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

Abstract

Embodiments of the present application relate to the technical field of vehicles, and propose a pinching prevention control method and device, a vehicle and an electronic device. The method intercepts the off time of the square wave signal edge after the current driving motor starts to enter a steady state through a sliding window, obtains a period time array corresponding to multiple continuous sliding windows, determines a time reference value corresponding to each sliding window based on the time in the period time array, takes the difference between the time reference values of two target sliding windows in the current pinching detection period as a reference difference, and then determines an instantaneous force level and obtains a corresponding count increase value. The count increase value of the current target sliding window is added 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 a preset threshold, the pinching prevention device is controlled to execute a preset pinching prevention strategy. The pinching detection is more sensitive, and the object or person being pinched can be effectively prevented from being injured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and particularly relates to a clamping prevention control method and device, a vehicle and an electronic device. BACKGROUND

[0002] With the development of vehicle technology, more and more vehicles add a clamping prevention detection strategy in the control process. Electric seats provide a variety of adjustment functions, such as forward and backward adjustment, up and down adjustment, and backrest angle adjustment, etc. However, there is a risk of injuring passengers during the adjustment process.

[0003] However, in the clamping prevention system of the vehicle seat in the related art, the clamping prevention is achieved by identifying the motor current size and setting a limit value. The clamping prevention is determined based on the motor current. Whether the clamping force reaches the threshold value and how long it lasts are determined. The device for continuous detection is used to determine whether the clamped object or person is injured. The clamping force is already relatively large, which may cause the clamped object or person to be injured.

[0004] In addition, the electric seat may be subjected to various internal and external disturbances during movement. The vibration during vehicle driving, the difference in passenger weight, etc. will have a great impact on the motor current. These will affect the accuracy of the clamping prevention control. SUMMARY

[0005] The embodiments of the present application provide a vehicle control method and device, a vehicle and an electronic device to solve the technical problems that the clamping prevention in the related art is not sensitive enough by identifying the motor current size and setting a limit, which may cause the clamped object or person to be injured, and the accuracy of the clamping prevention control is poor due to the influence caused by the disturbance.

[0006] The embodiment of the present application provides a pinch prevention control method, which comprises the following steps: after a current driving motor of a pinch prevention device starts to enter a steady state, time of square wave signal edge interruption of the current driving motor is intercepted through a sliding window to obtain a period time array corresponding to a plurality of continuous sliding windows; a time reference value corresponding to each sliding window is determined according to all the time in the period time array corresponding to each sliding window; in a current pinch prevention detection period, a reference difference value 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 of the target sliding window, the previous sliding window is a preset interval number of sliding windows before the target sliding window; a count increase value of the target sliding window is obtained based on a momentary force level matching of the target sliding window, wherein each momentary force level is preconfigured with a preset count increase value; a count increase value of the current target sliding window and a historical cumulative value of a previous target sliding window are accumulated to obtain a current cumulative value of the current target sliding window, the previous target sliding window is one 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, a preset pinch prevention strategy is controlled to be executed on the pinch prevention device.

[0007] In an embodiment of the present application, after the momentary force level of the target sliding window is determined based on the reference difference value, the method further comprises: if the momentary force levels of a preset window number of continuous target sliding windows are all less than or equal to a preset threshold force level, a next target sliding window is determined as a first target sliding window of a new current pinch prevention detection period.

[0008] In an embodiment of the present application, before the momentary force level of the target sliding window is determined based on the reference difference value, the method comprises: if the reference difference value is less than or equal to 0, a next target sliding window is determined as a first target sliding window of a new current pinch prevention detection period, and a step of determining a reference difference value 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 value is greater than 0, a step of determining the momentary force level of the target sliding window based on the reference difference value is triggered.

[0009] In an embodiment of the present application, before the count increase value of the current target sliding window is added to the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the current target sliding window, the method comprises: if the current target sliding window is the last target sliding window of the current anti-pinch detection period, and the current cumulative value of the current target sliding window is less than or equal to the preset count threshold, determining the next target sliding window as the first target sliding window of a new current anti-pinch detection period.

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

[0011] In an embodiment of the present application, the time reference value corresponding to each sliding window is determined according to all the times in the period time array corresponding to each sliding window, comprising: determining an average value corresponding to each sliding window according to all the times in the period time array corresponding to each sliding window, and taking the average value corresponding to each sliding window as the time reference value corresponding to each sliding window; or determining a time cumulative value corresponding to each sliding window according to all the times in the period time array corresponding to each sliding window, and taking the time cumulative value corresponding to each sliding window as the time reference value corresponding to each sliding window.

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

[0013] The embodiment of the present application further provides a pinching prevention control device, which comprises: an acquisition module, configured to obtain a plurality of continuous sliding window corresponding period time arrays by intercepting the time of square wave signal edge break of a current driving motor of a pinching prevention device after the current driving motor starts to enter a steady state through a sliding window; a time reference value determination module, configured to determine a time reference value corresponding to each sliding window according to all the times in the period time array corresponding to each sliding window; an instantaneous force level determination module, configured to determine a reference difference value based on the time reference value corresponding to a target sliding window and the time reference value corresponding to a previous sliding window in a current pinching prevention detection period, and determine an instantaneous force level of the target sliding window based on the reference difference value, wherein the previous sliding window is a preset interval number of sliding windows 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 matching of the instantaneous force level, wherein each instantaneous force level is preconfigured with a preset count increase value; a current cumulative value determination module, configured to add the count increase value of the current target sliding window and a historical cumulative value of a previous target sliding window to obtain a current cumulative value of the current target sliding window, wherein the previous target sliding window is one target sliding window before the current target sliding window, and the historical cumulative value of the previous target sliding window is a preset initial increase value if the current target sliding window is the first target sliding window; and a pinching prevention control module, configured to control the pinching prevention device to execute a preset pinching prevention strategy if the current cumulative value of the current target sliding window is greater than a preset count threshold value.

[0014] The embodiment of the present application further provides a vehicle, which comprises a vehicle pinching prevention device and the pinching prevention control device according to any one of the above embodiments.

[0015] The embodiment of the present application further provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to any one of the above embodiments when executing the computer program.

[0016] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the method according to any one of the above embodiments.

[0017] In the scheme implemented by the anti-pinch control method, the device, the vehicle and the electronic device provided above, the anti-pinch control method intercepts the time of the square wave signal edge break of the current driving motor starting into a steady state through a sliding window, obtains a period time array corresponding to a plurality of continuous sliding windows, and then determines a time reference value corresponding to each sliding window through the time in the period time array. A difference between the time reference values of the front and rear target sliding windows in the current anti-pinch detection period is taken as a reference difference value, and then the instantaneous force level is determined through the reference difference value, and a count increase value corresponding to the instantaneous force level is obtained. The count increase value of the current target sliding window is accumulated with a historical cumulative value of the previous target sliding window to obtain a current cumulative value of the current target sliding window. If the current cumulative value is greater than a preset count threshold value, the anti-pinch device is controlled to execute a preset anti-pinch strategy. A more sensitive anti-pinch detection method is provided, and the anti-pinch is determined in a shorter stroke, so that the object or person being pinched can be effectively prevented from being injured. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 An application scenario of the anti-pinch control method provided by the embodiments of the present application is shown in the figure.

[0020] Figure 2 A flowchart of the anti-pinch control method provided by the embodiments of the present application is shown in the figure.

[0021] Figure 3 A schematic diagram of the square wave signal of the current driving motor provided by the embodiments of the present application is shown in the figure.

[0022] Figure 4 A flowchart of a self-learning method of the preset count threshold value provided by the embodiments of the present application is shown in the figure.

[0023] Figure 5 A specific flowchart of the anti-pinch control method provided by the embodiments of the present application is shown in the figure.

[0024] Figure 6 Another specific flowchart of the anti-pinch control method provided by the embodiments of the present application is shown in the figure.

[0025] Figure 7 A structural diagram of the anti-pinch control device provided by the embodiments of the present application is shown in the figure.

[0026] Figure 8This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Please see Figure 1 , Figure 1 A schematic diagram of an application scenario for the anti-pinch control method provided in this application embodiment is shown below. Figure 1 As shown, this anti-pinch control method can be applied to anti-pinch devices such as seats. 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 installed on vehicles, ships, aircraft, or other carriers, or it can be a separate seat fixed in a specific space. The drive motor can be a motor that moves components such as the seat cushion, backrest, and armrests, driving any of these components to move or rotate in the horizontal, vertical, or other directions. This is only an example and not a limitation. The parameter acquisition device can be a motor speed detection device that is specifically related to the number of pole pairs, such as a Hall signal or current ripple detection device for position detection of the drive motor. Accurate timers such as the Hall signal interval and ripple period are detected by an MCU (controller). The anti-pinch controller is electrically or communicatively connected to both the parameter acquisition device and the drive motor. The anti-pinch controller, for example, is a control chip. It can obtain data fed back from the parameter acquisition device and can also control the operation of the drive motor, for example, by reducing the current output to the drive motor to decrease its rotation speed or control its retraction.

[0029] As an example, the anti-pinch controller memory stores a computer program that controls the anti-pinch controller processor to operate according to the anti-pinch control method provided in any of the following embodiments. Those skilled in the art can design the computer program based on the embodiments of this disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

[0030] Please see Figure 2 As shown, Figure 2 A flowchart illustrating the anti-pinch control method provided in this application embodiment, the method comprising the following steps:

[0031] Step S210: After the current drive motor of the anti-pinch device starts and enters a steady state, the time of the interruption of the square wave signal edge of the current drive motor is captured by the sliding window to obtain a period time array corresponding to multiple consecutive sliding windows.

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

[0033] Anti-pinch devices can be components such as vehicle seats, windows, and tailgates, or other anti-pinch devices driven by motors.

[0034] An anti-pinch device may have one or more drive motors. Generally speaking, when an anti-pinch device has multiple drive motors, one drive motor is usually in operation during each movement, and the operating drive motor is used as the current drive motor.

[0035] After the current drive motor starts and enters a steady state, the square wave signal acquired by parameter acquisition devices such as Hall sensors becomes regular. As an example, the acquisition method of the periodic time array can be referenced. Figure 3 , Figure 3 A schematic diagram of the square wave signal of the current drive motor provided in the embodiments of this application is shown below. Figure 3 As shown, the times T0, T1, T2... where there is an edge interruption of the square wave signal are only three times used as examples here. Subsequent time values ​​can be taken sequentially according to this example. The more square waves generated per revolution of the motor, the more sensitive the algorithm becomes. For the ripple algorithm, the more pole pairs the motor has, the more periodic square wave information it generates. For Hall sensors, arranging 2, 4, or 8 pairs of Hall sensors can all make the algorithm more sensitive. For example, using a minimum of 1 pair of Hall sensors / 1 pair of motors, that is, the motor generates 2 square wave signals per revolution, and the acceleration calculation uses the square wave of one revolution. After the drive motor starts and enters steady state, an external interrupt, such as... Figure 3 The time T for capturing the edge interruption of the square wave signal is used to form a periodic time array Tarr{}, taking an array length of 4 as an example. For the case of N Hall sensors, the array can be 4N in length. Taking a sliding window length of N as an example, an example of the periodic time array corresponding to multiple consecutive sliding windows can be... { , , ... , }、 { , , ... , }、 { , ,… }、 { , ,… }… { , ,… }.

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

[0037] In an embodiment, the step of determining a time reference value corresponding to each sliding window according to all the times in the time array corresponding to each sliding window comprises: determining an average value corresponding to each sliding window according to all the times in the time array corresponding to each sliding window, and taking the average value corresponding to each sliding window as the time reference value corresponding to each sliding window; or, determining a time cumulative value corresponding to each sliding window according to all the times in the time array corresponding to each sliding window, and taking the time cumulative 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 cumulative value). When it is an average value, the size of the sliding window does not need to be consistent. When it is a time cumulative value, the size of the sliding window can be required to be consistent for subsequent calculation. Of course, sliding windows of different sizes can also be realized by adjusting the pre-designed threshold value, which will not be described here.

[0039] Step S230, 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 in the current anti-pinch detection period, and determining the instantaneous force level of the target sliding window based on the reference difference value.

[0040] The previous sliding window is a preset interval number of sliding windows before the target sliding window. The preset interval number can be determined according to the detected period, which can be set by a person skilled in the art as needed, and is not limited here.

[0041] The anti-pinch detection period is rolling, and after the end of the previous period, the next sliding window is taken as the first sliding window of the new anti-pinch detection period. For the same type of anti-pinch device, different reference difference corresponding instant force levels can be pre-configured, and the corresponding instant force level can be found by looking up the table. The membership function can also be created in advance according to factors such as seat structure and material, and then calibrated, and then solved by the membership function to obtain the corresponding instant force level. Of course, it can also be realized by other ways known to those skilled in the art.

[0042] The instant force level can be pre-set by those skilled in the art.

[0043] In an embodiment, after determining the instant force level of the target sliding window based on the reference difference, the method further comprises: if the instant force levels of the preset window number of continuous target sliding windows 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 period. This can be understood as a filtering way for abnormal bumping and the like. If the instant force levels obtained for several times are all small, less than the preset threshold force level, it means that the fluctuation is not large, and the anti-pinch detection does not need to be performed at this time, and the process can be ended, and the anti-pinch detection of the new sliding window is started.

[0044] In an embodiment, before determining the instant force level of the target sliding window based on the reference difference, the method comprises: 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 period, 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 instant force level of the target sliding window based on the reference difference. This can be understood as another filtering way for abnormal bumping and the like. If the subsequent time is shorter than the previous time, it means that the foreign matter has been moved or the previous value fluctuates, and can be ignored.

[0045] In step S240, the count increase value of the target sliding window is matched based on the instant force level.

[0046] Each instant force level is pre-configured with a preset count increase value. The count increase values corresponding to different instant force levels can be pre-calibrated to represent the softness and hardness of the foreign matter. A mapping relationship between the instant force level and the corresponding count increase value can be established in advance, and the corresponding count increase value is matched.

[0047] Step S250, the count increase value of the current target sliding window is added to the historical accumulated value of the previous target sliding window to obtain the current accumulated value of the current target sliding window.

[0048] The previous target sliding window is one 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 an embodiment, before the count increase value of the current target sliding window is added to the historical accumulated value of the previous target sliding window to obtain the current accumulated value of the current target sliding window, the method comprises: if the current target sliding window is the last target sliding window of the current anti-pinch detection period, and the current accumulated value of the current target sliding window is less than or equal to a preset threshold value, the next target sliding window is determined as the first target sliding window of a new anti-pinch detection period.

[0050] As an example, the determination of the current accumulated value can be realized by a counter. The first target sliding window adopts a preset initial increase value, and then the next target sliding window obtains a legal count increase value, which is added in and the value of the current counter is updated as the historical accumulated value, and then the addition is performed again until the end of the current anti-pinch detection period. Taking 4 target sliding windows as one anti-pinch detection period, the historical accumulated value of the first target sliding window is a preset initial increase value, which is assumed to be 8. Then the count increase value of the second target sliding window is 1, and the historical accumulated value of the second target sliding window is 9 at this time. The count increase value of the third target sliding window is 5, and the historical accumulated value of the third target sliding window is 14 at this time. Assuming that the preset threshold value is 14, the preset anti-pinch strategy is started. Assuming that the preset threshold value is 28, the count increase value of the fourth target sliding window is determined to be 10, and the current accumulated value of the fourth target sliding window is 24 at this time. The current accumulated value obtained at this time is less than the preset threshold value, and the preset anti-pinch strategy is not started. Then the next anti-pinch detection period is started.

[0051] Step S260, if the current accumulated value of the current target sliding window is greater than the preset threshold value, the anti-pinch device is controlled to execute the preset anti-pinch strategy.

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

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

[0054] The electric seat can be interfered by various internal and external interference during movement. The vibration during vehicle driving, the difference in passenger weight and the like can greatly affect the motor current, which can affect the accuracy of the anti-pinch control. To avoid the influence of the difference in passenger weight on the accuracy of the anti-pinch control, the anti-pinch control method provided in the embodiments of the application further performs load detection through motor acceleration during the starting of the current driving motor, and automatically corrects the anti-pinch parameter (pre-designed threshold value) in use.

[0055] In an embodiment, before the current driving motor of the anti-pinch device starts to enter a steady state, the method comprises: obtaining a current starting angular velocity of the current driving motor in a starting stage of the current driving motor of the anti-pinch device; if the current starting angular velocity is greater than or equal to a preset starting angular velocity, determining a calibrated count value calibrated in advance as the pre-designed threshold value; if the current starting angular velocity is less than the preset starting angular velocity, determining a current equivalent mass coefficient according to the current starting angular velocity and the preset starting angular velocity, determining an anti-pinch revision value based on the current equivalent mass coefficient and a preset adjustment coefficient, and obtaining the pre-designed threshold value based on a difference between the calibrated count value and the anti-pinch revision value. The preset adjustment coefficient can be calibrated based on tests by seat and motor parameters.

[0056] As an example, in the seat factory stage, a pre-calibration operation can be performed. After the motor starts, in the driving motor no-load starting stage, the PWM wave of the direct current motor is controlled to be 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, which is only an example. The output time is t0, and t0=400ms in this 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] Wherein, a0 is the initial angular acceleration of the motor, ω0 is the preset starting angular velocity, and t0 is the output time.

[0059] The calibrated count value is calibrated in the factory stage. When the anti-pinch device includes multiple driving motors, the corresponding calibrated count value of each driving motor can be calibrated. Taking the seat as an example, in the calibration stage, the seat is in a no-load state, i.e., no load is carried, and then the calibration of the calibrated count value is performed. In the seat no-load starting stage, the PWM wave is controlled to be a fixed duty cycle, and the seat motor speed is dragged to ω0 in a fixed time t as an initial value, so as to calibrate the calibrated count value XX of the seat anti-pinch parameter.

[0060] In the use stage, please refer to Figure 4 , Figure 4A flowchart illustrating a self-learning method for a preset counting threshold provided in an embodiment of this application is shown below. Figure 4 As shown, this process can be executed through the self-learning module of the acceleration phase. As an example, a pre-calibration operation can be performed during the seat manufacturing phase. After the motor starts, 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. This is just an example. The control output time is t0. During this process, it is continuously judged 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 controlled to be 60% for 400ms during the start-up phase. The start-up angular velocity ωn (current start-up 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] Where an is the current angular acceleration of the motor, ωn is the current starting angular velocity, and t0 is the output time.

[0063] The traction force applied to the seat can be considered constant over a short period. The equivalent mass coefficient D of the seat load can be estimated using Newton's second law. One method for determining the equivalent mass coefficient D is as follows:

[0064] D =ωn / ω0 formula (3),

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

[0066] According to Newton's second law (Fnet=m*a), the acceleration a of different masses m under the same external force Fnet varies 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 coefficient, and D is the equivalent mass coefficient. As an example, the Q value is derived from test results based on the seat and motor parameters.

[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 indicates that there is a larger load acting on the seat system, and the acceleration changes less under the same external force. Update the pre-design threshold of the current stroke. An example of the update method of the pre-design threshold (calculated to obtain the current anti-pinch threshold) is as follows:

[0071] XXn = XX - Y (D < 1) Equation (5),

[0072] where XXn is the updated pre-design threshold, XX is the calibration count value, Y is the anti-pinch correction value, and D is the equivalent mass coefficient.

[0073] If the pre-design threshold is updated, the latest pre-design threshold will be used for the current anti-pinch detection.

[0074] The following takes the anti-pinch device as an example to illustrate the principles of the anti-pinch control method provided in this embodiment. Taking the driving motor used in the seat as a DC motor, for a DC motor, the input power is the product of the input current I and the voltage U, that is:

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

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

[0077] The power requirement 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 speed ω (speed), and the torque can also be calculated by the current I and the magnetic flux K of the motor. For a DC motor, an example of determining the output power is as follows:

[0078] Pt = Tt x ω = K * I * ω Equation (7),

[0079] where Pt is the output power, Tt is the torque, ω is the angular speed, 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 higher because the loss is relatively small. Under heavy load conditions, the copper loss (I²R loss) and iron loss (hysteresis and eddy current loss) of the motor will increase due to the increase in current, resulting in a decrease in efficiency. Under heavy load or high current conditions, the copper loss is relatively large. Under high frequency conditions, the eddy current loss may be more significant. The seat motor operates in a low frequency range, and the eddy current loss can be ignored. The main loss is the copper loss of the motor.

[0081] The determination method of the effective power is as follows:

[0082] Pt = P - Pcopper loss Equation (8),

[0083] Wherein, Pt is output power, P is input power, Pcopper loss is copper loss power of the motor.

[0084] That is, it can be deduced that:

[0085] U-I* R=K*ω formula (9),

[0086] Wherein, 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 the current I increases under the condition that the voltage U is unchanged. The angular velocity ω decreases.

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

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

[0090] Wherein, 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 the transient state, the anti-pinch force is the net external force of the motor in the equilibrium state. Therefore, the instantaneous value of the net external force can be confirmed by the change of the acceleration.

[0092] At the same time, during the motor starting stage, the motor can be dragged by the given time driving voltage, and according to the acceleration of the motor, the size of the load on the gravity component can be roughly determined. Further, each anti-pinch is corrected.

[0093] The anti-pinch control method provided by the embodiment of the application increases T when the motor is subjected to the resistance of the obstacle according to the period T (ω=2*π / T) of the square wave period signal of each rotation of the motor. The speed is inversely proportional to the period, so the acceleration can be reflected by the period difference.

[0094] Taking the average value corresponding to each sliding window as the time reference value, the period acceleration is calculated by time weighting of the continuous N square wave periods. A plurality of continuous sliding period windows are established, and the time reference value corresponding to each sliding window is obtained:

[0095] = ( + +…+ ) / N;

[0096] = + +… ) / N;

[0097] =( + +…+ ) / N;

[0098] =( + +…+ ) / N;

[0099] …

[0100] =( + +…+ ) / N;

[0101] wherein, 、 、 、 … is a time reference value corresponding to a continuous sliding window, 、 、 、 、 … 、 、 、 … is a time of a collected continuous multiple current driving motor square wave signal edge interrupt.

[0102] Using multiple square wave periods for acceleration operation can eliminate the influence of periodic fluctuations. At this time, the determination method of the reference difference value is as follows:

[0103] = ( – );

[0104] = ( – );

[0105] = ( – );

[0106] = ( – );

[0107] …

[0108] wherein, 、 、 、 is a reference difference value corresponding to a continuous sliding window, 、 、 、 … 、 、 、 is a time reference value corresponding to a continuous sliding window.

[0109] The average value (reference difference value) can directly reflect the magnitude of the instantaneous external force. The hardness of the clamped object is strongly related to 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 instantaneously, and the smaller the average value of aT (reference difference value). According to the size of the average value of aT, a membership function Fun(aT) is established, which is an example. The membership function needs to be modeled by laboratory data between the seat and the material, and the instantaneous force is classified into several intervals to reflect the classification of the external force. This classification is used to distinguish the hardness of the clamped object, and different levels give different counting values (counting increase values) of the anti-pinch force counter TT. This method can accurately determine the anti-pinch force of objects with different hardnesses and improve the accuracy of anti-pinch.

[0110] wherein, the membership function can be modeled by a person skilled in the art according to different seat structures, materials, etc. The membership function can be a piecewise function to divide different reference difference values into several instantaneous force levels.

[0111] The instantaneous force level is divided into A~F, and the classification with the lowest hardness is A, and the classification with the highest hardness is F.

[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. Wherein TT is the calibration count value, 0, 1… is the count increase value corresponding to different instantaneous force levels. If the current cumulative value TTn of the current target sliding window is greater than the pre-designed threshold value XXn, an anti-pinch fault is reported, and the motor is controlled to retreat to release the anti-pinch.

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

[0114] The following exemplary describes the principle of self-learning of the pre-design count threshold. According to Newton's second law, the size of the load is reflected to the gravity component, which affects the change of angular acceleration. When the load becomes larger, the unified external force, the acceleration will become smaller. Therefore, the calibration count value should also be revised by a certain anti-pinch revision value Y. In the empty seat starting stage, the control PWM wave is a fixed duty ratio, and the seat motor speed is dragged to ω0 in a fixed time t as an initial value, so as to calibrate the seat anti-pinch parameter XX (calibration count value). In each subsequent start, the control PWM wave is a fixed duty ratio, and the seat motor speed is dragged to ωx in a fixed time t. ωx is compared with the initial value ω0 to determine the anti-pinch revision value Y. The size of the seat load in this driving process is estimated, and the seat anti-pinch parameter is corrected to XXn = XX - Y. Through this method, the anti-pinch parameter can be determined sensitively when the seat is occupied by different people and has different loads, and the passenger or occupant can be prevented from being injured by false determination or pinching.

[0115] The anti-pinch control method provided by the above embodiment intercepts the off time of the square wave signal edge in the current driving motor starting into a steady state through a sliding window, obtains a period time array corresponding to a plurality of continuous sliding windows, and then determines a time reference value corresponding to each sliding window through the time in the period time array. The reference difference between the time reference values of the front and rear two target sliding windows in the current anti-pinch detection period is taken as a reference difference, and then the instantaneous force level is determined through the reference difference, and the count increase value corresponding thereto is obtained. The count increase value of the current target sliding window is added 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 pre-design count threshold, the anti-pinch device is controlled to execute the pre-set anti-pinch strategy, which provides a more sensitive anti-pinch detection method. The anti-pinch is determined in a shorter stroke, which can effectively prevent the injured object or person from being injured. The method has high reliability and anti-interference performance.

[0116] The more square waves generated by the motor per revolution, the more sensitive the control by the anti-pinch control method provided by the embodiment. For the ripple algorithm, the more the number of pole pairs of the motor, the more the periodic square wave information generated. For the Hall sensor, arranging 2 pairs, 4 pairs, or 8 pairs of Hall sensors can make the algorithm more sensitive. The present example adopts a minimum 1 pair of Hall sensors / 1 pair of level motors, that is, the motor generates 2 square wave signals per revolution, and the operation adopts 1 revolution of square wave for acceleration calculation.

[0117] Please refer to Figure 5 , Figure 5 A specific flowchart of the anti-pinch control method provided by the embodiment of the present application is shown in Figure 5As shown, the method can be executed by an acceleration anti-pinch module. After the driving motor is started to enter a steady state in an anti-pinch area, an external interruption is detected by an edge interruption of a Hall signal, such as Figure 3 The time T of capturing the edge interruption of the square wave signal is detected, and a period time array T{} is formed, and a sliding window is cyclically stored with a 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 can have a length of 4N. The value of the sliding window T{} array is updated, 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, the period acceleration (reference difference value) aT=Ta[3]-Ta[0] is calculated. According to the input value aT, it is first determined whether aT is less than 0, that is, whether the reference difference value is less than 0. If the reference difference value is less than or equal to 0, the previous step is returned, and the current process is ended. Otherwise, if the reference difference value is greater than 0, a membership function Fun(aT) is established, which needs to be modeled by laboratory data between the seat and the material. The fuzzy calculation obtains an instantaneous force level Gn, and the instantaneous force level ranges from A to F. An anti-pinch force counter TT is established. When G is in level A, the counter TT is increased by 0, and when it falls into level B, the anti-pinch counter TT is increased by 1. In this way, the counter TT is used to calculate the count sum of 2 circles, i.e., 4 times of aT level. For the case of N groups of Hall sensors, the count times can be 4N. For the counter TT (current cumulative value), the following control is performed. If aT is in level A (Gn is not greater than A, and ++m>=2) for two consecutive times, the value of the counter TT is cleared, which is used to clear the acceleration change caused by abnormal resistance (that is, the anti-pinch force counter TT is initialized as 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 constantly determined whether n is greater than or equal to 4 (2 circles). If it is greater than or equal to 4, it is determined whether the anti-pinch counter (current cumulative value) TT is greater than a pre-designed threshold XXn. In this example, the pre-designed threshold XX is taken as an example. If it is greater than the pre-designed threshold, it is determined that the anti-pinch fault is reported, and the motor is controlled to retreat to release the anti-pinch. If it is not greater than the pre-designed threshold, the anti-pinch is not performed. If n is less than 4, the step of determining whether Gn is greater than A is returned. Wherein n is the number of times that Gn is not greater than A, and ++n is the number of times that Gn is not greater than A for two consecutive times.

[0118] Please refer to Figure 6 , Figure 6 Another specific flowchart of the anti-pinch control method provided by the embodiment of the application is as follows Figure 6As shown, an example of the overall control flow is as follows: after initialization, read factory calibration parameters (preset initial increase value, instantaneous force level, count increase value corresponding to the instantaneous force level, calibration count value, preset adjustment coefficient, etc.), then determine whether the motor has started running, if not, end the flow, if yes, start acceleration, and execute the acceleration phase self-learning module in this phase, then determine whether it is in the anti-pinch interval, if not, end the flow, if yes, determine whether anti-pinch is needed through the acceleration anti-pinch module, if not, wait for the motor to stop, and end the flow, if yes, control the motor to anti-pinch back, and then end the flow.

[0119] The anti-pinch control method provided by the above embodiment is more sensitive and can more quickly determine the anti-pinch strategy and determine anti-pinch in a shorter stroke to protect the passenger from injury. The instantaneous force level is determined by referring to the difference value, and the corresponding count increase value is matched, so that different instantaneous external forces can be determined according to different instantaneous external force intervals, and the determination failure of soft objects or very hard objects can be prevented. In addition, the method can also support continuous correction of the anti-pinch parameters (preset count threshold) after factory shipment to prevent misjudgment caused by the influence of different passengers or different seat loads on the motor anti-pinch parameters. The above method differs from the related art in that the anti-pinch is achieved by motor movement acceleration instead of current detection.

[0120] In an embodiment, an anti-pinch control device is provided for executing the steps in the anti-pinch control method provided by any of the above embodiments. Please refer to Figure 7 , Figure 7 A structural diagram of the anti-pinch control device provided by the embodiment of the present application is as follows: Figure 7As shown, the anti-pinch control device 700 (which can be implemented in an anti-pinch controller) includes an acquisition module 701 configured to, after a current driving motor of the anti-pinch device starts to enter a steady state, obtain a plurality of continuous sliding window corresponding period time arrays by intercepting time of square wave signal edge interruption of the current driving motor through a sliding window.

[0121] In an embodiment, the device further includes a Hall signal / current ripple detection and other motor speed detection devices that are explicitly related to the number of pole pairs for position detection of the driving motor. The Hall signal interval, ripple period, and other accurate timers are detected by the MCU.

[0122] In an embodiment, the device further includes an anti-pinch detection period updating module configured to, after determining the instantaneous force level of the target sliding window based on the reference difference value and the time reference value of the previous sliding window, if the instantaneous force levels of the preset number of continuous target sliding windows are all less than or equal to the preset threshold force level, determine the next target sliding window as the first target sliding window of a new current anti-pinch detection period.

[0123] In an embodiment, the anti-pinch detection period updating module is further configured to, before adding 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 target sliding window is the last target sliding window of the current anti-pinch detection period and the current cumulative value of the current target sliding window is less than or equal to the preset count threshold, determine the next target sliding window as the first target sliding window of a new current anti-pinch detection period.

[0124] In an embodiment, the device further comprises a pinch detection judgment module, configured to, before determining the instantaneous force level of the target sliding window based on the reference difference, if the reference difference is less than or equal to 0, determine the next target sliding window as the first target sliding window of a new current pinch detection period, 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 an embodiment, the device further comprises an acceleration phase self-learning module, configured to, before the current drive motor of the pinch device starts to enter a steady state, acquire a current startup angular velocity of the current drive motor during a startup phase of the current drive motor of the pinch device; if the current startup angular velocity is greater than or equal to a preset startup angular velocity, determine a preset calibration count value as a preset calibration threshold; if the current startup angular velocity is less than the preset startup angular velocity, determine a current equivalent mass coefficient according to the current startup angular velocity and the preset startup angular velocity, determine a pinch revision value based on the current equivalent mass coefficient and a preset adjustment coefficient, and obtain the preset calibration threshold based on a difference between the calibration count value and the pinch revision value.

[0126] In an embodiment, the time reference value determination module is configured to: determine an average value corresponding to each sliding window according to all the times in the period time array corresponding to each sliding window, and take the average value corresponding to each sliding window as the time reference value corresponding to each sliding window; or determine a time cumulative value corresponding to each sliding window according to all the times in the period time array corresponding to each sliding window, and take the time cumulative value corresponding to each sliding window as the time reference value corresponding to each sliding window.

[0127] The specific limitations of the pinch control device can be referred to the limitations of the pinch control method in the above, which will not be repeated here. Each module in the above pinch control device can be realized by software, hardware and combinations thereof, in whole or in part. The above modules can be embedded in or independent of the processor in the electronic device in hardware form, or can be stored in the memory in the electronic device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0128] In the present embodiment, the pinch control device is essentially provided with a plurality of modules to execute the steps performed by the client in the pinch control method in any of the above embodiments. The specific functions and technical effects can be referred to the above embodiments, which will not be repeated here.

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

[0130] With reference to Figure 8 The embodiment of the present application further provides an electronic device 800, which comprises a processor 801, a memory 802 and a communication bus 803; the communication bus 803 is used for connecting the processor 801 and the memory 802; the processor 801 is used for executing a computer program stored in the memory 802, so as to realize the method provided by any of the above embodiments.

[0131] As an example, the electronic device can be a device such as a vehicle, a vehicle machine and the like.

[0132] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is used for making a computer execute the method provided by any of the above embodiments.

[0133] The embodiment of the present application further provides a non-volatile readable storage medium, which stores one or more programs, and the one or more programs can make a device execute instructions of the steps included in the embodiment one of the embodiment of the present application when the one or more programs are applied to the device.

[0134] The embodiment of the present application further provides a computer program product, which comprises a computer program, and the computer program can realize the steps and corresponding contents of the above method embodiments when the computer program is executed by a processor.

[0135] Note that the computer readable medium described above can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the foregoing. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus or device. In the disclosure, the computer readable signal medium can include a computer readable program code propagated on or through a computer readable medium, in baseband or as part of a carrier wave. The computer readable signal medium can be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0136] The computer readable medium described above can be included in the electronic device described above; alternatively, the computer readable medium can exist as a separate entity in which the electronic device is incorporated.

[0137] Computer program code for carrying out operations of the disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can 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 the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0138] The computer program product of the present disclosure can be implemented on one computer or multiple computers. The steps of the computer program product can be performed in any order. The computer program product of the present disclosure can be implemented on one computer or multiple computers. The steps of the computer program product can be performed in any order.

[0139] It should be understood that the terms "first", "second" and the like, if any, used herein are used to distinguish between similar objects and are not necessarily used to denote these objects in a particular sequence or order. The terms used herein are interchangeable under appropriate circumstances and the embodiments of the application described herein can operate in other sequences than described or illustrated herein.

[0140] It should be understood that, although the flowcharts provided by the embodiments of the present application indicate various steps by arrows, the order of the steps is not necessarily limited by the order of the arrows. Those skilled in the art can perform the steps in other orders according to the steps for different implementation scenarios as needed.

[0141] The above-described embodiments only illustrate the principles of the present application and its effects, and are not intended to limit the present application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed by the present application should be covered by the claims of the present application.

Claims

1. A method for preventing pinching, characterized in that, The anti-pinch control method includes: After the current drive motor of the anti-pinch device starts and enters a steady state, the time when the edge of the square wave signal of the current drive motor is interrupted is captured by the sliding window to obtain a period time array corresponding to multiple consecutive sliding windows. The time reference value for each sliding window is determined based on all the times in the period time array corresponding to each sliding window. Within the current anti-pinch detection cycle, a reference difference is determined based on the time reference value corresponding to the target sliding window and the time reference value corresponding to the previous sliding window, and the instantaneous force level of the target sliding window is determined based on the reference difference. The previous sliding window is a number of sliding windows at a preset interval before the target sliding window. The count increment value of the target sliding window is obtained based on the instantaneous force level matching, wherein each instantaneous force level is pre-configured with a preset count increment value; The current cumulative value of the target sliding window is added to the historical cumulative value of the previous target sliding window to obtain the current cumulative value of the target sliding window. The previous target sliding window is the 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 increment value. If the current cumulative value of the 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 as described in 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 the instantaneous force level of a preset number of consecutive target sliding windows is 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 as described in 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 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 is triggered. If the reference difference is greater than 0, the 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 as described in claim 1, characterized in that, Before adding the current target sliding window's count increment to 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, then 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 1-4, characterized in that, Before the current drive motor of the anti-pinch device starts and enters a steady state, the method includes: During the current drive motor startup phase of the anti-pinch device, the current startup angular velocity of the current drive motor is obtained; If the current starting angular velocity is greater than or equal to the preset starting angular velocity, the pre-calibrated calibration count value will be determined as the preset count threshold. If the current starting angular velocity is less than the preset starting angular velocity, the current equivalent mass coefficient is determined based on 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 count threshold is obtained based on the difference between the calibration count value and the anti-pinch revision value.

6. The anti-pinch control method according to any one of claims 1-4, characterized in that, The time reference value for each sliding window is determined based on all the times in the periodic time array corresponding to each sliding window, including: The average value corresponding to each sliding window is determined based on all the times in the period time array corresponding to each sliding window, and the average value corresponding to each sliding window is used as the time reference value corresponding to each sliding window. or, The cumulative time value for each sliding window is determined based on all the times in the periodic time array corresponding to each sliding window, and the cumulative time value for each sliding window is used as the time reference value for each sliding window.

7. The anti-pinch control method according to any one of claims 1-4, 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 includes: The acquisition module is used to obtain a period time array corresponding to multiple consecutive sliding windows by capturing the time when the edge of the square wave signal of the current drive motor of the anti-pinch device is interrupted through a sliding window after the current drive motor starts and enters a steady state. The time reference value determination module is used to determine the time reference value corresponding to each sliding window based on all the times in the periodic time array corresponding to each sliding window. The instantaneous force level determination module is used to determine a reference difference 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 to determine the instantaneous force level of the target sliding window based on the reference difference. The previous sliding window is a number of sliding windows with a preset interval before the target sliding window. The count increment value determination module is used to obtain the count increment 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 increment value; The current cumulative value determination module is used to add the current target sliding window's count increment value to the previous target sliding window's historical cumulative value to obtain the current cumulative value of the current target sliding window. The previous target sliding window is the 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 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 includes a vehicle anti-pinch device and an anti-pinch control device as described 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, it implements the method as described in any one of claims 1 to 7.

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