Electric vehicle door anti-pinch control method and device, computer equipment and computer readable storage medium

Abstract

The invention provides an electric vehicle door anti-pinch control method which comprises the steps that an electric vehicle door is controlled to be closed in response to an electric door closing instruction; in response to the electric door closing instruction, controlling a distance measuring sensor to detect the distance between the first position of the vehicle door frame and the second position of the vehicle door frame; according to the detected actual distance, whether an obstacle exists between the first position and the second position of the vehicle door frame or not is judged; if the obstacle exists between the first position and the second position of the vehicle door frame, the electric vehicle door is controlled to stop being closed; if no obstacle exists between the first position and the second position of the vehicle door frame, the electric vehicle door is controlled to be closed continuously; through the actual distance detected by the distance measuring sensor in real time, whether the obstacle exists in the electric vehicle door in the extreme position scene or not is judged in time, and when it is judged that the obstacle exists, the closing action of the electric vehicle door can be controlled and stopped in time, so that the potential injury risk possibly caused to a user in the automatic closing process of the electric vehicle door is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an anti-pinch control method and device for an electric vehicle door, a computer device, and a computer-readable storage medium. Background Art

[0002] At present, the anti-pinch function of electric doors is usually judged by motor current or speed deviation. For example, when the door is closed, it is judged whether there is an obstacle by judging whether the motor current changes suddenly or whether the deviation between the target speed and the actual speed is greater than a certain value, so as to realize the anti-pinch function of the door:

[0003] However, when the electric door is closed at a small angle, the motor needs to be accelerated because the door needs to be locked, which will shield the door anti-pinch function at a small angle. If a finger is pressed against the door edge at this time, it will inevitably cause damage to the finger. The existing electric door anti-pinch method has the defect of poor anti-pinch function when the electric door is in a closed state at a small angle. Summary of the invention

[0004] In view of this, the object of the present invention is to provide an anti-pinch control method, device, computer equipment and computer-readable storage medium for electric vehicle doors, so as to solve the technical problem that the existing anti-pinch method for electric vehicle doors has poor anti-pinch effect when the electric vehicle door is in a closed state at a small angle.

[0005] One aspect of an embodiment of the present invention provides an anti-pinch control method for an electric door, comprising:

[0006] Receive electric door closing command;

[0007] In response to the electric door closing instruction, controlling the electric door to close;

[0008] In response to the electric door closing instruction, controlling the distance measuring sensor to detect the distance between a first position of the door frame and a second position of the door frame, wherein the first position of the door frame is a top position of the door frame, and the second position of the door frame is a bottom position of the door frame;

[0009] Determining whether there is an obstacle between the first position and the second position of the door frame according to the actual distance detected; and

[0010] If there is an obstacle between the first position and the second position of the door frame, controlling the electric door to stop closing;

[0011] If the obstacle does not exist between the first position and the second position of the door frame, the electric door is controlled to continue closing.

[0012] In one embodiment, judging whether there is an obstacle between the first position and the second position of the door frame according to the actual distance detected includes:

[0013] Comparing the detected actual distance with a theoretical door frame distance, wherein the theoretical door frame distance is a measured distance between a first position and a second position of the door frame; and

[0014] According to the comparison result, it is determined whether the obstacle exists between the first position and the second position of the door frame.

[0015] In one embodiment, comparing the detected actual distance with the theoretical door frame distance includes:

[0016] Calculating the difference distance between the theoretical door frame distance and the actual distance; and comparing the difference distance with a preset distance threshold;

[0017] Accordingly,

[0018] The determining, based on the comparison result, whether the obstacle exists between the first position and the second position of the door frame comprises:

[0019] Based on the comparison result of the difference distance and the preset distance threshold, it is determined whether the obstacle exists between the first position and the second position of the door frame; and if the difference distance is greater than the preset distance threshold, it is determined that the obstacle exists between the first position and the second position of the door frame; if the difference distance is less than or equal to the preset distance threshold, it is determined that the obstacle does not exist between the first position and the second position of the door frame.

[0020] In one embodiment, before comparing the detected actual distance with the theoretical door frame distance, the method further includes:

[0021] The detection distances detected by the distance measuring sensor are obtained multiple times within a preset time period; and an average value of the multiple detection distances is determined as the actual distance detected.

[0022] In one embodiment, the method further includes: in response to the electric door closing command, while the electric door is closing, continuously detecting the actual distance within a plurality of preset time periods until it is determined that the obstacle exists between the first position and the second position of the door frame or the electric door is completely closed.

[0023] In one embodiment, the method further includes: generating a warning message if there is an obstacle between the first position and the second position of the door frame.

[0024] In one embodiment, if there is an obstacle between the first position and the second position of the door frame, generating a warning message includes:

[0025] Send an alarm message to the central control, wherein the alarm message includes an anti-pinch flag, so that the central control displays an anti-pinch prompt message on the central control display screen according to the anti-pinch flag to prompt the user.

[0026] Another aspect of an embodiment of the present invention provides an anti-pinch control device for an electric door, comprising:

[0027] A command receiving module, used for receiving an electric door closing command;

[0028] A door control module, used for controlling the electric door to close in response to the electric door closing instruction;

[0029] a distance measuring module, configured to control the distance measuring sensor to detect the distance between a first position of the door frame and a second position of the door frame in response to the electric door closing instruction, wherein the first position of the door frame is the top position of the door frame, and the second position of the door frame is the bottom position of the door frame;

[0030] an obstacle determination module, configured to determine whether there is an obstacle between the first position and the second position of the door frame according to the actual distance detected; and

[0031] The door control module is also used for:

[0032] If there is an obstacle between the first position and the second position of the door frame, controlling the electric door to stop closing;

[0033] If the obstacle does not exist between the first position and the second position of the door frame, the electric door is controlled to continue closing.

[0034] Another aspect of an embodiment of the present invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the electric door anti-pinch control method as described in any one of the above embodiments are implemented.

[0035] Another aspect of an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. The computer program can be executed by at least one processor to enable the at least one processor to perform the steps of the electric door anti-pinch control method as described in any one of the above embodiments.

[0036] An anti-pinch control method for an electric door provided by an embodiment of the present invention comprises: receiving an electric door closing instruction; controlling the electric door to close in response to the electric door closing instruction; controlling a distance measuring sensor to detect a distance between a first position of a door frame and a second position of the door frame in response to the electric door closing instruction, wherein the first position of the door frame is a top position of the door frame, and the second position of the door frame is a bottom position of the door frame; judging whether there is an obstacle between the first position and the second position of the door frame according to the actual distance detected; and if there is an obstacle between the first position and the second position of the door frame, controlling the electric door to stop closing; if there is no obstacle between the first position and the second position of the door frame, controlling the electric door to continue closing; the present invention timely judges whether there is an obstacle in the electric door in an extreme position scenario through the actual distance detected in real time by the distance measuring sensor, and can timely control the electric door to stop closing when it is determined that there is an obstacle, so as to reduce the potential risk of injury to the user during the automatic closing process of the electric door.

[0037] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A flowchart schematically shows the steps of the anti-pinch control method for an electric door in an embodiment of the present invention;

[0039] Figure 2 A flowchart schematically shows the steps of determining whether there is an obstacle between the first position and the second position of the door frame in the anti-pinch control method of the electric door of the present invention;

[0040] Figure 3 A flowchart schematically shows the steps of judging whether there is an obstacle between the first position and the second position of the door frame according to the comparison result in the anti-pinch control method of the electric door of the present invention;

[0041] Figure 4 A block diagram of an anti-pinch control device for an electric door according to a second embodiment of the present invention is schematically shown;

[0042] Figure 5 The hardware structure diagram of a computer device suitable for implementing an anti-pinch control method for an electric vehicle door according to the third embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

[0043] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present application.

[0044] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0045] In the description of this application, it is necessary to explain that, unless otherwise clearly specified and limited, the terms "install", "set", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium. For ordinary technicians in this field, the above-mentioned specific meanings belonging to this application can be connected according to specific circumstances.

[0046] Embodiment 1

[0047] See also Figure 1 , shows a flowchart of the steps of the anti-pinch control method for electric door of an embodiment of the present invention. It can be understood that the flowchart in the embodiment of the method is not used to limit the order of executing the steps. The following is an exemplary description with the electric door controller as the execution subject, as follows:

[0048] like Figure 1 As shown, the electric door anti-pinch control method may include steps S100 to S110, wherein:

[0049] Step S100, receiving an electric door closing instruction.

[0050] In an embodiment of the present invention, the electric door closing command may be one of a command generated by a trigger of an electric door control button of the vehicle, a command generated by a trigger of an electric door control control in a central control display screen of the vehicle, and a command generated by a trigger of an electric door control control on an APP / mini program. Exemplarily, a user clicks the electric door control button of the vehicle to generate an electric door closing command.

[0051] Step S102, in response to the electric door closing instruction, controlling the electric door to close.

[0052] Among them, the electric door closing command is used to instruct the vehicle's electric door to close automatically.

[0053] Step S104, in response to the electric door closing instruction, controlling the distance measuring sensor to detect the distance between a first position of the door frame and a second position of the door frame, wherein the first position of the door frame is the top position of the door frame, and the second position of the door frame is the bottom position of the door frame.

[0054] In an exemplary embodiment, taking the door frame of the co-pilot seat as an example, the distance measuring sensor can be installed in the upper right corner of the door frame (i.e., the first position of the door frame). When the electric door is closed, the distance measuring sensor is 1 cm away from the door edge of the electric door. The installation position of the distance measuring sensor is not limited here. It is specifically calibrated and installed according to the actual situation, and can be installed for the purpose of achieving a better distance measuring effect. It can be understood that the closer to the door frame, the more accurate the distance measuring effect. In this embodiment, the distance measuring sensor can be an infrared sensor. When the distance measuring sensor measures the distance, the distance measuring sensor emits infrared rays from the upper right corner of the door frame toward the lower right corner of the door frame (i.e., the second position of the door frame) to detect the distance between the upper right corner of the door frame and the lower right corner of the door frame. When the door controller receives the electric door closing command, it determines whether the electric door responds to the electric door closing command and is in the closing process. If the electric door is in the closing process at this time, the distance measuring sensor is controlled to emit infrared rays to detect the distance between the upper right corner of the door frame and the lower right corner of the door frame. Considering that in normal use of the vehicle, when the door is not closed, the user's hand or other obstacles are often placed on the right side of the door frame, therefore, installing the distance measuring sensor on the right side of the door frame can better fit the scene where obstacles prevent the electric door from closing, and can reduce the risk of potential harm to the user or the obstacle. In other embodiments, the distance measuring sensor can also be set at the lower right corner of the door frame.

[0055] Step S106: judging whether there is an obstacle between the first position and the second position of the door frame according to the actual distance obtained by detection.

[0056] Step S108: If there is an obstacle between the first position and the second position of the door frame, control the electric door to stop closing.

[0057] Step S110: If there is no obstacle between the first position and the second position of the door frame, control the electric door to continue closing.

[0058] Combination Figure 2In an exemplary embodiment, the step S106 of judging whether there is an obstacle between the first position and the second position of the door frame according to the actual distance detected may further include the following steps: step S200, comparing the actual distance detected with the theoretical door frame distance, wherein the theoretical door frame distance is the measured distance between the first position and the second position of the door frame; and step S202, judging whether there is an obstacle between the first position and the second position of the door frame according to the comparison result. In this embodiment, the most direct and effective way to judge whether there is an obstacle is to compare by the difference in distance, so as to quickly obtain the conclusion whether there is an obstacle, thereby improving the data processing efficiency.

[0059] In an exemplary embodiment, comparing the detected actual distance with the theoretical door frame distance includes: calculating the difference distance between the theoretical door frame distance and the actual distance; and comparing the difference distance with a preset distance threshold. In this embodiment, if a hand is placed on the door frame at this time, the distance between the obstacle detected by the distance measuring sensor and the distance measuring sensor will be less than the theoretical door frame distance; therefore, by comparing the distance difference, it is possible to quickly identify whether there is an obstacle.

[0060] In order to improve data processing efficiency and ensure the accuracy of the distance measurement of the distance measuring sensor at the same time, before comparing the actual distance detected with the theoretical door frame distance, the method also includes: obtaining the detection distance detected by the distance measuring sensor multiple times within a preset time period; and determining the average value of the multiple detection distances as the actual distance detected. In this embodiment, by obtaining the detection distances detected multiple times within a preset time period, and then calculating the average value based on the multiple detection distances, and determining the actual distance with the calculated average value, it is possible to take into account the data processing efficiency while ensuring the accuracy of the distance measurement of the distance measuring sensor. For example, in a short period of time, the distance measuring sensor measures the distance 10 times, and the average value of the distances measured 10 times is calculated.

[0061] See also Figure 3, the step S202 of judging whether there is the obstacle between the first position and the second position of the door frame according to the comparison result can also be obtained by the following operations, specifically including: step S300, judging whether there is the obstacle between the first position and the second position of the door frame according to the comparison result of the difference distance and the preset distance threshold; and step S302, if the difference distance is greater than the preset distance threshold, determining that there is the obstacle between the first position and the second position of the door frame; step S304, if the difference distance is less than or equal to the preset distance threshold, determining that there is no obstacle between the first position and the second position of the door frame. In this embodiment, the preset distance threshold can be pre-set to 5cm, which can be calibrated according to the actual data of the vehicle, and is not limited here.

[0062] In an exemplary embodiment, the method further includes: if there is an obstacle between the first position and the second position of the door frame, generating an alarm message. In this embodiment, the alarm message may include but is not limited to: an audible alarm message and a photoelectric alarm message. While controlling the electric door to stop closing, issuing an alarm message can not only effectively reduce the risk of pinching the hand placed on the door frame when the door is closed, but also can promptly remind the user to deal with the door closing failure.

[0063] In an exemplary embodiment, if there is an obstacle between the first position and the second position of the door frame, generating an alarm message includes: sending an alarm message to a central control controller, the alarm message including an anti-pinch flag, so that the central control controller displays an anti-pinch prompt message on the central control display screen according to the anti-pinch flag to prompt the user. In this embodiment, by displaying the alarm message on the central control display screen, the user can be further prompted to keep his hand away from the door frame to manually cancel the alarm, thereby further improving the safety of vehicle use.

[0064] In an exemplary embodiment, the method further includes: in response to the electric door closing instruction, during the closing process of the electric door, continuously detecting and obtaining the actual distance within a plurality of preset time periods until it is determined that the obstacle exists between the first position and the second position of the door frame or the electric door is completely closed. In this embodiment, by continuously detecting and monitoring by the distance measuring sensor during the closing process of the electric door, it is possible to provide real-time feedback on whether there is an obstacle in the door frame, and timely and effectively avoid accidents caused by the door being in an extreme position at a small angle and being hit by a user's finger, thereby improving the safety of the door.

[0065] The embodiments of the present invention have at least the following technical effects: by using the actual distance detected in real time by the ranging sensor, it is possible to judge in time whether there is an obstacle in the electric door in extreme position scenarios, to give an early warning of possible obstacles during the closing process of the electric door, and to promptly control and stop the closing action of the electric door when it is determined that there is an obstacle, so as to reduce the potential risk of injury to the user during the automatic closing process of the electric door, avoid accidents caused by the electric door being pinched by the user's fingers in an extreme position at a small angle, reduce the probability of pinching incidents that cause potential risk of injury to the user, and improve the safety of electric door use.

[0066] Embodiment 2

[0067] Please continue reading Figure 4 , showing a schematic diagram of the program module of the electric door anti-pinch control device 40 according to an embodiment of the present invention. In this embodiment, the electric door anti-pinch control device 40 may include or be divided into one or more program modules, one or more program modules are stored in an embedded storage chip, and are executed by one or more processors to complete the present invention and implement the above-mentioned electric door anti-pinch control method. The program module referred to in the embodiment of the present invention refers to a series of computer program instruction segments that can complete specific functions, and is more suitable for describing the execution process of the electric door anti-pinch control device 40 in the storage medium than the program itself. The following description will specifically introduce the functions of each program module of this embodiment:

[0068] The command receiving module 400 is used to receive the electric door closing command;

[0069] A door control module 402, for controlling the electric door to close in response to the electric door closing instruction;

[0070] a distance measuring module 404, configured to control a distance measuring sensor to detect a distance between a first position of a door frame and a second position of the door frame in response to the electric door closing instruction, wherein the first position of the door frame is a top position of the door frame, and the second position of the door frame is a bottom position of the door frame;

[0071] an obstacle determination module 406, configured to determine whether there is an obstacle between the first position and the second position of the door frame according to the actual distance detected; and

[0072] The door control module 402 is also used for:

[0073] If there is an obstacle between the first position and the second position of the door frame, controlling the electric door to stop closing;

[0074] If the obstacle does not exist between the first position and the second position of the door frame, the electric door is controlled to continue closing.

[0075] Embodiment 3

[0076] See also Figure 5 , is a schematic diagram of the hardware architecture of a computer device 10000 suitable for implementing an anti-pinch control method for electric door according to the third embodiment of the present invention. In this embodiment, the computer device 10000 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. The computer device 10000 can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a rack server, a blade server, a tower server or a cabinet server (including an independent server, or a server cluster composed of multiple servers), a gateway, etc. Figure 5 As shown, the computer device 10000 at least includes, but is not limited to, a memory 10010, a processor 10020, and a network interface 10030 that can be interconnected and communicated via a system bus. Among them:

[0077] In this embodiment, the memory 10010 includes at least one type of computer-readable storage medium, and the readable storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 10010 may be an internal storage unit of the computer device 10000, such as a hard disk or a memory of the computer device 10000. In other embodiments, the memory 10010 may also be an external storage device of the computer device 10000, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device 10000. Of course, the memory 10010 may also include both the internal storage unit of the computer device 10000 and its external storage device. In this embodiment, the memory 10010 is generally used to store the operating system and various application software installed in the computer device 10000, such as the program code of the electric door anti-pinch control device of the above embodiment. In addition, the memory 10010 can also be used to temporarily store various data that have been output or will be output.

[0078] In some embodiments, the processor 10020 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips. The processor 10020 is generally used to control the overall operation of the computer device 10000, such as executing control and processing related to data interaction or communication with the computer device 10000. In this embodiment, the processor 10020 is used to run the program code stored in the memory 10010 or process data, such as running the electric door anti-pinch control device to implement the electric door anti-pinch control method of the above embodiment.

[0079] The network interface 10030 may include a wireless network interface or a wired network interface, and the network interface 10030 is generally used to establish a communication connection between the computer device 10000 and other electronic devices. For example, the network interface 10030 is used to connect the computer device 10000 to an external terminal through a network, and to establish a data transmission channel and a communication connection between the computer device 10000 and the external terminal. The network may be a wireless or wired network such as an intranet, the Internet, the Global System of Mobilecommunication (GSM), Wideband Code Division Multiple Access (WCDMA), 4G network, 5G network, Bluetooth, Wi-Fi, etc.

[0080] It should be pointed out that Figure 5 Only computer device 10000 having components 10010 - 10030 is shown, but it should be understood that implementation of all of the components shown is not a requirement, and more or fewer components may be implemented instead.

[0081] In this embodiment, the electric door anti-pinch control device stored in the memory 10010 can also be divided into one or more program modules, and the one or more program modules are stored in the memory 10010 and executed by one or more processors (processor 10020 in this embodiment) to complete the present invention.

[0082] For example, Figure 5The program module schematic diagram of the second embodiment of the electric door anti-pinch control device is shown. In this embodiment, the electric door anti-pinch control device 40 can be divided into an instruction receiving module 400, a door control module 402, a distance measurement module 404 and an obstacle judgment module 406. Among them, the program module referred to in the present invention refers to a series of computer program instruction segments that can complete specific functions, which is more suitable for describing the execution process of the electric door anti-pinch control device in the computer device 10000 than a program. The specific functions of the program modules 400-406 have been described in detail in the second embodiment and will not be repeated here.

[0083] Embodiment 4

[0084] This embodiment also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by at least one processor, the steps of the anti-pinch control method for an electric vehicle door in the embodiment are implemented.

[0085] In this embodiment, the computer-readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, CD, server, App application mall, etc. In some embodiments, the computer-readable storage medium can be an internal storage unit of a computer device, such as a hard disk or memory of the computer device. In other embodiments, the computer-readable storage medium can also be an external storage device of a computer device, such as a plug-in hard disk equipped on the computer device, a smart memory card (Smart Media Card, referred to as SMC), a secure digital (Secure Digital, referred to as SD) card, a flash card (Flash Card), etc. Of course, the computer-readable storage medium can also include both the internal storage unit of the computer device and its external storage device. In this embodiment, the computer-readable storage medium is generally used to store the operating system and various application software installed on the computer device, such as the program code of the electric door anti-pinch control method in the embodiment. In addition, the computer-readable storage medium can also be used to temporarily store various types of data that have been output or are to be output.

[0086] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0087] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0088] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0089] The above are only implementation methods of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An anti-pinch control method for an electric door, characterized in that: include: Receive electric door closing command; In response to the electric door closing instruction, controlling the electric door to close; In response to the electric door closing instruction, controlling the distance measuring sensor to detect the distance between a first position of the door frame and a second position of the door frame, wherein the first position of the door frame is a top position of the door frame, and the second position of the door frame is a bottom position of the door frame; Determining whether there is an obstacle between the first position and the second position of the door frame according to the actual distance detected; and If there is an obstacle between the first position and the second position of the door frame, controlling the electric door to stop closing; If the obstacle does not exist between the first position and the second position of the door frame, the electric door is controlled to continue closing.

2. The anti-pinch control method for electric door according to claim 1, characterized in that: The determining, based on the actual distance obtained by detection, whether there is an obstacle between the first position and the second position of the door frame comprises: Comparing the detected actual distance with a theoretical door frame distance, wherein the theoretical door frame distance is a measured distance between a first position and a second position of the door frame; and According to the comparison result, it is determined whether the obstacle exists between the first position and the second position of the door frame.

3. The anti-pinch control method for electric door according to claim 2, characterized in that: The comparing the detected actual distance with the theoretical door frame distance comprises: Calculating the difference between the theoretical door frame distance and the actual distance; and Comparing the difference distance with a preset distance threshold; Accordingly, The determining, based on the comparison result, whether the obstacle exists between the first position and the second position of the door frame comprises: According to the comparison result of the difference distance and the preset distance threshold, determining whether there is the obstacle between the first position and the second position of the door frame; and If the difference distance is greater than the preset distance threshold, it is determined that the obstacle exists between the first position and the second position of the door frame; If the difference distance is less than or equal to the preset distance threshold, it is determined that there is no obstacle between the first position and the second position of the door frame.

4. The anti-pinch control method for electric door according to claim 3, characterized in that: Before comparing the detected actual distance with the theoretical door frame distance, the method further includes: Acquiring the detection distance detected by the distance measuring sensor multiple times within a preset time period; and An average value of the plurality of detected distances is determined as the actual distance obtained by detection.

5. The anti-pinch control method for electric door according to claim 4, characterized in that: The method further comprises: In response to the electric door closing instruction, the electric door executes the closing process and continuously detects the actual distance within a plurality of preset time periods until it is determined that the obstacle exists between the first position and the second position of the door frame or the electric door is completely closed.

6. The anti-pinch control method for electric door according to claim 5, characterized in that: The method further comprises: If there is an obstacle between the first position and the second position of the door frame, a warning message is generated.

7. The anti-pinch control method for electric door according to claim 6, characterized in that: If there is an obstacle between the first position and the second position of the door frame, generating warning information includes: Send an alarm message to the central control, wherein the alarm message includes an anti-pinch flag, so that the central control displays an anti-pinch prompt message on the central control display screen according to the anti-pinch flag to prompt the user.

8. An anti-pinch control device for an electric door, characterized in that: include: A command receiving module, used for receiving an electric door closing command; A door control module, used for controlling the electric door to close in response to the electric door closing instruction; a distance measuring module, configured to control the distance measuring sensor to detect the distance between a first position of the door frame and a second position of the door frame in response to the electric door closing instruction, wherein the first position of the door frame is the top position of the door frame, and the second position of the door frame is the bottom position of the door frame; an obstacle determination module, configured to determine whether there is an obstacle between the first position and the second position of the door frame according to the actual distance detected; and The door control module is also used for: If there is an obstacle between the first position and the second position of the door frame, controlling the electric door to stop closing; If the obstacle does not exist between the first position and the second position of the door frame, the electric door is controlled to continue closing.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the electric door anti-pinch control method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which can be executed by at least one processor so that the at least one processor executes the steps of the electric vehicle door anti-pinch control method as described in any one of claims 1 to 7.

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