Motor anti-pinch control method and device, automobile tail door and automobile

Abstract

The invention discloses a motor anti-pinch control method and device, an automobile tail door and a vehicle. A Hall anti-pinch strategy is adopted to control a target motor to operate. Determining state information of a Hall anti-pinch strategy based on the Hall signal of the target motor; wherein the state of the Hall anti-pinch strategy comprises a normal state and an abnormal state; if the state of the Hall anti-pinch strategy is an abnormal state, adopting a ripple anti-pinch strategy to control the operation of the target motor; a Hall anti-pinch strategy and a ripple anti-pinch strategy are set at the same time, the Hall anti-pinch strategy is preferentially adopted to control a target motor to operate, Hall signals are collected in the operation process of the target motor, whether the Hall anti-pinch strategy is normal or not is judged based on the Hall signals, and if the Hall anti-pinch strategy is abnormal, the ripple anti-pinch strategy is switched to control the target motor to operate. A ripple wave anti-pinch strategy is used as a standby anti-pinch strategy of a Hall anti-pinch strategy, so that the reliability of the anti-pinch strategy is improved, and the safety and the riding experience feeling of a riding user are improved.

Description

Technical Field

[0001] The present application relates to the technical field of automobile tailgate motor anti-pinch control, and in particular to a motor anti-pinch control method, device, automobile tailgate and vehicle. Background Art

[0002] With the continuous development and progress of automotive electronic technology and the continuous improvement of human living standards, modern cars pay more attention to the comfort and safety of vehicles in order to meet human needs for safety and convenience. Functions such as electric tailgates and electric windows are becoming more and more popular with users for their simple and convenient operation. Users can open and close the tailgate or window of the car by simply pressing a button or remote control. Of course, for users, safety requirements are also their most concerned point, and the anti-pinch function is the most important content of the safety evaluation of electric tailgates and electric windows.

[0003] The existing anti-pinch function is mostly achieved by using a motor drive and an independent controller or a domain controller to control the motor. However, in actual applications, the controller may lose its anti-pinch function or fail due to loss of state, thus affecting the personal safety and riding experience of passengers. Therefore, a solution that can ensure the anti-pinch performance of the motor is urgently needed. Summary of the invention

[0004] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a motor anti-pinch control method, device, automobile tailgate and vehicle.

[0005] According to one aspect of the present application, a motor anti-pinch control method is provided, including: using a Hall anti-pinch strategy to control the operation of a target motor; determining the state information of the Hall anti-pinch strategy based on the Hall signal of the target motor; wherein the state of the Hall anti-pinch strategy includes a normal state and an abnormal state; if the state of the Hall anti-pinch strategy is an abnormal state, using a ripple anti-pinch strategy to control the operation of the target motor.

[0006] In one embodiment, after the ripple anti-pinch strategy is adopted to control the operation of the target motor, the motor anti-pinch control method further includes: determining the status information of the ripple anti-pinch strategy based on the ripple signal of the target motor; wherein the status of the ripple anti-pinch strategy includes a normal state and an abnormal state; if the status of the ripple anti-pinch strategy is an abnormal state, calibration learning is performed on the Hall anti-pinch strategy and the ripple anti-pinch strategy; after the calibration learning is completed, the Hall anti-pinch strategy is adopted to control the operation of the target motor.

[0007] In one embodiment, the motor anti-pinch control method also includes: if the state of the ripple anti-pinch strategy is a normal state, obtaining the motion waveform of the target motor; wherein the motion waveform is the current waveform output when the target motor is running; calculating the difference ratio between the motion waveform and the preset waveform; if the difference ratio is greater than the preset ratio, performing calibration learning on the Hall anti-pinch strategy; after the calibration learning is completed, using the Hall anti-pinch strategy to control the operation of the target motor.

[0008] In one embodiment, obtaining the motion waveform of the target motor includes: obtaining the current waveform of the target motor; determining the motion time period of the target motor based on multiple operating states within a continuous time range of the target motor; and intercepting the current waveform corresponding to the motion time period to obtain the motion waveform.

[0009] In one embodiment, the calculation of the difference ratio between the motion waveform and the preset waveform includes: calculating the difference value between the average current of the motion waveform and the average current of the preset waveform; calculating the ratio between the difference value and the average current of the preset waveform to obtain the difference ratio.

[0010] In one embodiment, the use of the Hall anti-pinch strategy to control the operation of the target motor includes: collecting the Hall signal of the target motor; wherein the Hall signal includes the number of Hall voltage changes of the target motor; and generating a speed control instruction for the target motor based on the Hall signal of the target motor.

[0011] In one embodiment, the use of a ripple anti-pinch strategy to control the operation of the target motor includes: collecting a ripple waveform of the target motor; and generating a speed control instruction of the target motor based on the ripple waveform of the target motor.

[0012] According to another aspect of the present application, a motor anti-pinch control device is provided, including: a Hall anti-pinch control module, used to control the operation of a target motor using a Hall anti-pinch strategy; a Hall state determination module, used to determine the state information of the Hall anti-pinch strategy based on the Hall signal of the target motor; wherein the state of the Hall anti-pinch strategy includes a normal state and an abnormal state; and a ripple anti-pinch control module, used to control the operation of the target motor using a ripple anti-pinch strategy if the state of the Hall anti-pinch strategy is an abnormal state.

[0013] According to another aspect of the present application, a car tailgate is provided, comprising: the motor anti-pinch control device as described above.

[0014] According to another aspect of the present application, a car is provided, comprising: the car tailgate as described above.

[0015] The present application provides a motor anti-pinch control method, device, automobile tailgate and vehicle, which control the operation of a target motor by adopting a Hall anti-pinch strategy; determine the status information of the Hall anti-pinch strategy based on the Hall signal of the target motor; wherein the status of the Hall anti-pinch strategy includes a normal state and an abnormal state; if the status of the Hall anti-pinch strategy is an abnormal state, a ripple anti-pinch strategy is adopted to control the operation of the target motor; that is, the Hall anti-pinch strategy and the ripple anti-pinch strategy are set at the same time, and the Hall anti-pinch strategy is preferentially adopted to control the operation of the target motor, and the Hall signal is collected during the operation of the target motor and whether the Hall anti-pinch strategy is normal based on the Hall signal. If the Hall anti-pinch strategy is abnormal, switch to the ripple anti-pinch strategy to control the operation of the target motor, and use the ripple anti-pinch strategy as a backup anti-pinch strategy for the Hall anti-pinch strategy to improve the reliability of the anti-pinch strategy, thereby improving the safety and riding experience of passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 It is a flowchart of a motor anti-pinch control method provided by an exemplary embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of the system principle to which this application is applicable.

[0019] Figure 3 is a current waveform diagram of the output current of the target motor provided by an exemplary embodiment of the present application.

[0020] Figure 4 It is a preset waveform diagram of the output current of the target motor provided by an exemplary embodiment of the present application.

[0021] Figure 5 It is a waveform diagram showing the difference between a current waveform and a preset waveform provided by an exemplary embodiment of the present application.

[0022] Figure 6 It is a structural schematic diagram of a motor anti-pinch control device provided by an exemplary embodiment of the present application.

[0023] Figure 7 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0024] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0025] Figure 1 FIG. 1 is a flow chart of a motor anti-pinch control method provided by an exemplary embodiment of the present application. Figure 1 As shown, the motor anti-pinch control method includes the following steps:

[0026] Step 110: Use the Hall anti-pinch strategy to control the operation of the target motor.

[0027] In one embodiment, the specific implementation of step 110 may be: collecting the Hall signal of the target motor; wherein the Hall signal includes the number of changes in the Hall voltage of the target motor; and generating a speed control instruction of the target motor based on the Hall signal of the target motor. Figure 2 As shown, the Hall anti-pinch strategy is mainly implemented by the target motor, motor controller, MCU and Hall sensor, wherein the MCU can be an independent control unit or a functional module integrated in other controllers, for example, the MCU can be integrated in the motor controller, and the specific implementation method is: when the motor controller controls the target motor to run, the Hall sensor senses the change of the current magnetic field of the target motor (the speed change or current change of the target motor will cause its current magnetic field to change), and converts the change into a voltage change signal and outputs it to the MCU, the MCU judges the speed of the target motor by analyzing the voltage change signal output by the Hall sensor, and determines the existence of an obstacle when judging that the speed of the target motor slows down, at this time the MCU will issue an instruction to the motor controller to control the target motor to stop or reverse, so as to avoid pinching the passenger or damaging property. The MCU adjusts the control instruction according to the Hall signal to realize the operating state (including speed) of the target motor to meet the actual needs, and the Hall sensor can sense the position information and obstacle conditions of the equipment such as the tailgate that opens and closes automatically in real time, so as to achieve high-precision anti-pinch, and this application preferentially adopts the Hall anti-pinch strategy to control the operation of the target motor to ensure the anti-pinch accuracy and effect of the target motor during operation.

[0028] Step 120: Determine status information of the Hall anti-pinch strategy based on the Hall signal of the target motor.

[0029] Among them, the status of the Hall anti-pinch strategy includes normal status and abnormal status. Since the Hall sensor may have abnormal conditions during the perception process, such as the passenger manually intervening in the closing and opening of the car tailgate, which causes the Hall sensor to sense that the speed of the target motor has become faster or slower, it may cause the motor controller to misjudge and misoperate (for example, mistakenly thinking that there is an obstacle and controlling the target motor to stop or reverse). For example, the Hall sensor itself fails and causes the Hall signal it senses to be abnormal. At this time, the status of the Hall anti-pinch strategy is judged by the Hall signal. If it is judged that its status is normal, the Hall anti-pinch strategy continues to be used to control the operation of the target motor.

[0030] Step 130: If the state of the Hall anti-pinch strategy is an abnormal state, the ripple anti-pinch strategy is used to control the operation of the target motor.

[0031] If the state of the Hall anti-pinch strategy is determined to be abnormal, the anti-pinch strategy of the vehicle is switched to the ripple anti-pinch strategy to control the operation of the target motor. In one embodiment, the specific implementation of the above step 130 may be: collecting the ripple waveform of the target motor; and generating a speed control instruction of the target motor based on the ripple waveform of the target motor.

[0032] like Figure 2 As shown, the ripple anti-pinch strategy is mainly implemented by the target motor, motor controller, MCU, operational amplifier circuit and sampling resistor, wherein the MCU can be an independent control unit or a functional module integrated in other controllers. For example, the MCU can be integrated in the motor controller. The specific implementation method is: when the motor controller controls the target motor to run, the current flowing through the sampling resistor is collected through the sampling resistor to obtain the corresponding ripple waveform, and the ripple waveform is transmitted to the operational amplifier circuit for amplification and input into the MCU. The MCU determines the output torque of the target motor by analyzing the ripple waveform collected by the sampling resistor. When it is determined that the output torque of the target motor increases, it determines that there is an obstacle. At this time, the MCU will issue a command to the motor controller to control the target motor to stop or reverse, so as to avoid pinching passengers or damaging property. The MCU adjusts the control instructions according to the ripple waveform to achieve the operating state of the target motor (including output torque) to meet actual needs. The ripple anti-pinch strategy can simply sense the obstacle situation during the automatic opening and closing process of the tailgate, etc. by collecting the ripple waveform in the current of the target motor, thereby achieving high-reliability anti-pinch. This application adopts the ripple anti-pinch strategy as a replacement solution to form a mutual guarantee of the Hall anti-pinch strategy and the ripple anti-pinch strategy, thereby ensuring the anti-pinch stability of the target motor during operation.

[0033] The present application provides a motor anti-pinch control method, which controls the operation of a target motor by adopting a Hall anti-pinch strategy; determines the status information of the Hall anti-pinch strategy based on the Hall signal of the target motor; wherein the status of the Hall anti-pinch strategy includes a normal state and an abnormal state; if the status of the Hall anti-pinch strategy is an abnormal state, then adopts a ripple anti-pinch strategy to control the operation of the target motor; that is, the Hall anti-pinch strategy and the ripple anti-pinch strategy are set at the same time, and the Hall anti-pinch strategy is preferentially adopted to control the operation of the target motor, and the Hall signal is collected during the operation of the target motor and whether the Hall anti-pinch strategy is normal based on the Hall signal. If the Hall anti-pinch strategy is abnormal, it is switched to the ripple anti-pinch strategy to control the operation of the target motor, and the ripple anti-pinch strategy is used as a backup anti-pinch strategy for the Hall anti-pinch strategy to improve the reliability of the anti-pinch strategy, thereby improving the safety and riding experience of passengers.

[0034] In one embodiment, after step 130, the above-mentioned motor anti-pinch control method may further include: determining the status information of the ripple anti-pinch strategy based on the ripple signal of the target motor; wherein the status of the ripple anti-pinch strategy includes a normal state and an abnormal state; if the status of the ripple anti-pinch strategy is an abnormal state, calibration learning is performed on the Hall anti-pinch strategy and the ripple anti-pinch strategy; after the calibration learning is completed, the Hall anti-pinch strategy is used to control the operation of the target motor.

[0035] After switching to the ripple anti-pinch strategy, the present application determines the status information of the ripple anti-pinch strategy based on the analysis and judgment of the ripple signal (such as the ripple waveform). If the ripple anti-pinch strategy is in an abnormal state, calibration learning is performed on the Hall anti-pinch strategy and the ripple anti-pinch strategy to correct the abnormal states of the Hall anti-pinch strategy and the ripple anti-pinch strategy. After the calibration learning is completed, the Hall anti-pinch strategy is preferentially used to control the operation of the target motor to ensure the operation accuracy of the target motor.

[0036] In one embodiment, the above-mentioned motor anti-pinch control method may further include: if the state of the ripple anti-pinch strategy is a normal state, obtaining the motion waveform of the target motor; wherein the motion waveform is the current waveform output when the target motor is running; calculating the difference ratio between the motion waveform and the preset waveform; if the difference ratio is greater than the preset ratio, performing calibration learning for the Hall anti-pinch strategy; after the calibration learning is completed, using the Hall anti-pinch strategy to control the operation of the target motor.

[0037] If the ripple anti-pinch strategy is judged to be in a normal state, the current waveform outputted when the target motor is running is collected, and the difference ratio between the motion waveform and the preset waveform is calculated, wherein the preset waveform is a standardized waveform of the target motor collected after calibration learning. The present application determines the aging degree of the target motor by calculating the difference ratio between the current motion waveform of the target motor and the preset waveform when the ripple anti-pinch strategy is adopted. If the difference ratio is greater than the preset ratio, it indicates that the aging degree of the target motor is high. At this time, calibration learning is performed for the Hall anti-pinch strategy, and after the calibration learning is completed, the Hall anti-pinch strategy is used to control the operation of the target motor. It should be understood that if the aging degree of the target motor is judged to be high, and the state of the Hall anti-pinch strategy has returned to normal (for example, due to human factors causing a temporary abnormality in the Hall anti-pinch strategy), it is possible to directly switch to the Hall anti-pinch strategy to control the operation of the target motor without the need for calibration learning for the Hall anti-pinch strategy. Specifically, the present application can switch to the Hall anti-pinch strategy when the aging degree of the target motor is high, and judge the status of the Hall anti-pinch strategy. If the Hall anti-pinch strategy is still in an abnormal state, calibration learning is performed on the Hall anti-pinch strategy. After the calibration learning is completed, the Hall anti-pinch strategy is used to control the operation of the target motor.

[0038] In one embodiment, the specific method of obtaining the motion waveform of the target motor can be: obtaining the current waveform of the target motor; determining the motion time period of the target motor based on multiple operating states within a continuous time range of the target motor; intercepting the current waveform corresponding to the motion time period to obtain the motion waveform.

[0039] This application obtains the current waveform of the target motor (such as Figure 3 As shown), the movement time period of the target motor is determined according to multiple operation states within a continuous time range of the target motor. For example, the process of the target motor changing from a non-operating state to an operating state and then to a non-operating state is the movement time period, such as Figure 3 In the time period corresponding to -250 seconds to -190 seconds, the current waveform corresponding to the motion time period is intercepted as the waveform segment for calculating the difference between the waveform and the preset waveform. Preferably, the current waveform from -250 seconds to -217 seconds is a standardized waveform generated by the chip, not a motion process. Therefore, the present application further intercepts the current waveform in the time period from -217 seconds to -190 seconds as the motion waveform.

[0040] In one embodiment, the specific method of calculating the difference ratio between the motion waveform and the preset waveform can be: calculating the difference value between the average current of the motion waveform and the average current of the preset waveform; calculating the ratio between the difference value and the average current of the preset waveform to obtain the difference ratio.

[0041] After obtaining the current motion waveform of the target motor, calculate the average current of the motion waveform and the preset waveform (such as Figure 4The difference between the average current of the motion waveform and the preset waveform is shown in Figure 5 As shown), and the ratio between the difference value and the average current of the preset waveform is calculated to obtain the difference ratio. Figure 3 , Figure 4 and Figure 5 The numerical calculation shown in the figure shows that the difference between the average current of the motion waveform in the time period from -217 seconds to -190 seconds and the average current of the preset waveform is 0.329932A, and the average value of the preset waveform in the time period from -217 seconds to -190 seconds is 1.2A, then the difference ratio = 0.329932A / 1.2A = 26%. If the preset ratio is 20%, it can be judged that the aging degree of the target motor is high, and at this time, it can be switched to the Hall anti-pinch strategy.

[0042] In one embodiment, the present application can convert the preset waveform into a digital quantity, store the digital quantity in FLASH, and write it as a constant using const to ensure that it cannot be modified by non-development terminals, thereby ensuring the uniqueness and accuracy of the data for each vehicle. And after collecting the current motion waveform of the target motor, the motion waveform is converted into a digital quantity to compare and calculate the difference between it and the preset waveform, so as to more accurately and intuitively calculate and display the difference between the current motion waveform of the target motor and the preset waveform.

[0043] In one embodiment, before step 110, the motor anti-pinch control method may further include: initializing the anti-pinch scheme; determining whether the target object is at the zero position, wherein the target object is an action component such as a tailgate or a car window, and the zero position is the position when the target object is closed; if the target object is at the zero position, step 110 is executed, otherwise step 110 is executed after the target object is reset to the zero position. The motor anti-pinch control method of the present application is described by taking the tailgate as an example. At the beginning, the anti-pinch scheme is initialized first, and no anti-pinch strategy is adopted at this time, and it is determined whether the tailgate is at the zero position (i.e., whether the tailgate is in the closed position). If so, the Hall anti-pinch strategy is preferentially executed. If the tailgate is not at the zero position, the Hall anti-pinch strategy is preferentially executed after the tailgate is reset to the zero position. In the process of controlling the tailgate to reset to the zero position, the target motor can be controlled to move to the zero position at a low speed (lower speed than the normal movement of the tailgate) to avoid safety accidents caused by excessive speed.

[0044] Figure 6 Schematic diagram of the structure of a motor anti-pinch control device provided by an exemplary embodiment of the present application. Figure 6As shown, the motor anti-pinch control device 60 includes: a Hall anti-pinch control module 61, which is used to control the operation of the target motor by adopting the Hall anti-pinch strategy; a Hall state determination module 62, which is used to determine the state information of the Hall anti-pinch strategy based on the Hall signal of the target motor; wherein the state of the Hall anti-pinch strategy includes a normal state and an abnormal state; and a ripple anti-pinch control module 63, which is used to control the operation of the target motor by adopting the ripple anti-pinch strategy if the state of the Hall anti-pinch strategy is an abnormal state.

[0045] The present application provides a motor anti-pinch control device, in which a Hall anti-pinch control module 61 adopts a Hall anti-pinch strategy to control the operation of a target motor; a Hall state determination module 62 determines the state information of the Hall anti-pinch strategy based on the Hall signal of the target motor; wherein the state of the Hall anti-pinch strategy includes a normal state and an abnormal state; if the state of the Hall anti-pinch strategy is an abnormal state, the ripple anti-pinch control module 63 adopts a ripple anti-pinch strategy to control the operation of the target motor; that is, the Hall anti-pinch strategy and the ripple anti-pinch strategy are set at the same time, and the Hall anti-pinch strategy is preferentially adopted to control the operation of the target motor, and the Hall signal is collected during the operation of the target motor and whether the Hall anti-pinch strategy is normal based on the Hall signal, and if the Hall anti-pinch strategy is abnormal, it is switched to the ripple anti-pinch strategy to control the operation of the target motor, and the ripple anti-pinch strategy is used as a backup anti-pinch strategy for the Hall anti-pinch strategy to improve the reliability of the anti-pinch strategy, thereby improving the safety and riding experience of passengers.

[0046] In one embodiment, the above-mentioned motor anti-pinch control device 60 can be further configured as: determining the status information of the ripple anti-pinch strategy based on the ripple signal of the target motor; wherein the status of the ripple anti-pinch strategy includes a normal state and an abnormal state; if the status of the ripple anti-pinch strategy is an abnormal state, calibration learning is performed on the Hall anti-pinch strategy and the ripple anti-pinch strategy; after the calibration learning is completed, the Hall anti-pinch strategy is used to control the operation of the target motor.

[0047] In one embodiment, the above-mentioned motor anti-pinch control device 60 can be further configured as follows: if the state of the ripple anti-pinch strategy is a normal state, then the motion waveform of the target motor is obtained; wherein the motion waveform is the current waveform output when the target motor is running; the difference ratio between the motion waveform and the preset waveform is calculated; if the difference ratio is greater than the preset ratio, calibration learning is performed for the Hall anti-pinch strategy; after the calibration learning is completed, the Hall anti-pinch strategy is used to control the operation of the target motor.

[0048] In one embodiment, the motor anti-pinch control device 60 can be further configured to: obtain the current waveform of the target motor; determine the movement time period of the target motor based on multiple operating states within a continuous time range of the target motor; intercept the current waveform corresponding to the movement time period to obtain the movement waveform.

[0049] In one embodiment, the motor anti-pinch control device 60 can be further configured to: calculate the difference between the average current of the motion waveform and the average current of the preset waveform; calculate the ratio between the difference value and the average current of the preset waveform to obtain the difference ratio.

[0050] In one embodiment, the Hall anti-pinch control module 61 can be further configured to: collect the Hall signal of the target motor; wherein the Hall signal includes the number of changes in the Hall voltage of the target motor; and generate a speed control instruction for the target motor based on the Hall signal of the target motor.

[0051] In one embodiment, the ripple anti-pinch control module 63 may be further configured to: collect the ripple waveform of the target motor; and generate a speed control instruction of the target motor based on the ripple waveform of the target motor.

[0052] The present application provides a car tailgate, comprising: the motor anti-pinch control device as described above.

[0053] The present application provides a car tailgate, which controls the operation of a target motor by adopting a Hall anti-pinch strategy; determines the status information of the Hall anti-pinch strategy based on the Hall signal of the target motor; wherein the status of the Hall anti-pinch strategy includes a normal state and an abnormal state; if the status of the Hall anti-pinch strategy is an abnormal state, then adopts a ripple anti-pinch strategy to control the operation of the target motor; that is, the Hall anti-pinch strategy and the ripple anti-pinch strategy are set at the same time, and the Hall anti-pinch strategy is preferentially adopted to control the operation of the target motor, and the Hall signal is collected during the operation of the target motor and whether the Hall anti-pinch strategy is normal based on the Hall signal. If the Hall anti-pinch strategy is abnormal, it switches to the ripple anti-pinch strategy to control the operation of the target motor, and uses the ripple anti-pinch strategy as a backup anti-pinch strategy for the Hall anti-pinch strategy to improve the reliability of the anti-pinch strategy, thereby improving the safety and riding experience of passengers.

[0054] The present application provides a vehicle, comprising: the automobile tailgate as described above.

[0055] A vehicle provided by the present application controls the operation of a target motor by adopting a Hall anti-pinch strategy; determines the status information of the Hall anti-pinch strategy based on the Hall signal of the target motor; wherein the status of the Hall anti-pinch strategy includes a normal status and an abnormal status; if the status of the Hall anti-pinch strategy is an abnormal status, then adopts a ripple anti-pinch strategy to control the operation of the target motor; that is, the Hall anti-pinch strategy and the ripple anti-pinch strategy are set at the same time, and the Hall anti-pinch strategy is preferentially adopted to control the operation of the target motor, and the Hall signal is collected during the operation of the target motor and whether the Hall anti-pinch strategy is normal is determined based on the Hall signal; if the Hall anti-pinch strategy is abnormal, then switches to the ripple anti-pinch strategy to control the operation of the target motor, and uses the ripple anti-pinch strategy as a backup anti-pinch strategy for the Hall anti-pinch strategy to improve the reliability of the anti-pinch strategy, thereby improving the safety and riding experience of passengers.

[0056] Below, reference Figure 7 The electronic device according to the embodiment of the present application is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signal from them.

[0057] Figure 7 A block diagram of an electronic device according to an embodiment of the present application is illustrated.

[0058] like Figure 7 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0059] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0060] The memory 12 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0061] In one example, the electronic device 10 may further include: an input device 13 and an output device 14, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0062] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, which is used to receive the collected input signals from the first device and the second device.

[0063] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0064] The output device 14 can output various information to the outside, including the determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0065] Of course, to simplify, Figure 7 Only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 10 may also include any other appropriate components.

[0066] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0067] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0068] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0069] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable 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.

[0070] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0071] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0072] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0073] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0074] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A motor anti-pinch control method, characterized in that: include: The Hall anti-pinch strategy is used to control the operation of the target motor; Determine the state information of the Hall anti-pinch strategy based on the Hall signal of the target motor; wherein the state of the Hall anti-pinch strategy includes a normal state and an abnormal state; If the state of the Hall anti-pinch strategy is an abnormal state, the ripple anti-pinch strategy is used to control the operation of the target motor.

2. The motor anti-pinch control method according to claim 1, characterized in that: After the ripple anti-pinch strategy is adopted to control the operation of the target motor, the motor anti-pinch control method further includes: Determining the state information of the ripple anti-pinch strategy based on the ripple signal of the target motor; wherein the state of the ripple anti-pinch strategy includes a normal state and an abnormal state; If the state of the ripple anti-pinch strategy is an abnormal state, calibration learning is performed on the Hall anti-pinch strategy and the ripple anti-pinch strategy; After the calibration learning is completed, the Hall anti-pinch strategy is used to control the operation of the target motor.

3. The motor anti-pinch control method according to claim 2, characterized in that: The motor anti-pinch control method also includes: If the state of the ripple anti-pinch strategy is normal, the motion waveform of the target motor is obtained; wherein the motion waveform is the current waveform output when the target motor is running; Calculating the difference ratio between the motion waveform and a preset waveform; If the difference ratio is greater than a preset ratio, calibration learning is performed for the Hall anti-pinch strategy; After the calibration learning is completed, the Hall anti-pinch strategy is used to control the operation of the target motor.

4. The motor anti-pinch control method according to claim 3, characterized in that: The obtaining of the motion waveform of the target motor comprises: Acquiring a current waveform of the target motor; Determining a movement time period of the target motor based on a plurality of operating states within a continuous time range of the target motor; The current waveform corresponding to the motion time period is intercepted to obtain the motion waveform.

5. The motor anti-pinch control method according to claim 3, characterized in that: The calculating the difference ratio between the motion waveform and the preset waveform comprises: Calculating a difference between an average current of the motion waveform and an average current of the preset waveform; The ratio between the difference value and the average current of the preset waveform is calculated to obtain the difference ratio.

6. The motor anti-pinch control method according to claim 1, characterized in that: The use of the Hall anti-pinch strategy to control the operation of the target motor includes: Collecting the Hall signal of the target motor; wherein the Hall signal includes the number of times the Hall voltage of the target motor changes; A rotation speed control instruction of the target motor is generated based on the Hall signal of the target motor.

7. The motor anti-pinch control method according to claim 1, characterized in that: The adopting of the ripple anti-pinch strategy to control the operation of the target motor includes: Collecting the ripple waveform of the target motor; A speed control command of the target motor is generated based on the ripple waveform of the target motor.

8. A motor anti-pinch control device, characterized in that: include: Hall anti-pinch control module, used to control the operation of the target motor using Hall anti-pinch strategy; A Hall state determination module, used to determine the state information of the Hall anti-pinch strategy based on the Hall signal of the target motor; wherein the state of the Hall anti-pinch strategy includes a normal state and an abnormal state; The ripple anti-pinch control module is used to control the operation of the target motor by adopting the ripple anti-pinch strategy if the state of the Hall anti-pinch strategy is an abnormal state.

9. A car tailgate, characterized in that: include: The motor anti-pinch control device as claimed in claim 8.

10. A vehicle, characterized in that: include: The automobile tailgate as claimed in claim 9.

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