Vehicle-mounted motor position management method, device, equipment and storage medium
By uniformly executing position learning instructions for on-board motors at the complex drive layer, the problem of inconsistent levels of learning action execution in the existing technology is solved, and the unity and standardization of on-board motor position management is achieved, and the system complexity and maintenance costs are reduced.
Patent Information
- Application Number
- CN202510036318.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-09
- Publication Date
- 2025-03-28
AI Technical Summary
In the prior art, the learning action execution levels of the vehicle-mounted motor are inconsistent and the learning functions are inconsistent, resulting in internal complexity and redundancy of the system and increasing maintenance costs.
In the complex drive layer, by receiving position learning instructions, the vehicle-mounted motor is driven to move to the full-close and full-open positions, the number of ripples is recorded, the total stroke and position stroke are calculated, and the position opening information is obtained. Unify the execution level, unify the acquisition of learning interfaces and motor parameters, and reduce the CPU running load rate.
It realizes the unity and standardization of vehicle-mounted motor position management, reduces system complexity and redundancy, reduces maintenance costs, and improves system compatibility and efficiency.
Smart Images
Figure CN119727507A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of automotive electronic technology, and in particular to a method, device, equipment and storage medium for managing the position of a vehicle-mounted motor. Background Art
[0002] In order to improve the user experience, DC ripple motors or Hall motors are widely used in automobile opening and closing systems to realize automatic control of windows, sunroofs, electric tailgates, seats and other components. The system automatically controls the position information by calculating the ratio of the current stroke to the total stroke, wherein the position information is learned and calculated through the learning function. However, some of the learning actions performed by the learning function in the related technology are completed by the application layer, while others are passed from the application layer to the complex device driver (CDD), and the CDD completes the corresponding timing actions. The execution level of the learning action is inconsistent, and the triggering method is not unified, which increases the complexity within the system and is not conducive to the unification and standardization of the position management function. Summary of the invention
[0003] The embodiments of the present application provide a method, device, equipment and storage medium for vehicle motor position management, aiming to solve the problems of inconsistent learning action execution levels and learning functions and complex internal systems in related technologies.
[0004] A first aspect of an embodiment of the present application provides a vehicle motor position management method, which is applied to a complex drive layer, comprising: receiving a position learning instruction, wherein the position learning instruction is used to learn the number of ripples corresponding to each position between a fully closed position and a fully open position of an on-board component driven by an on-board motor; According to the position learning instruction, the vehicle-mounted component is driven by the vehicle-mounted motor to move to a fully closed position and a fully open position; Obtaining a total stroke according to the total number of ripples of the on-board motor during the movement of the on-board component from the fully closed position to the fully open position; The vehicle-mounted component is driven by the vehicle-mounted motor to move to various positions between the fully closed position and the fully open position; According to the ripple number of the vehicle-mounted motor when the vehicle-mounted component is at each position, the position stroke of the vehicle-mounted component moving to each position is obtained; The position opening information is obtained according to the position stroke and the total stroke when the vehicle-mounted component moves.
[0005] Furthermore, the method further comprises: Get motor information parameters; Encapsulating the motor information parameters into a motor information structure, and extending the motor information parameter members in the motor information structure into an array; Based on the motor information parameter member in the motor information structure, the ripple number corresponding to each position between the fully closed position and the fully open position of the vehicle-mounted component driven by the vehicle-mounted motor is recorded.
[0006] Furthermore, the method further comprises: Within a first preset time, a resistance parameter of the vehicle-mounted motor driving the vehicle-mounted component to move from a fully open position to a fully closed position is recorded, and the resistance parameter is used for anti-pinch determination.
[0007] Furthermore, the method further comprises: Detecting a target signal, wherein the target signal represents a signal generated by detecting a motion operation of the vehicle-mounted component; According to the target signal, monitoring whether the vehicle-mounted component satisfies a preset learning action, wherein the preset learning action includes: moving to a fully closed position and a fully open position, and moving to various positions between the fully closed position and the fully open position; When the vehicle-mounted component satisfies a preset learning action, the position opening information is obtained.
[0008] Furthermore, after obtaining the position opening information, it also includes: When the vehicle-mounted motor drives the vehicle-mounted component to move upward to a stall state and the position opening information is within a preset range, position correction is performed to reset the position opening information to 0%.
[0009] Furthermore, after obtaining the position opening information, it also includes: The learning and clearing is performed according to a first target operating condition, wherein the first target operating condition includes any one of the following: A deinitialization instruction is received; The position travel of the vehicle-mounted component during movement exceeds the total travel target range; The vehicle-mounted motor loses power or the MCU is reset; The anti-pinch function is triggered multiple times continuously within the second preset time.
[0010] Furthermore, after the vehicle-mounted motor loses power or the MCU is reset and learning is cleared, and after the anti-pinch function is triggered multiple times within the second preset time and learning is cleared, the method further includes: Position recovery is performed according to a second target operating condition, where the second target operating condition includes any one of the following: The on-board motor drives the on-board component to move downward until it is locked; Receive motor control instructions.
[0011] A second aspect of an embodiment of the present application provides a vehicle-mounted motor position management device, which is applied to a complex drive layer, including: A receiving module, used for receiving a position learning instruction, wherein the position learning instruction is used for learning the ripple number corresponding to each position between the fully closed position and the fully open position of the vehicle-mounted component driven by the vehicle-mounted motor; A first processing module, configured to drive the vehicle-mounted component to move to a fully closed position and a fully open position through the vehicle-mounted motor according to the position learning instruction; A first calculation module, used for obtaining a total stroke according to the total number of ripples of the vehicle-mounted motor during the movement of the vehicle-mounted component from the fully closed position to the fully open position; A second processing module, configured to drive the vehicle-mounted component to move to various positions between a fully closed position and a fully open position through the vehicle-mounted motor; A second calculation module is used to obtain the position travel of the vehicle-mounted component moving to each position according to the ripple number of the vehicle-mounted motor when the vehicle-mounted component is at each position; The third calculation module is used to obtain the position opening information according to the position stroke and the total stroke when the vehicle-mounted component moves.
[0012] A third aspect of an embodiment of the present application provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle motor position management method of the first aspect of the embodiment of the present application when executing the computer program.
[0013] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle-mounted motor position management method of the first aspect of an embodiment of the present application is implemented.
[0014] This application drives the vehicle-mounted components to move to the fully closed position and the fully open position through the vehicle-mounted motor according to the position learning instruction at the complex driving layer; obtains the total stroke according to the total number of ripples of the vehicle-mounted motor during the movement of the vehicle-mounted components from the fully closed position to the fully open position; drives the vehicle-mounted components to move to various positions between the fully closed position and the fully open position through the vehicle-mounted motor; obtains the position stroke of the vehicle-mounted components to various positions according to the number of ripples of the vehicle-mounted motor when the vehicle-mounted components are at various positions; obtains the position opening information according to the position stroke and total stroke when the vehicle-mounted components move. Triggered by learning instructions and completing corresponding learning actions at the complex driving layer, the execution level is unified, which helps to reduce the complexity and redundancy within the system and reduce maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0016] Figure 1 is a flowchart of the steps of the vehicle motor position management method proposed in one embodiment of the present application; Figure 2 is a schematic diagram of a vehicle motor position management architecture proposed in an embodiment of the present application; Figure 3 It is a schematic diagram of a complex drive of a ripple motor of a vehicle motor position management architecture proposed in an embodiment of the present application; Figure 4 It is a schematic diagram of an electronic device proposed in an embodiment of the present application. DETAILED DESCRIPTION
[0017] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0018] In order to improve the user experience, a large number of DC ripple motors or Hall motors are used in the automotive opening and closing system with automatic control functions, such as windows, sunroofs, electric tailgates, seats, etc. The automatic control of the opening and closing system is mostly based on position information. The position information is obtained by dividing the current stroke by the total stroke and then converting it to the opening range of 0%~100%. The total stroke is obtained by the learning function by counting the total number of motor ripples or Hall numbers when the opening and closing parts go from fully open to fully closed, or from fully closed to fully open. The current stroke is obtained by dynamically counting the number of ripples or Hall numbers during the motor movement period, and accumulating or subtracting them in real time.
[0019] Learning function, ripple or Hall counting belong to the category of position management. Since the position management principles of DC ripple motor and Hall motor are similar, the following description takes DC ripple motor as an example.
[0020] The learning function is mostly triggered by diagnostic instructions or specific switch operations. When learning, the previously stored learning information (such as learning status, total travel, position travel, etc.) is cleared first, and then specific learning actions (such as the window performs up and down actions) are performed to complete the travel and resistance learning. Some of the learning actions performed by the learning function are completed by the application layer, and some are passed from the application layer to the complex drive CDD, and the CDD completes the corresponding timing actions, that is, the execution level of the learning action is inconsistent (application layer or CDD), and the triggering method is not uniform (CDD learning requires the transmission of learning instructions).
[0021] The stroke can be obtained by counting the number of motor ripples. The number of ripples corresponds to the number of ripple cycles, and the ripple cycle corresponds to the ripple pulse width information. Taking the main driving window as an example, when the window is driven up and down without obstruction, the minimum ripple cycle is less than 10ms (such as: 2.1ms). In order to accurately collect the ripple cycle, the program task cycle must be less than 10ms, and most programs are implemented using "interrupt + 1ms task". Because there are many DC ripple motors used in the vehicle opening and closing system, it is necessary to increase the 1ms cycle task, thereby increasing the CPU program running load rate.
[0022] In addition, under the SOA (Service-Oriented Architecture) service architecture, the external controller of the actuator, which is a DC ripple motor or a Hall motor, strives to achieve hardware pluggability and plug-and-play functions. Plug-and-play requires that the motor position management function has a unified interface and unified functions. In order to unify the learning action execution level, unify the learning function, reduce the program running load rate, and be compatible with DC ripple motors and Hall motors, for the position management function, it is necessary to: unify the execution level (CDD level implementation); unify the learning interface, the application layer transmits the learning request information to the CDD layer; unify the motor parameter acquisition interface; unify the position management functions: ripple counting, automatic learning, manual learning, learning clearing, position correction, position recovery, storage management, etc.; reduce the CPU program running load rate.
[0023] Reference Figure 1 , Figure 1 1 is a flowchart of the steps of the vehicle motor position management method proposed in one embodiment of the present application. Figure 1 As shown, the method includes the following steps S11 to S16: Step S11: receiving a position learning instruction, wherein the position learning instruction is used to learn the ripple number corresponding to each position between the fully closed position and the fully open position of the vehicle-mounted component driven by the vehicle-mounted motor.
[0024] In this embodiment, the position learning instruction is a command sent from the application layer (upper software or user interface) received through a unified input interface, and is mainly used to learn the ripple number corresponding to each position between the fully closed position and the fully open position of the vehicle components (such as windows and sunroofs) driven by the vehicle motor. Position learning instructions include multiple types, each type corresponds to a different learning mode, for example, start learning: indicates the start of the position learning process, corresponding to different learning modes (such as automatic learning, manual learning); stop learning: interrupt the current position learning process; clear learning: clear all learned data and reset the system to an unlearned state.
[0025] Step S12: According to the position learning instruction, the vehicle-mounted component is driven by the vehicle-mounted motor to move to the fully closed position and the fully open position.
[0026] In this embodiment, the position learning instruction is parsed, and then a control signal is sent to the vehicle-mounted motor to instruct it to drive the vehicle-mounted component to move to the fully closed position and then move to the fully open position again.
[0027] Step S13: Obtaining a total stroke according to the total number of ripples of the vehicle-mounted motor during the movement of the vehicle-mounted component from the fully closed position to the fully open position.
[0028] In this embodiment, the CDD layer position management ripple counting method is: accumulation when the vehicle motor rotates forward, and subtraction when the vehicle motor rotates reversely. When the vehicle motor rotates forward, the ripple number is counted cumulatively according to the extracted and processed ripple signal, which means that every time a ripple event is detected (such as the peak or zero crossing point of the ripple signal), the counter will increase a certain value (such as 1). When the vehicle motor reverses, the counting method is opposite, that is, the cumulative subtraction is performed. In the process of the vehicle component moving from the fully closed position to the fully open position, the total number of ripples in the vehicle motor in motion is counted in real time.
[0029] Step S14: driving the vehicle-mounted component to move to various positions between the fully closed position and the fully open position via the vehicle-mounted motor.
[0030] In this embodiment, the position points that need to be sampled between the fully closed position and the fully open position are determined, and for each position point, a control signal can be used to instruct the vehicle-mounted motor to drive the vehicle-mounted component to move to the position.
[0031] Step S15: obtaining the position travel of the vehicle-mounted component to each position according to the ripple number of the vehicle-mounted motor when the vehicle-mounted component is at each position.
[0032] In this embodiment, after the total stroke is obtained, when the vehicle-mounted motor drives the vehicle-mounted component to move again, the ripple number of the vehicle-mounted motor when the vehicle-mounted component is at each position is counted by cumulative addition or cumulative subtraction operation. Among them, the change in the ripple number from the current position to a certain target position is the position stroke of the target position.
[0033] Step S16: obtaining position opening information according to the position travel and the total travel when the vehicle-mounted component moves.
[0034] In this embodiment, the position opening information of the vehicle-mounted component can be obtained by dividing the position stroke by the total stroke and converting it to an opening range of 1 to 101 (1: 0%, fully closed position; 101: 100%, fully open position).
[0035] According to steps S11 to S16, the position learning instruction sent by the application layer is received, and a specific learning action is performed at the CDD layer to obtain the total number of ripples of the opening and closing system from full open to full closed, or from full closed to full open, and count it as the total stroke; after obtaining the total stroke, when the vehicle motor moves again, the position stroke of the vehicle motor during movement can be obtained by accumulation or subtraction; according to the total stroke and position stroke, the position opening information is calculated. Specifically (taking the main driving window as an example), the learning action is performed according to the following steps: Step 1, clear learning information. First clear all learning information in NVM (Non-Volatile Memory), set the learning status to "unlearned", the maximum travel and position opening to "invalid", and drive the window motor to stop.
[0036] Step 2, drive the window motor to find the starting point of the trip count. Set the learning status to "trip learning in progress" and drive the window motor upward until it stops (window fully closed position), which is used as the starting point of the trip ripple count. If the window motor does not move upward or stops successfully within the preset target time, the trip count starting point fails, the window motor is immediately driven to stop, the learning status is set to "trip learning failure" and maintained for the first time (such as 200ms) and then reset to "not learned", and then exit self-learning; otherwise, continue to step 3.
[0037] Step 3, drive the window motor to find the end point of the travel count. Drive the window motor downward until it stops (window fully open position), which is used as the end point of the travel ripple count, and record the total number of ripples during the downward movement period. If the window motor does not move downward or stops successfully within the preset target time, the end point of the travel count fails, the window motor is immediately driven to stop, the learning state is set to "travel learning failure" and reset to "not learned" after the first time, and then exit self-learning; otherwise, continue to step 4.
[0038] Step 4: Check the stroke length of the total number of ripples (e.g., total number of ripples > minimum calibrated stroke, and total number of ripples < maximum calibrated stroke). If the check is successful, the stroke learning is successful, the total number of ripples is the total stroke, the position opening is set to 100% ("full open" position), and the learning status is notified to the outside that "stroke learning is successful", and then proceed to step 5.
[0039] Step 5: Resistance parameter learning. Drive the window motor upward, and calculate the position opening and resistance parameters in real time. The learning status is notified to the outside as "resistance learning in progress". If the upward movement position of the window motor reaches 0% ("fully closed" position) within the preset timeout range, the resistance learning is successful, and the outside is notified as "learning successful". When the learning status is "learning successful", the learning status, position opening, and total stroke are stored in NVM.
[0040] NVM has an efficient data storage and recovery mechanism. For example, after the MCU (microcontroller) is reset, during the system startup process, the previously stored learning information can be read from NVM within the first second of program running (such as 1s), and the system can be quickly restored to the last learning state, improving system availability and user experience.
[0041] In the complex drive layer, the present application drives the vehicle-mounted components to move to the fully closed position and the fully open position through the vehicle-mounted motor according to the position learning instruction; obtains the total stroke according to the total number of ripples of the vehicle-mounted motor during the movement of the vehicle-mounted components from the fully closed position to the fully open position; drives the vehicle-mounted components to move to various positions between the fully closed position and the fully open position through the vehicle-mounted motor; obtains the position stroke of the vehicle-mounted components to various positions according to the number of ripples of the vehicle-mounted motor when the vehicle-mounted components are at various positions; obtains the position opening information according to the position stroke and total stroke when the vehicle-mounted components are moving. Triggered by learning instructions and completing corresponding learning actions at the complex drive layer, the execution level is unified, which helps to reduce the complexity and redundancy within the system and reduce maintenance costs.
[0042] Furthermore, the method further comprises: Get motor information parameters; Encapsulating the motor information parameters into a motor information structure, and extending the motor information parameter members in the motor information structure into an array; Based on the motor information parameter member in the motor information structure, the ripple number corresponding to each position between the fully closed position and the fully open position of the vehicle-mounted component driven by the vehicle-mounted motor is recorded.
[0043] In this embodiment, the motor information parameters sent from the underlying hardware driver DRV (driver) layer are received through a unified input interface. The type of motor can be identified through a unified input interface, and the corresponding motor information parameters can be obtained according to the characteristics of the motor to achieve compatibility with different motors (such as ripple motors and Hall motors). The motor information parameters include at least: motor current, motor movement direction, pulse width, and ripple number, and the motor information parameters are encapsulated into a structure. Because the minimum pulse width of most motor ripples is below 10ms (such as: 2.1ms), the motor parameter acquisition task cycle is mostly set to 1ms in the program. However, the vehicle opening and closing system uses many DC ripple motors or Hall motors, which will inevitably lead to an increase in 1ms program tasks, thereby increasing the program operation load rate. Therefore, the motor parameter structure members are further extended to an array, as shown in Table 1, and the motor information acquisition task cycle can be adjusted from 1ms to 10ms, thereby reducing the program operation load rate.
[0044] Table 1. Information table of the position management motor information interface
[0045] Based on the motor information parameter members in the motor information structure, the ripple numbers corresponding to each position between the fully closed position and the fully open position of the vehicle-mounted components driven by the vehicle-mounted motor are recorded. Among them, the motor information is verified, and the ripple number statistics are performed under the condition that the motor information parameter members (motor direction Dir, ripple pulse width Width) meet the preset criteria and the motor ripple number (Num) meets the upward cumulative trend, that is, the validity of the motor ripple signal is verified.
[0046] Furthermore, the method further comprises: Within a first preset time, a resistance parameter of the vehicle-mounted motor driving the vehicle-mounted component to move from a fully open position to a fully closed position is recorded, and the resistance parameter is used for anti-pinch determination.
[0047] In this embodiment, during the first preset time, the resistance parameters, such as the resistance magnitude, of the vehicle-mounted components (such as vehicle windows) are recorded in real time by sensors and other equipment. The resistance parameters are used for anti-pinch determination and help determine the anti-pinch state of the motor. Through the resistance parameters, the system can more accurately determine whether the vehicle-mounted components have encountered a clamped object, thereby preventing the clamped object from being clamped or damaged.
[0048] Furthermore, the method further comprises: Detecting a target signal, wherein the target signal represents a signal generated by detecting a motion operation of the vehicle-mounted component; According to the target signal, monitoring whether the vehicle-mounted component satisfies a preset learning action, wherein the preset learning action includes: moving to a fully closed position and a fully open position, and moving to various positions between the fully closed position and the fully open position; When the vehicle-mounted component satisfies a preset learning action, the position opening information is obtained.
[0049] In this embodiment, the learning action is controlled by the application layer (such as manually operating the main driving window switch to drive the window up and down), and the position management function does not directly participate in the vehicle motor drive, but only monitors whether the vehicle motor movement satisfies the learning action. The target signal generated by the movement operation of the vehicle component can be detected, and the vehicle component can be monitored according to the target signal to see whether the preset learning action is met. The preset learning action includes: moving to the fully closed position and the fully open position, and moving to various positions between the fully closed position and the fully open position to realize the automatic learning function. Specifically (taking the main driving window as an example), monitoring is performed according to the following steps: Step 6, monitor the window motor moving upward to a stop (window fully closed position), and find the starting point of ripple counting; in the non-learning state, if it is detected that the main driving window moves upward and stops, the learning state is set to "trip learning" at this time, and further execute step 7; otherwise, continue monitoring.
[0050] Step 7, monitor the window motor moving downward to a stop (window fully open position), find the ripple counting end point, and count the total number of ripples during the movement period; if the window motor is not detected to move downward or to a stop within the preset target time, the learning status will notify the outside that "trip learning failed" and will be reset to "not learned" after the first time period, and then exit manual learning; otherwise, further execute step 8.
[0051] Step 8, stroke length verification. Perform stroke length verification on the total number of ripples (e.g., total number of ripples > minimum calibrated stroke, and total number of ripples < maximum calibrated stroke). If the verification is successful, the stroke learning is successful, the total number of ripples is the total stroke, the position opening is set to 100% ("full open" position), and the learning status is notified to the outside that "stroke learning is successful", and then proceed to step 9; otherwise, the stroke learning fails and exits manual learning.
[0052] Step 9, monitoring resistance learning. If the upward movement of the window motor is not detected within the preset target time, the resistance learning fails, the learning status is reset to "not learned", and the manual learning is exited; otherwise, the learning status is notified to the outside that "resistance learning is in progress", and the position opening and resistance parameters are calculated in real time. If the upward movement position of the window motor reaches 0% ("fully closed" position) within the preset timeout range, the resistance learning is successful, and the outside is notified that "learning is successful"; otherwise, the resistance learning fails, the learning status is reset to "not learned", and the manual learning is exited.
[0053] Furthermore, after obtaining the position opening information, it also includes: When the vehicle-mounted motor drives the vehicle-mounted component to move upward to a stall state and the position opening information is within a preset range, position correction is performed to reset the position opening information to 0%.
[0054] In this embodiment, stalling (motor stalling state) is when the vehicle motor is in operation, usually manifested as a sharp drop in the speed of the vehicle motor or even zero, while the current increases significantly. In this case, the position information of the vehicle motor may deviate due to mechanical or electrical reasons. When the vehicle motor learning state is "learning success", it encounters stalling during upward drive, and the position opening is greater than 0% and less than or equal to 2%, the position opening information is forced to be reset to 0% to achieve the position correction function. This ensures the accuracy and reliability of the motor control system under complex working conditions.
[0055] Furthermore, after obtaining the position opening information, it also includes: The learning and clearing is performed according to a first target operating condition, wherein the first target operating condition includes any one of the following: A deinitialization instruction is received; The position travel of the vehicle-mounted component during movement exceeds the total travel target range; The vehicle-mounted motor loses power or the MCU is reset; The anti-pinch function is triggered multiple times continuously within the second preset time.
[0056] In this embodiment, under the precondition of "learning success", according to the first target working condition, the learning state is reset from "learning success" to "not learning" or "position lost", realizing the learning clearing function, so that the system starts learning from the beginning or restores to a stable state after an abnormality occurs, avoiding further operation of erroneous data, etc. The first target working condition includes any of the following: Received a deinitialization command. If the self-learning command of the newly received position learning command is "deinitialization", the NVM learning information is cleared, the learning status is reset from "learning success" to "not learning", and the total stroke and position opening are set to "invalid".
[0057] The position travel of the vehicle-mounted component during movement exceeds the total travel target range. If the real-time position travel of the vehicle-mounted component exceeds a specific range of the total travel (e.g., 20%) during movement of the vehicle-mounted motor, the learning status is reset from "learning success" to "not learning", and the total travel and position opening are set to "invalid".
[0058] The vehicle motor loses power or the MCU is reset. If the vehicle motor loses power while in motion (e.g., when the main window is moving, the battery is unplugged and the power is lost) or the MCU is reset, when the MCU is powered on again, the learning status will be reset from "learning success" to "position loss", and the position opening will be set to "invalid".
[0059] If the anti-pinch function is triggered multiple times in succession within the second preset time (for example, twice), the learning status will be reset from "learning success" to "position loss" and the position opening will be set to "invalid".
[0060] Furthermore, after the vehicle-mounted motor loses power or the MCU is reset and learning is cleared, and after the anti-pinch function is triggered multiple times within the second preset time and learning is cleared, the method further includes: Position recovery is performed according to a second target operating condition, where the second target operating condition includes any one of the following: The on-board motor drives the on-board component to move downward until it is locked; Receive motor control instructions.
[0061] In this embodiment, after the vehicle motor loses power or the MCU is reset, the learning is cleared, and after the anti-pinch is triggered multiple times within the second preset time, the position is restored according to the second target working condition. That is, when the learning state is "position lost", the position is restored according to the second target working condition, the learning state is restored to "learning successful", and the position opening is set to 100%. The second target working condition includes any of the following: The on-board motor drives the on-board component to move downward and stall.
[0062] Upon receiving the motor control "semi-correction" instruction sent by the application layer, the position management function drives the on-board motor to move downward, and the learning status is set to "position correction in progress". If the on-board motor moves downward until it stops within the third preset time, the learning status is restored to "learning successful" and the position opening is set to 100%.
[0063] In the above embodiments of the present application, the position learning instruction and motor information are received through a unified input interface, and the motor information is encapsulated into a motor information structure, and the data type members in the motor information structure are extended into an array, and the corresponding learning actions are completed in the complex drive layer, and automatic learning, manual learning, learning clearing, position correction and position recovery are performed to obtain the learning status, total stroke, and position opening information. A unified and standardized design is achieved, and the position management function is unified, which is convenient for centralized management and expansion and transplantation, which can improve the motor compatibility and efficiency of the system, reduce the development difficulty and maintenance cost, and at the same time, the motor parameter structure members are extended into an array, which can reduce the program operation load rate.
[0064] Based on the same inventive concept, the embodiment of the present application provides a vehicle motor position management architecture, which is located at the complex drive layer and is mainly composed of three parts: input, control, and output. Figure 2The input information includes: motor information, motor stall status, motor anti-pinch status, position learning instructions, motor control instructions; the control part includes: ripple counting, automatic learning, manual learning, learning clearing, position correction, position recovery, storage management functions; the output information includes: learning motor control (position learning control), learning status, stroke length (total stroke), position opening.
[0065] Input part: unified learning instructions, motor control instructions, and motor information acquisition interface. Learning instructions and motor control instructions are issued by the application layer, and motor information is passed from the underlying hardware driver DRV layer to the CDD layer. Motor information parameters include: motor current, motor movement direction, pulse width, ripple number, etc. Its interface is encapsulated into a structure. At the same time, in order to reduce the program running load rate and take into account more accurate acquisition of motor ripple information, the motor parameter structure members are extended into an array. The motor stall state and anti-pinch state are determined by the corresponding independent algorithm module as position management input.
[0066] Control part: According to the information sent by the input part, the main functions of position management such as ripple counting, automatic learning, manual learning, learning clearing, position correction, position recovery, and storage management are realized. The position management function is mainly responsible for automatic or manual learning, as well as active or passive discarding, recovery, or correction of position information after learning. Unify the position management function and maximize the position management function to facilitate centralized management and expansion and transplantation. For the Hall motors or DC ripple motors that are preset to be controlled by the opening and closing system, they can be fixedly numbered. The position management function arrays the global variables and interfaces to achieve the effect of functional reuse.
[0067] Output part: Real-time output of learning status, total stroke, position opening, etc. Based on the output information, the corresponding position learning control can be calculated and participate in drive arbitration. Figure 3 During the drive arbitration, the priority is arbitrated in order from high to low, which is stall control, anti-pinch control, position learning control, and application layer motor control. After arbitration, the motor control interface is called to drive the motor forward, reverse, or stop.
[0068] Based on the same inventive concept, the embodiment of the present application provides a vehicle-mounted motor position management device, which is applied to a complex driving layer, including: A receiving module, used for receiving a position learning instruction, wherein the position learning instruction is used for learning the ripple number corresponding to each position between the fully closed position and the fully open position of the vehicle-mounted component driven by the vehicle-mounted motor; A first processing module, configured to drive the vehicle-mounted component to move to a fully closed position and a fully open position through the vehicle-mounted motor according to the position learning instruction; A first calculation module, used for obtaining a total stroke according to the total number of ripples of the vehicle-mounted motor during the movement of the vehicle-mounted component from the fully closed position to the fully open position; A second processing module, configured to drive the vehicle-mounted component to move to various positions between a fully closed position and a fully open position through the vehicle-mounted motor; A second calculation module is used to obtain the position travel of the vehicle-mounted component moving to each position according to the ripple number of the vehicle-mounted motor when the vehicle-mounted component is at each position; The third calculation module is used to obtain the position opening information according to the position stroke and the total stroke when the vehicle-mounted component moves.
[0069] Based on the same inventive concept, the present disclosure also provides an electronic device, referring to Figure 4 , Figure 4 Schematic diagram of an electronic device shown in an embodiment of the present disclosure. Figure 4 As shown, the electronic device 100 includes: a memory 110 and a processor 120. The memory 110 and the processor 120 are connected via a bus communication. A computer program is stored in the memory 110. The computer program can be run on the processor 120 to implement the steps in the vehicle motor position management method disclosed in the embodiment of the present disclosure.
[0070] Based on the same inventive concept, an embodiment of the present disclosure also provides a computer-readable storage medium. When the instructions in the computer-readable storage medium are executed by a processor of a computer device, the computer device can execute the steps in the vehicle motor position management method described in any of the above embodiments of the present application.
[0071] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.
[0072] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices, electronic devices, and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0073] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0074] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0075] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.
[0076] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.
[0077] The above is a detailed introduction to a vehicle-mounted motor position management method, device, equipment and storage medium provided by the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.
Claims
1. A vehicle motor position management method, characterized in that: Applied to complex driver layers, including: receiving a position learning instruction, wherein the position learning instruction is used to learn the number of ripples corresponding to each position between a fully closed position and a fully open position of an on-board component driven by an on-board motor; According to the position learning instruction, the vehicle-mounted component is driven by the vehicle-mounted motor to move to a fully closed position and a fully open position; Obtaining a total stroke according to the total number of ripples of the on-board motor during the movement of the on-board component from the fully closed position to the fully open position; The vehicle-mounted component is driven by the vehicle-mounted motor to move to various positions between the fully closed position and the fully open position; According to the ripple number of the vehicle-mounted motor when the vehicle-mounted component is at each position, the position stroke of the vehicle-mounted component moving to each position is obtained; The position opening information is obtained according to the position stroke and the total stroke when the vehicle-mounted component moves.
2. The vehicle-mounted motor position management method according to claim 1, characterized in that: The method further comprises: Get motor information parameters; Encapsulating the motor information parameters into a motor information structure, and extending the motor information parameter members in the motor information structure into an array; Based on the motor information parameter member in the motor information structure, the ripple number corresponding to each position between the fully closed position and the fully open position of the vehicle-mounted component driven by the vehicle-mounted motor is recorded.
3. The vehicle-mounted motor position management method according to claim 1, characterized in that: The method further comprises: Within a first preset time, a resistance parameter of the vehicle-mounted motor driving the vehicle-mounted component to move from a fully open position to a fully closed position is recorded, and the resistance parameter is used for anti-pinch determination.
4. The vehicle-mounted motor position management method according to claim 1, characterized in that: The method further comprises: Detecting a target signal, wherein the target signal represents a signal generated by detecting a motion operation of the vehicle-mounted component; According to the target signal, monitoring whether the vehicle-mounted component satisfies a preset learning action, wherein the preset learning action includes: moving to a fully closed position and a fully open position, and moving to various positions between the fully closed position and the fully open position; When the vehicle-mounted component satisfies a preset learning action, the position opening information is obtained.
5. The vehicle-mounted motor position management method according to claim 1, characterized in that: After obtaining the position opening information, it also includes: When the vehicle-mounted motor drives the vehicle-mounted component to move upward to a stall state and the position opening information is within a preset range, position correction is performed to reset the position opening information to 0%.
6. The vehicle-mounted motor position management method according to claim 1, characterized in that: After obtaining the position opening information, it also includes: The learning and clearing is performed according to a first target operating condition, wherein the first target operating condition includes any one of the following: A deinitialization instruction is received; The position travel of the vehicle-mounted component during movement exceeds the total travel target range; The vehicle-mounted motor loses power or the MCU is reset; The anti-pinch function is triggered multiple times continuously within the second preset time.
7. The vehicle-mounted motor position management method according to claim 6, characterized in that: After the vehicle motor loses power or the MCU is reset and learning is cleared, and after the anti-pinch function is triggered multiple times within the second preset time and learning is cleared, the method further includes: Position recovery is performed according to a second target operating condition, where the second target operating condition includes any one of the following: The on-board motor drives the on-board component to move downward until it is locked; Receive motor control instructions.
8. A vehicle-mounted motor position management device, characterized in that: Applied to complex driver layers, including: A receiving module, used for receiving a position learning instruction, wherein the position learning instruction is used for learning the ripple number corresponding to each position between the fully closed position and the fully open position of the vehicle-mounted component driven by the vehicle-mounted motor; A first processing module, configured to drive the vehicle-mounted component to move to a fully closed position and a fully open position through the vehicle-mounted motor according to the position learning instruction; A first calculation module, used for obtaining a total stroke according to the total number of ripples of the vehicle-mounted motor during the movement of the vehicle-mounted component from the fully closed position to the fully open position; A second processing module, configured to drive the vehicle-mounted component to move to various positions between a fully closed position and a fully open position through the vehicle-mounted motor; A second calculation module is used to obtain the position travel of the vehicle-mounted component moving to each position according to the ripple number of the vehicle-mounted motor when the vehicle-mounted component is at each position; The third calculation module is used to obtain the position opening information according to the position stroke and the total stroke when the vehicle-mounted component moves.
9. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle motor position management method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle-mounted motor position management method according to any one of claims 1 to 7 is implemented.