithm, the more pole pairs a motor has, the more periodic square wave information it generates. For Hall sensors, arranging 2 pairs, 4 pairs, or 8 pairs of Hall sensors can make this algorithm more sensitive. For example, using a minimum of 1 pair of Hall sensors / 1 pair of motors, that is, the motor rotates 1 circle and generates 2 square wave signals, and the calculation uses 1 circle of square waves for acceleration calculation. After the drive motor starts and enters steady state, through an external interrupt, such as Figure 3 Capture the time T of the edge interruption of the square wave signal and form a periodic time array Tarr{}, taking the array length as 4 as an example. For the case of N groups of Hall sensors, the array length can be 4N. Taking the sliding window length as N as an example, an example of the periodic time array corresponding to multiple consecutive sliding windows can be Tarr 0 {T 0 , T 1 ,…,T N}, Tarr 1 {T1 , T 2 ,…,T N+1}, Tarr 2 {T 2 , T 3 ,…,T N+2}, Tarr 3 {T 3 , T 4 ,…,T N+3}…Tarr N {T N , T N+1 ,…,T N+N}.

[0036] Step S220: determining a time reference value corresponding to each sliding window according to all times in the periodic time array corresponding to each sliding window.

[0037] In one embodiment, a time reference value corresponding to each sliding window is determined based on all times in a periodic time array corresponding to each sliding window, including: determining an average value corresponding to each sliding window based on all times in a periodic time array corresponding to each sliding window, and using the average value corresponding to each sliding window as the time reference value corresponding to each sliding window; or determining a cumulative time value corresponding to each sliding window based on all times in a periodic time array corresponding to each sliding window, and using the cumulative time value corresponding to each sliding window as the time reference value corresponding to each sliding window.

[0038] That is, the time reference value can be an average value or a total sum value (time accumulation value). When it is an average value, the size of the sliding window is not required to be consistent. When it is a time accumulation value, the size of the sliding window can be required to be consistent for subsequent calculations. Of course, sliding windows of different sizes can also be achieved by adjusting the preset counting threshold, which will not be described here.

[0039] Step S230, in the current anti-pinch detection cycle, determining a reference difference based on a time reference value corresponding to the target sliding window and a time reference value corresponding to the previous sliding window, and determining an instantaneous force level of the target sliding window based on the reference difference.

[0040] The previous sliding window is a sliding window with a preset number of intervals before the target sliding window. The preset number of intervals can be determined according to the detected period, and can be specifically set by those skilled in the art as required, which is not limited here.

[0041] The anti-pinch detection cycle is rolling. After the previous cycle ends, the next sliding window is used as the first sliding window of the new anti-pinch detection cycle. For the same model of anti-pinch devices, different instantaneous force levels corresponding to reference differences can be pre-configured, and the corresponding instantaneous force levels can be found by looking up the table. The membership function can also be pre-created and calibrated based on factors such as seat structure and material, and then solved by the membership function to obtain the corresponding instantaneous force level. Of course, it can also be implemented in other ways known to those skilled in the art.

[0042] The instantaneous force level can be preset by those skilled in the art.

[0043] In one embodiment, after determining the instantaneous force level of the target sliding window based on the reference difference, the method further includes: if there are a preset number of consecutive target sliding windows whose instantaneous force levels are all less than or equal to the preset threshold force level, determining the next target sliding window as the first target sliding window of the new current anti-pinch detection cycle. This can be understood as a way of filtering abnormal bumps and other conditions. If the instantaneous force levels obtained for several consecutive times are relatively small and less than the preset threshold force level, it means that the fluctuation is not large, and anti-pinch is not required at this time. The process can be ended and the anti-pinch detection of a new sliding window can be started.

[0044] In one embodiment, before determining the instantaneous force level of the target sliding window based on the reference difference, the method includes, if the reference difference is less than or equal to 0, determining the next target sliding window as the first target sliding window of the new current anti-pinch detection cycle, and triggering the step of determining the reference difference based on the time reference value corresponding to the next target sliding window and the time reference value corresponding to the previous sliding window of the next target sliding window; if the reference difference is greater than 0, triggering the step of determining the instantaneous force level of the target sliding window based on the reference difference. This can be understood as another way to filter abnormal bumps and other conditions. If the subsequent time is shorter than the previous time, it means that either the foreign object has moved or the previous value has fluctuated, which can also be ignored.

[0045] Step S240, obtaining a count increment value of the target sliding window based on instantaneous force level matching.

[0046] Among them, each instantaneous force level is pre-configured with a preset count increase value. The count increase values ​​corresponding to different instantaneous force levels can be pre-calibrated to represent the hardness of the foreign body, etc. A mapping relationship between an instantaneous force level and the corresponding count increase value can be pre-established, and then the corresponding count increase value can be matched.

[0047] Step S250, adding the count increment value of the current target sliding window to the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window.

[0048] The previous target sliding window is a target sliding window before the current target sliding window. If the current target sliding window is the first target sliding window, the historical accumulated value of the previous target sliding window is a preset initial increase value.

[0049] In one embodiment, before the count increase value of the current target sliding window is accumulated with the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window, the method includes: if the current target sliding window is the last target sliding window of the current anti-pinch detection cycle, and the current cumulative value of the current target sliding window is less than or equal to a preset count threshold, the next target sliding window is determined as the first target sliding window of the new current anti-pinch detection cycle.

[0050] As an example, the current cumulative value can be determined by a counter. The first target sliding window adopts a preset initial increment value. After the next target sliding window obtains a legal count increment value, it is accumulated and the current counter value is updated as the historical cumulative value. Then, the accumulation is continued until the current anti-pinch detection cycle ends. Taking 4 target sliding windows as an anti-pinch detection cycle, the historical cumulative value of the first target sliding window is the preset initial increment value, assuming it is 8. Then the count increment value of the second target sliding window is 1. At this time, the historical cumulative value of the second target sliding window is 9. The count increment value of the third target sliding window is 5. At this time, the historical cumulative value of the third target sliding window is 14. Assuming the preset count threshold is 14, the preset anti-pinch strategy is started. Assuming the preset count threshold is 28, it is continued to determine that the count increment value of the fourth target sliding window is 10. At this time, the current cumulative value of the fourth target sliding window is 24. At this time, the current cumulative value obtained is less than the preset count threshold, and the preset anti-pinch strategy is not started. Then the next anti-pinch detection cycle is started.

[0051] Step S260: If the current cumulative value of the current target sliding window is greater than a preset counting threshold, the anti-pinch device is controlled to execute a preset anti-pinch strategy.

[0052] In one embodiment, the preset anti-pinch strategy includes at least one of controlling the current drive motor to retract and generating an anti-pinch fault alarm.

[0053] If the current cumulative value of the current target sliding window is less than or equal to the preset count threshold, the preset anti-pinch strategy is not started.

[0054] Electric seats may be subject to a variety of internal and external interferences during movement. The vibration of the car during driving and the difference in weight of passengers will have a significant impact on the motor current, which will affect the accuracy of anti-pinch control. In order to avoid the accuracy of anti-pinch control being affected by the difference in passenger weight, the anti-pinch control method provided in the embodiment of the present application will also perform load detection through motor acceleration during the process of driving the motor to start, and automatically correct the anti-pinch parameters (preset counting threshold) during use.

[0055] In one embodiment, before the current drive motor of the anti-pinch device starts to enter a steady state, the method includes: in the current drive motor startup phase of the anti-pinch device, obtaining the current startup angular velocity of the current drive motor; if the current startup angular velocity is greater than or equal to the preset startup angular velocity, determining the pre-calibrated calibration count value as the preset count threshold; if the current startup angular velocity is less than the preset startup angular velocity, determining the current equivalent mass coefficient according to the current startup angular velocity and the preset startup angular velocity, determining the anti-pinch revision value based on the current equivalent mass coefficient and the preset adjustment coefficient, and obtaining the preset count threshold based on the difference between the calibration count value and the anti-pinch revision value. The preset adjustment coefficient can be obtained by calibrating the seat and motor parameters based on experiments.

[0056] As an example, a pre-calibration operation can be performed when the seat leaves the factory. After the motor is started, during the no-load start-up phase of the drive motor, the DC motor PWM wave is controlled to have a fixed duty cycle of 60%. It should be noted that the duty cycle here needs to be confirmed according to different motors and loads, and this is just an example. The control output time is t0. In this example, t0=400ms is taken as an example, and then the seat motor speed is dragged to ω0. At this time, the initial angular acceleration a0 of the motor can be calculated by the following formula (1).

[0057] a0=ω0 / t0 formula (1),

[0058] Among them, a0 is the initial angular acceleration of the motor, ω0 is the preset starting angular velocity, and t0 is the output time.

[0059] The calibration count value will also be calibrated at the factory stage. When the anti-pinch device includes multiple drive motors, the corresponding calibration count value can be calibrated for each drive motor. Taking the anti-pinch device as an example, during the calibration stage, the seat is in an unloaded state, that is, it has no load, and then the calibration count value is calibrated. During the unloaded start-up stage of the seat, the PWM wave is controlled to a fixed duty cycle, and within a fixed time t, the seat motor speed is dragged to ω0 as the initial value, so as to calibrate the calibration count value XX of the seat anti-pinch parameter.

[0060] During the use phase, see Figure 4 , Figure 4A flowchart of a self-learning method for preset counting thresholds provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, this process can be executed by the self-learning module in the acceleration phase. As an example, a pre-calibration operation can be performed when the seat leaves the factory. After the motor is started, during the no-load starting phase of the drive motor, the DC motor PWM wave is controlled to have a fixed duty cycle of 60%. It should be noted that the duty cycle here needs to be confirmed according to different motors and loads. This is only an example. The control output time is t0. During this process, it is constantly determined whether t0 is greater than or equal to 400ms. If t0 is less than 400ms, then return to the step of controlling the DC motor PWM wave to have a fixed duty cycle of 60%. Otherwise, the motor speed ωn (an=ωn / t0) is detected. Each time the seat controller is started, the duty cycle is also controlled to be 60% in the startup phase, the time is 400ms, the startup angular velocity ωn (current startup angular velocity) is detected, and the current angular acceleration an of the motor can be determined by the following formula (2).

[0061] an=ωn / t0 formula (2),

[0062] Among them, an is the current angular acceleration of the motor, ωn is the current starting angular velocity, and t0 is the output time.

[0063] In a short period of time, the traction force applied to the seat can be considered to be a fixed value. According to Newton's second law, the equivalent mass coefficient D of this seat load is estimated. One way to determine the equivalent mass coefficient D is as follows:

[0064] D=ωn / ω0 formula (3),

[0065] Wherein, D is the equivalent mass coefficient, ωn is the current starting angular velocity, and ω0 is the preset starting angular velocity.

[0066] From Newton's second law (Fnet=m*a), it can be obtained that when different masses m are acted upon by the same external force Fnet, the acceleration a changes linearly.

[0067] Then, the anti-pinch revision value Y is estimated. As an example, the anti-pinch revision value is determined as follows:

[0068] Y=Q*D formula (4),

[0069] Where, Y is the anti-pinch revision value, Q is the preset adjustment factor, and D is the equivalent mass factor. As an example, the Q value is derived from the seat and motor parameters by test conditions.

[0070] It should be noted that when the D value is greater than or equal to 1, the anti-pinch correction value update is ignored. When the D value is less than 1, it means that a larger load is acting on the seat system, and the acceleration change is smaller under the same external force. Update the preset count threshold for this trip. An example of updating the preset count threshold (calculated to obtain the anti-pinch threshold for this trip) is as follows:

[0071] XXn=XX–Y (D<1) Formula (5),

[0072] Among them, XXn is the updated preset counting threshold, XX is the calibrated counting value, Y is the anti-pinch revision value, and D is the equivalent quality coefficient.

[0073] If the preset count threshold is updated, the latest preset count threshold will be used for this anti-pinch detection.

[0074] The following takes the anti-pinch device as an example to illustrate the principle of the anti-pinch control method provided in this embodiment. Take the seat drive motor as an example, for which the input power is the product of the input current I and the voltage U, that is:

[0075] P=U*I formula (6),

[0076] Among them, P is the input power, U is the voltage, and I is the current.

[0077] The power demand is related to the speed and torque of the motor, because the output power of the motor is the product of the torque Tt and the angular velocity ω (speed). The torque can also be calculated by the current I and the magnetic flux K of the motor. For a DC motor, an exemplary method for determining the output power is as follows:

[0078] Pt = Tt × ω = K*I*ω Formula (7),

[0079] Among them, Pt is the output power, Tt is the torque, ω is the angular velocity, K is the magnetic flux, and I is the current.

[0080] The efficiency of the motor may vary under different loads. Under light load conditions, the efficiency of the motor may be high because the losses are relatively small. Under heavy load conditions, the copper loss (I 2 R loss) and iron loss (hysteresis and eddy current loss) will also increase, resulting in reduced efficiency. Under heavy load or high current conditions, copper loss is relatively large. Under high frequency change conditions, eddy current loss may be more significant. Motors such as seats operate in the low frequency range, and eddy current loss can be ignored. The main loss is the copper loss of the motor.

[0081] The effective power is determined as follows:

[0082] Pt=P–P Copper loss formula (8),

[0083] Among them, Pt is the output power, P is the input power, and P copper loss is the copper loss power of the motor.

[0084] That is, we can deduce:

[0085] U–I*R=K*ω Formula (9),

[0086] Among them, U is voltage, I is current, R is resistance, K is magnetic flux, and ω is angular velocity.

[0087] For the motor system, when the resistance increases, the required output power increases, and when U remains unchanged, the current I increases. The angular velocity ω decreases.

[0088] The angular velocity is reflected on the motor, which is the motor speed. When encountering resistance, the speed decreases and the acceleration is negative. Newton's second law states: The acceleration of an object (a) is proportional to the net force (Fnet) acting on the object and inversely proportional to the mass of the object (m). The mathematical expression is:

[0089] Fnet = m*a Formula (10),

[0090] Among them, Fnet is the net force (external force) acting on the object, m is the mass of the object, and a is the acceleration of the object.

[0091] For transient state, the anti-pinch force is the net external force when the motor is in equilibrium state. Therefore, the instantaneous value of the net external force can be confirmed by the change of acceleration.

[0092] At the same time, during the motor startup phase, the motor can be driven by a given time driving voltage, and the magnitude of the load on the gravity component can be roughly determined according to the acceleration of the motor, and then the anti-pinch action can be corrected each time.

[0093] The anti-pinch control method provided in the embodiment of the present application is based on the period T (ω=2*π / T) of the square wave periodic signal of the motor when it rotates one circle. When the motor encounters the resistance of an obstacle, the speed decreases and T increases. The speed is inversely proportional to the period, so the acceleration can be reflected by the period difference.

[0094] The time reference value is used as the average value corresponding to each sliding window, and the periodic acceleration is calculated by time weighting of N consecutive square wave cycles. Multiple consecutive sliding period windows are established, and the time reference value corresponding to each sliding window is obtained:

[0095] TA 0 =(T 0 +T 1 +…+T N ) / N;

[0096] TA 1 =(T 1+T 2 +…+T N+1 ) / N;

[0097] TA 2 =(T 2 +T 3 +…+T N+2 ) / N;

[0098] TA 3 =(T 3 +T 4 +…+T N+3 ) / N;

[0099] …

[0100] TA N =(T N +T N+1 +…+T N+N ) / N;

[0101] Among them, TA 0 TA 1 TA 2 TA 3 …TA N is the time reference value corresponding to the continuous sliding window, T 0 , T 1 , T 2 , T 3 , T 4 …T N , T N+1 , T N+2 , T N+3 …T N+N It is the time of edge interruption of multiple consecutive square wave signals of the current driving motor.

[0102] Using multiple square wave cycles for acceleration calculation can eliminate the impact of periodic fluctuations. At this time, the reference difference is determined as follows:

[0103] aT 0 =(TA N –TA 0 );

[0104] aT 1 =(TA N+1 –TA 1 );

[0105] aT 2 =(TA N+2 –TA 2 );

[0106] aT 3 =(TA N+3–TA 3 );

[0107] …

[0108] Among them, aT 0 ,aT 1 ,aT 2 ,aT 3 is the reference difference corresponding to the continuous sliding window, TA 0 TA 1 TA 2 TA 3 …TA N TA N+1 TA N+2 TA N+3 is the time reference value corresponding to the continuous sliding window.

[0109] The magnitude of the instantaneous external force can be directly reflected based on the average value (reference difference). The hardness of the clamped object is strongly correlated with the instantaneous force applied to the seat at the same speed. The smaller the hardness of the object, the smaller the force applied to the seat instantly, and the smaller the aT average value (reference difference). According to the size of the aT average value, a membership function Fun(aT) is established. As an example, this membership function needs to be derived through the laboratory data between the seat and the material to establish a model, fuzzy calculate the level of instantaneous force, and divide the instantaneous external force into several intervals to reflect the classification of external forces. This classification is used to distinguish the hardness of the clamped object. Different levels give different count values ​​(count increase values) to the anti-pinch force counter TT. This method can accurately determine the anti-pinch force of objects of different hardness and improve the accuracy of anti-pinch.

[0110] Among them, the membership function can be modeled by technical personnel in this field according to different dimensions such as seat structures and materials. The membership function can be a piecewise function to divide different reference differences into several instantaneous force levels.

[0111] It is divided into A to F according to the instantaneous force level, with A being the lowest hardness and F being the highest hardness.

[0112] When aT falls into level A, the anti-pinch counter TT+0, when it falls into level B, the anti-pinch counter TT+1, and so on. TT is the calibration count value, and 0, 1... are the count increase values ​​corresponding to different instantaneous force levels. If the current cumulative value TTn of the current target sliding window is greater than the preset count threshold XXn, an anti-pinch fault is reported and the motor is controlled to retract to release the anti-pinch.

[0113] The more square waves the motor generates per rotation, the more sensitive the control algorithm obtained by the anti-pinch control method provided in this embodiment. For the ripple algorithm, the more pole pairs a motor has, the more periodic square wave information it generates per rotation. For Hall sensors, arranging 2, 4, or 8 pairs of Hall sensors can make the algorithm more sensitive.

[0114] The following is an exemplary explanation of the principle of self-learning of the preset count threshold. According to Newton's second law, the size of the load is reflected in the gravity component, which affects the change of angular acceleration. When the load becomes larger, the acceleration will become smaller for a uniform external force. Therefore, the calibration count value should also be increased or decreased by a certain anti-pinch revision value Y. In the unloaded start-up stage of the seat, the PWM wave is controlled to have a fixed duty cycle. Within a fixed time t, the seat motor speed is dragged to ω0 as the initial value, and the seat anti-pinch parameter XX (calibration count value) is calibrated in this way. At each subsequent start, the PWM wave is controlled to have a fixed duty cycle, and within a fixed time t, the seat motor speed is dragged to ωx. ωx is compared with the initial value ω0 to determine the anti-pinch revision value Y. Estimate the size of the seat load during this drive process, and use this to correct the seat anti-pinch parameter to XXn=XX-Y. This method can ensure that the anti-pinch parameter can be sensitively determined when the seat is occupied by different people and different loads. Avoid incorrect judgments or pinching passengers.

[0115] The anti-pinch control method provided in the above embodiment intercepts the edge interruption time of the square wave signal after the current drive motor starts and enters the steady state through the sliding window, obtains the periodic time array corresponding to multiple continuous sliding windows, and then determines the time reference value corresponding to each sliding window through the time in the periodic time array, takes the difference between the time reference values ​​of the two target sliding windows before and after the current anti-pinch detection cycle as the reference difference, and then determines the instantaneous force level through the reference difference, and then obtains the corresponding count increase value, and adds the count increase value of the current target sliding window to the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window. If the current cumulative value is greater than the preset count threshold, the anti-pinch device is controlled to execute the preset anti-pinch strategy, providing a more sensitive anti-pinch detection method, which can determine anti-pinch within a shorter stroke and effectively prevent the clamped object or person from being injured. The method has high reliability and anti-interference performance.

[0116] The more square waves the motor generates per rotation, the more sensitive the control using the anti-pinch control method provided in this embodiment. For the ripple algorithm, the more pole pairs a motor has, the more periodic square wave information it generates. For Hall sensors, arranging 2 pairs, 4 pairs, or 8 pairs of Hall sensors can make this algorithm more sensitive. This example uses a minimum of 1 pair of Hall sensors / 1 pair of motors, that is, the motor rotates 1 circle and generates 2 square wave signals, and the calculation uses 1 circle of square waves for acceleration calculation.

[0117] See also Figure 5 , Figure 5 A specific flow chart of the anti-pinch control method provided in the embodiment of the present application is as follows: Figure 5 As shown, this method can be executed by the acceleration anti-pinch module. In the anti-pinch area, after the drive motor starts and enters the steady state, the Hall signal edge interrupt is detected through external interrupt, such as Figure 3 Capture the time T of the edge interruption of the square wave signal and form a periodic time array T{}. The sliding window cyclically stores the period T{N}; T[N] = (TN+T(N+1)) / 2. In this example, the array length is 4. For the case of N groups of Hall sensors, the array length can be 4N. Establish a sliding window to update the value of the T{} array, such as Figure 3 . The time reference values ​​are: Ta[0] = (T0 + T1) / 2; Ta[1] = (T1 + T2) / 2; Ta[2] = (T2 + T3) / 2; Ta[3] = (T3 + T4) / 2. Then calculate the periodic acceleration (reference difference) aT = Ta[3] - Ta[0]. According to the input value aT, first determine whether aT is less than 0, that is, determine whether the reference difference is less than 0. If the reference difference is less than or equal to 0, return to the previous step and end the current process. Otherwise, if the reference difference is greater than 0, establish the membership function Fun(aT). The membership function needs to be derived by establishing a model based on the laboratory data between the seat and the material. The instantaneous force level Gn is obtained by fuzzy calculation, and the range of the instantaneous force level is A to F. Establish an anti-pinch force counter TT. When G is at level A, the counter TT increases by 0. When it falls into level B, the anti-pinch counter TT increases by 1; and so on. The counter TT is used to calculate the count sum of 2 circles, that is, 4 times the aT level. For the case of N groups of Hall sensors, the number of counts can be 4N. For the counter TT (current cumulative value), the following control is performed. If aT is at level A (Gn is not greater than A, ++m>=2) for two consecutive times, the value of the counter TT is cleared to clear the acceleration change caused by abnormal resistance (that is, the anti-pinch force counter TT is initialized to TT=0; n=0; m=0). If Gn is greater than A, then the anti-pinch force counter TT+x; m=0; ++n. In this process, it is continuously judged whether n is greater than or equal to 4 (2 turns). If it is greater than or equal to 4, then it is judged whether the anti-pinch counter (current cumulative value) TT is greater than (preset counting threshold) XXn. In this example, the preset counting threshold XX=14 is taken as an example. If it is greater than the preset counting threshold, the anti-pinch fault is determined and the motor is controlled to retreat to release the anti-pinch. If it is not greater than the preset counting threshold, it is not anti-pinch. If n is less than 4, then return to the step of judging whether Gn is greater than A. Among them, n is the number of times Gn is not greater than A, and ++n is two consecutive times that Gn is not greater than A. m is the number of times Gn is greater than A.

[0118] See also Figure 6 , Figure 6 Another specific flow chart of the anti-pinch control method provided in the embodiment of the present application is as follows: Figure 6 As shown, an example of the overall control process is, after initialization, read the factory calibration parameters (preset initial increase value, instantaneous force level, count increase value corresponding to the instantaneous force level, calibrated count value, preset adjustment coefficient, etc.), and then determine whether the motor starts to run. If it does not start to move, the process ends. If it starts to move, start acceleration, and execute the acceleration stage self-learning module in this stage. Then determine whether it is in the anti-pinch interval. If not, end the process. If it is in the anti-pinch interval, use the acceleration anti-pinch module to determine whether anti-pinch is needed. If anti-pinch is not needed, wait for the motor to stop and end the process. If anti-pinch is needed, control the motor anti-pinch back, and then end the process.

[0119] Through the anti-pinch control method provided by the above embodiment, in a stable system, when the seat is subjected to external force, the speed always reacts first, and then the current control is performed. The acceleration can participate in the judgment during the speed and current changes, so this method is more sensitive and can determine the anti-pinch strategy more quickly, and determine the anti-pinch in a shorter stroke to protect the occupants from injury. The instantaneous force level is determined by reference to the difference, and then the corresponding count increase value is matched. Different external forces can be judged according to different instantaneous external force intervals to prevent the judgment of soft objects or very hard objects from failing. In addition, the method can also support the continuous correction of the anti-pinch parameters (preset count threshold) after leaving the factory to prevent the influence of different occupants or different seat loads on the motor anti-pinch parameters. The above method is different from the related technology that realizes anti-pinch through current detection, but detects the anti-pinch force through the acceleration of motor movement.

[0120] In one embodiment, an anti-pinch control device is provided, and the anti-pinch control device is used to perform the steps of the anti-pinch control method provided in any of the above embodiments. Figure 7 , Figure 7 A schematic diagram of the structure of the anti-pinch control device provided in the embodiment of the present application is shown in FIG. Figure 7As shown, the anti-pinch control device 700 (which can be implemented as an anti-pinch controller) includes an acquisition module 701, which is used to intercept the time of the edge interruption of the square wave signal of the current drive motor through a sliding window after the current drive motor of the anti-pinch device starts and enters a steady state, and obtain a periodic time array corresponding to multiple continuous sliding windows; a time reference value determination module 702, which is used to determine the time reference value corresponding to each sliding window according to all the times in the periodic time array corresponding to each sliding window; an instantaneous force level determination module 703, which is used to determine a reference difference value based on the time reference value corresponding to the target sliding window and the time reference value corresponding to the previous sliding window within the current anti-pinch detection cycle, and determine the instantaneous force level of the target sliding window based on the reference difference value, and the previous sliding window is a preset interval number before the target sliding window. A sliding window of quantity; a count increase value determination module 704, used to obtain the count increase value of the target sliding window based on the instantaneous force level matching, wherein each instantaneous force level is pre-configured with a preset count increase value; a current cumulative value determination module 705, used to accumulate the count increase value of the current target sliding window with the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window, the previous target sliding window is a target sliding window before the current target sliding window, if the current target sliding window is the first target sliding window, the historical cumulative value of the previous target sliding window is a preset initial increase value; an anti-pinch control module 706, used to control the anti-pinch device to execute a preset anti-pinch strategy if the current cumulative value of the current target sliding window is greater than a preset count threshold.

[0121] In one embodiment, the device also includes a motor speed detection device that is clearly related to the number of pole pairs, such as Hall signal / current ripple detection for position detection of the drive motor, and an accurate timer for detecting Hall signal intervals, ripple cycles, etc. through the MCU.

[0122] In one embodiment, the device also includes an anti-pinch detection cycle update module, which is used to determine the instantaneous force level of the target sliding window based on the reference difference. If there are a preset number of consecutive target sliding windows whose instantaneous force levels are less than or equal to the preset threshold force level, the next target sliding window is determined as the first target sliding window of the new current anti-pinch detection cycle.

[0123] In one embodiment, the anti-pinch detection cycle update module is also used to accumulate the count increase value of the current target sliding window with the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window. If the current target sliding window is the last target sliding window of the current anti-pinch detection cycle and the current cumulative value of the current target sliding window is less than or equal to a preset count threshold, the next target sliding window is determined as the first target sliding window of the new current anti-pinch detection cycle.

[0124] In one embodiment, the device also includes an anti-pinch detection judgment module, which is used to determine the next target sliding window as the first target sliding window of the new current anti-pinch detection cycle if the reference difference is less than or equal to 0 before determining the instantaneous force level of the target sliding window based on the reference difference, and trigger the step of determining the reference difference based on the time reference value corresponding to the next target sliding window and the time reference value corresponding to the previous sliding window of the next target sliding window; if the reference difference is greater than 0, trigger the step of determining the instantaneous force level of the target sliding window based on the reference difference.

[0125] In one embodiment, the device also includes an acceleration phase self-learning module, which is used to obtain the current starting angular velocity of the current driving motor during the starting phase of the current driving motor of the anti-pinch device before the current driving motor of the anti-pinch device starts to enter a steady state; if the current starting angular velocity is greater than or equal to the preset starting angular velocity, the pre-calibrated calibration count value is determined as the preset counting threshold; if the current starting angular velocity is less than the preset starting angular velocity, the current equivalent mass coefficient is determined according to the current starting angular velocity and the preset starting angular velocity, the anti-pinch revision value is determined based on the current equivalent mass coefficient and the preset adjustment coefficient, and the preset counting threshold is obtained based on the difference between the calibration count value and the anti-pinch revision value.

[0126] In one embodiment, the time reference value determination module is configured to: determine the average value corresponding to each sliding window based on all the time in the periodic time array corresponding to each sliding window, and use the average value corresponding to each sliding window as the time reference value corresponding to each sliding window; or, determine the cumulative time value corresponding to each sliding window based on all the time in the periodic time array corresponding to each sliding window, and use the cumulative time value corresponding to each sliding window as the time reference value corresponding to each sliding window.

[0127] For the specific definition of the anti-pinch control device, please refer to the definition of the anti-pinch control method above, which will not be repeated here. Each module in the above anti-pinch control device can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0128] In this embodiment, the anti-pinch control device is essentially provided with multiple modules for executing the steps executed by the client in the anti-pinch control method in any of the above embodiments. The specific functions and technical effects can be referred to the above embodiments and will not be repeated here.

[0129] In one embodiment, a vehicle is provided, the vehicle comprising a vehicle anti-pinch device and an anti-pinch control device provided by any of the above embodiments. The specific functions and technical effects of the vehicle can refer to the above embodiments, and will not be described in detail here.

[0130] See also Figure 8 An embodiment of the present invention further provides an electronic device 800, including a processor 801, a memory 802 and a communication bus 803; the communication bus 803 is used to connect the processor 801 and the memory 802; the processor 801 is used to execute the computer program stored in the memory 802 to implement any method provided in the above embodiments.

[0131] As an example, the electronic device may be a device such as a vehicle or a vehicle computer.

[0132] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. The computer program is used to enable a computer to execute a method provided in any one of the above embodiments.

[0133] The embodiment of the present application also provides a non-volatile readable storage medium, which stores one or more modules (programs). When the one or more modules are applied to a device, the device can execute instructions (instructions) of the steps included in the embodiment 1 of the embodiment of the present application.

[0134] The embodiment of the present application also provides a computer program product, including a computer program, which can implement the steps and corresponding contents of the aforementioned method embodiment when executed by a processor.

[0135] It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0136] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0137] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In 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).

[0138] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from 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 flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0139] It should be understood that the terms "first", "second", etc. mentioned in this application are used to distinguish similar objects, and do not necessarily represent that they refer to a specific order or sequence. The technical features in which these terms are located can be interchanged under appropriate circumstances, so that the embodiments of the application described here can be implemented in an order other than the illustrated or written description.

[0140] It should be understood that although the flowcharts provided in the embodiments of the present application indicate the steps by arrows, the order indicated by the arrows does not necessarily limit the order in which the steps are implemented. Those skilled in the art can perform the steps in other orders according to the requirements for different implementation scenarios.

[0141] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An anti-pinch control method, characterized in that: The anti-pinch control method comprises: After the current driving motor of the anti-pinch device starts and enters a steady state, the time of the edge interruption of the square wave signal of the current driving motor is intercepted through a sliding window to obtain a cycle time array corresponding to a plurality of continuous sliding windows; Determine a time reference value corresponding to each sliding window according to all times in the periodic time array corresponding to each sliding window; In the current anti-pinch detection cycle, a reference difference is determined based on a time reference value corresponding to a target sliding window and a time reference value corresponding to a previous sliding window, and an instantaneous force level of the target sliding window is determined based on the reference difference, wherein the previous sliding window is a sliding window with a preset number of intervals before the target sliding window; Obtaining a count increase value of the target sliding window based on the instantaneous force level matching, wherein each instantaneous force level is pre-configured with a preset count increase value; Accumulate the count increment value of the current target sliding window and the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window, wherein the previous target sliding window is a target sliding window before the current target sliding window, and if the current target sliding window is the first target sliding window, the historical cumulative value of the previous target sliding window is a preset initial increment value; If the current cumulative value of the current target sliding window is greater than a preset counting threshold, the anti-pinch device is controlled to execute a preset anti-pinch strategy.

2. The anti-pinch control method according to claim 1, characterized in that: After determining the instantaneous force level of the target sliding window based on the reference difference, the method further includes: If there are a preset number of consecutive target sliding windows whose instantaneous force levels are all less than or equal to the preset threshold force level, the next target sliding window is determined as the first target sliding window of the new current anti-pinch detection cycle.

3. The anti-pinch control method according to claim 1, characterized in that: Before determining the instantaneous force level of the target sliding window based on the reference difference, the method includes: If the reference difference is less than or equal to 0, the next target sliding window is determined as the first target sliding window of the new current anti-pinch detection cycle, and a step of determining a reference difference based on a time reference value corresponding to the next target sliding window and a time reference value corresponding to a previous sliding window of the next target sliding window is triggered; If the reference difference is greater than 0, a step of determining the instantaneous force level of the target sliding window based on the reference difference is triggered.

4. The anti-pinch control method according to claim 1, characterized in that: Before accumulating the count increment value of the current target sliding window and the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window, the method includes: If the current target sliding window is the last target sliding window of the current anti-pinch detection cycle, and the current cumulative value of the current target sliding window is less than or equal to the preset counting threshold, the next target sliding window is determined as the first target sliding window of the new current anti-pinch detection cycle.

5. The anti-pinch control method according to any one of claims 1 to 4, characterized in that: Before the current driving motor of the anti-pinch device starts to enter a steady state, the method includes: During the starting phase of the current driving motor of the anti-pinch device, obtaining the current starting angular velocity of the current driving motor; If the current start-up angular velocity is greater than or equal to the preset start-up angular velocity, determining the pre-calibrated calibration count value as the preset count threshold; If the current startup angular velocity is less than the preset startup angular velocity, the current equivalent mass coefficient is determined according to the current startup angular velocity and the preset startup angular velocity, the anti-pinch revision value is determined based on the current equivalent mass coefficient and the preset adjustment coefficient, and the preset count threshold is obtained based on the difference between the calibrated count value and the anti-pinch revision value.

6. The anti-pinch control method according to any one of claims 1 to 4, characterized in that: Determining a time reference value corresponding to each sliding window according to all times in a periodic time array corresponding to each sliding window includes: Determine the average value corresponding to each sliding window according to all the time in the periodic time array corresponding to each sliding window, and use the average value corresponding to each sliding window as the time reference value corresponding to each sliding window; or, The time accumulation value corresponding to each sliding window is determined according to all the time in the periodic time array corresponding to each sliding window, and the time accumulation value corresponding to each sliding window is used as the time reference value corresponding to each sliding window.

7. The anti-pinch control method according to any one of claims 1 to 4, characterized in that: The preset anti-pinch strategy includes at least one of controlling the current drive motor to retract and generating an anti-pinch fault alarm.

8. An anti-pinch control device, characterized in that: The anti-pinch control device comprises: An acquisition module, used for intercepting the time of edge interruption of the square wave signal of the current drive motor through a sliding window after the current drive motor of the anti-pinch device starts and enters a steady state, and obtaining a cycle time array corresponding to a plurality of continuous sliding windows; A time reference value determination module, used to determine the time reference value corresponding to each sliding window according to all the times in the periodic time array corresponding to each sliding window; An instantaneous force level determination module is used to determine a reference difference value based on a time reference value corresponding to a target sliding window and a time reference value corresponding to a previous sliding window within a current anti-pinch detection cycle, and determine the instantaneous force level of the target sliding window based on the reference difference value, wherein the previous sliding window is a sliding window with a preset number of intervals before the target sliding window; A count increase value determination module, configured to obtain a count increase value of the target sliding window based on the instantaneous force level matching, wherein each instantaneous force level is pre-configured with a preset count increase value; a current cumulative value determination module, configured to accumulate the count increment value of the current target sliding window and the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window, wherein the previous target sliding window is a target sliding window before the current target sliding window, and if the current target sliding window is the first target sliding window, the historical cumulative value of the previous target sliding window is a preset initial increment value; The anti-pinch control module is used to control the anti-pinch device to execute a preset anti-pinch strategy if the current cumulative value of the current target sliding window is greater than a preset counting threshold.

9. A vehicle, characterized in that: The vehicle anti-pinch device includes the anti-pinch control device as claimed in claim 8.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

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