Vehicle control method and device and vehicle
By obtaining the switch status of the door where the car window is located, it determines whether to stop the window anti-clip strategy, which solves the problem of unnecessary window anti-clip execution caused by misjudgment in the prior art, and improves the accuracy of the window anti-clip strategy.
Patent Information
- Application Number
- CN202510079141.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-17
- Publication Date
- 2025-04-18
AI Technical Summary
The existing window anti-clip technology is prone to unnecessary execution of the window anti-clip process due to misjudgment, resulting in the window being unable to close normally.
When starting to trigger the window anti-clip policy, obtain the switch status of the door where the window is located, and decide whether to stop executing the window anti-clip policy based on this status.
It effectively reduces the risk of misjudgment of window anti-clip detection, improves the accuracy of window anti-clip strategy, and ensures that the windows can be closed normally.
Smart Images
Figure CN119843941A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of vehicles, and in particular to a vehicle control method, a vehicle control device and a vehicle. Background Art
[0002] To ensure user safety during window closing, vehicles are often equipped with a window anti-pinch function. If a foreign object such as a human hand is encountered during window closing, the window anti-pinch function is automatically executed, the window automatically rebounds, and the trapped object is actively released. Currently, the window anti-pinch function is mostly judged by current fluctuations, but in the actual use of the vehicle, the factors that cause current fluctuations are not only the situation where the window closing is blocked by a trapped object. In related technologies, other situations are easily misjudged as requiring the window anti-pinch function to be executed, resulting in the window anti-pinch process being executed unnecessary, which in turn causes the window to fail to close normally. Summary of the invention
[0003] The present application provides a vehicle control method, a control device and a vehicle to reduce the risk of misjudgment of window anti-pinch detection in the vehicle and improve the accuracy of the window anti-pinch strategy.
[0004] The present application provides a vehicle control method, comprising: obtaining the switch state of a door where the window is located when starting to trigger the execution of a window anti-pinch strategy; and controlling whether to stop executing the window anti-pinch strategy according to the obtained switch state of the door.
[0005] Optionally, whether to stop executing the window anti-pinch strategy is controlled according to the obtained switch state of the vehicle door, including: stopping executing the window anti-pinch strategy when the vehicle door changes from an open state to a closed state within a first preset time period.
[0006] Optionally, whether to stop executing the window anti-pinch strategy is controlled based on the obtained switch state of the vehicle door, including: within a first preset time period, when the vehicle door changes from an open state to a closed state, determining whether the window anti-pinch strategy is triggered by the change in the switch state of the vehicle door; when the window anti-pinch strategy is triggered by the change in the switch state of the vehicle door, stopping executing the window anti-pinch strategy.
[0007] Optionally, determining whether the window anti-pinch strategy is triggered by a change in the switch state of the door includes: obtaining fluctuations in the output current of the window motor during the period when the door changes from an open state to a closed state; and determining whether the window anti-pinch strategy is triggered by a change in the switch state of the door based on the fluctuations in the output current.
[0008] Optionally, whether the window anti-pinch strategy is triggered by the change in the switch state of the door is determined based on the fluctuation of the output current, including: if the fluctuation of the output current matches the first preset fluctuation feature under the high-impact door closing condition, then it is determined that the window anti-pinch strategy is triggered by the change in the switch state of the door; or, if the fluctuation of the output current does not match the second preset fluctuation feature under the low-impact door closing condition, then it is determined that the window anti-pinch strategy is triggered by the change in the switch state of the door.
[0009] Optionally, determining whether the window anti-pinch strategy is triggered by a change in the switch state of the door includes: obtaining motion parameters of the door during the period when the door changes from an open state to a closed state; and determining whether the window anti-pinch strategy is triggered by a change in the switch state of the door based on the motion parameters.
[0010] Optionally, the motion parameters include speed; determining whether the window anti-pinch strategy is triggered by the change of the switch state of the door based on the motion parameters includes: when the speed is greater than a speed threshold, determining that the window anti-pinch strategy is triggered by the change of the switch state of the door; and / or, the motion parameters include acceleration; determining whether the window anti-pinch strategy is triggered by the change of the switch state of the door based on the motion parameters includes: when the acceleration is greater than an acceleration threshold, determining that the window anti-pinch strategy is triggered by the change of the switch state of the door.
[0011] Optionally, after stopping executing the vehicle window anti-pinch strategy, the control method further includes: controlling the vehicle window to continue to execute the closing action.
[0012] Optionally, starting to trigger execution of the window anti-pinch strategy includes: obtaining an output current of a window motor during window closing; and starting to trigger execution of the window anti-pinch strategy when the output current meets a trigger condition of the window anti-pinch strategy.
[0013] The present application provides a vehicle control device, including one or more processors, for implementing the aforementioned vehicle control method.
[0014] The present application provides a vehicle, comprising: a vehicle window; a vehicle window motor for driving the vehicle window to move; a vehicle door; a vehicle door switch state detection device for detecting the switch state of the vehicle door; and the aforementioned control device, which is electrically connected to the vehicle window motor and the vehicle door switch state detection device.
[0015] By using the vehicle control method, control device and vehicle provided by the present application, when the window anti-pinch strategy is triggered, the switch state of the door where the window is located is obtained, and whether it is necessary to stop executing the window anti-pinch strategy is determined according to the switch state of the door. In this way, during the execution of the window anti-pinch strategy, the influence of the switch state of the door on the window anti-pinch demand detection during the window control process is taken into account, and the misjudgment is monitored in time, so that the window anti-pinch strategy is stopped in time, which is conducive to improving the accuracy of the window anti-pinch strategy. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 is a schematic diagram of the architecture of a vehicle provided by an embodiment of the present application;
[0017] Figure 2 is a schematic diagram of a vehicle control method provided by an embodiment of the present application;
[0018] Figure 3 is a schematic diagram of the position change of a vehicle window provided by an embodiment of the present application;
[0019] Figure 4 is a schematic diagram of the position change of a vehicle window provided by another embodiment of the present application;
[0020] Figure 5 is a schematic diagram of the position change of a vehicle window provided by another embodiment of the present application;
[0021] Figure 6 is a schematic diagram of a vehicle control method provided by another embodiment of the present application;
[0022] Figure 7 is a schematic diagram of a vehicle control method provided by another embodiment of the present application;
[0023] Figure 8 is a schematic diagram of a vehicle control method provided by another embodiment of the present application;
[0024] Figure 9-1 is a schematic diagram of current fluctuation of the output current of a window motor provided by an embodiment of the present application;
[0025] Figure 9-2 is a schematic diagram of current fluctuation of the output current of the window motor under high impact door closing conditions provided by an embodiment of the present application;
[0026] Figure 9-3 is a schematic diagram of current fluctuation of the output current of the window motor in a low-impact door closing condition provided by an embodiment of the present application;
[0027] Fig.10 It is a schematic diagram of a vehicle control method provided by another embodiment of the present application.
[0028] Reference numerals
[0029] 11: vehicle window; 12: vehicle window motor; 21: vehicle door; 22: vehicle door switch state detection device; 23: current detection device; 30: control device. DETAILED DESCRIPTION
[0030] Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings.
[0031] Combination Figure 1 As shown, an embodiment of the present application provides a vehicle, including: a vehicle window 11, a vehicle window motor 12, a vehicle door 21, a vehicle door switch state detection device 22, and a vehicle control device 30. Among them, the vehicle window motor 12 is used to drive the vehicle window 11 to operate, so that the vehicle window 11 is opened or closed. The vehicle door switch state detection device 22 is used to detect the switch state of the vehicle door 21. The vehicle control device 30 is electrically connected to the vehicle window motor 12 and the vehicle door switch state detection device 22, and is used to execute the following vehicle control method to realize the control of the vehicle window motor 12, and then realize the control of the operation of the vehicle window 11.
[0032] In at least some embodiments, the vehicle further includes a current detection device 23, which is electrically connected to the aforementioned control device 30 and the window motor 12. The current detection device 23 is used to monitor the fluctuation of the output current of the window motor 12. Specifically, in some embodiments, the current detection device 23 is used to detect the current waveform of the output current of the window motor 12; in some embodiments, the current detection device 23 is used to detect the amplitude of the output current of the window motor 12.
[0033] Combination Figure 2 As shown, an embodiment of the present application provides a vehicle control method including a control device applied to the aforementioned vehicle, and the vehicle control method includes steps S11 to S12.
[0034] Step S11, when the window anti-pinch strategy is triggered, the switch state of the door where the window is located is obtained.
[0035] The vehicle door here refers to the vehicle door where the window that currently triggers the execution of the window anti-pinch strategy is located.
[0036] Among them, in some embodiments, starting to trigger the execution of the window anti-pinch strategy includes: obtaining the output current of the window motor during the window closing process; when the output current meets the triggering condition of the window anti-pinch strategy, starting to trigger the execution of the window anti-pinch strategy. The window motor here is a motor used to drive the movement of the window in the vehicle. Further, in the case of driving different window movements in the vehicle by multiple motors, the window motor here is a motor used to drive the triggering window anti-pinch strategy. In this way, the basic judgment of the window anti-pinch demand can be achieved through the output current of the window motor. During the implementation process, the judgment process of whether the window anti-pinch strategy is met can be carried out based on parameters such as the rate of change of the output current and the value size.
[0037] The window anti-pinch strategy is to control the window reversal so that the window changes from a closing action to an opening action. More specifically, in some embodiments, the window is controlled to open a set distance; in some embodiments, the window is controlled to open to a fully open state. Figure 3This is an illustration of the window anti-pinch strategy. The window starts to close at point A, and the window anti-pinch strategy is triggered at point B. The window reverses to open and finally returns to the fully open state.
[0038] Step S12, controlling whether to stop executing the window anti-pinch strategy according to the obtained door opening and closing status.
[0039] Stopping the window anti-pinch strategy includes controlling the window to stop reversing, that is, stopping the opening action. Further, in some embodiments, after controlling the window to stop reversing, it also includes: controlling the window to continue to perform the closing action to continue the window closing process.
[0040] By adopting the vehicle control method provided by the embodiment of the present application, when the window anti-pinch strategy is triggered, the switch state of the door where the window is located is obtained, and whether it is necessary to stop executing the window anti-pinch strategy is determined according to the switch state of the door. In this way, during the execution of the window anti-pinch strategy, the influence of the switch state of the door on the window anti-pinch demand detection during the window control process is taken into account, and the misjudgment is monitored in time, so that the window anti-pinch strategy is stopped in time, which is conducive to improving the accuracy of the window anti-pinch strategy.
[0041] Furthermore, in some embodiments, after stopping the execution of the window anti-pinch strategy, the control method further includes: controlling the window to continue to execute the closing action. Figure 4 As shown, the window starts to close from point A, the window anti-pinch strategy is triggered at point B, and the window reverses to open. At point D, the window is controlled according to the obtained door switch state to stop executing the window anti-pinch strategy, stop opening and continue to reverse, and continue to close.
[0042] In some embodiments, after stopping the execution of the window anti-pinch strategy, the control method further includes: controlling the window to continue to perform the window raising action after a second preset time has passed after the window stops reversing. That is, setting an intermediate time when the window does not move provides time for data transmission and processing, and even if a misjudgment is caused by complex actual conditions, a buffer time can be left for the user to avoid damage. The second preset time is greater than 20ms.
[0043] The aforementioned Figure 3 , Figure 4 and Figure 5 Both represent the time when the window actually moves. In the actual implementation process, due to the processing efficiency and data scheduling performance of the control device, the change process of the actual control logic is often not completely consistent with the time when the window actually moves. For example, between point B and point D, the judgment process of whether to stop executing the window anti-pinch strategy has been completed. When the time reaches point D, the actual action of the window is finally realized. The time between point B and point D is greater than 50ms.
[0044] Combination Figure 6 As shown, an embodiment of the present application provides another vehicle control method, including step S21 and step S22.
[0045] Step S21, when the window anti-pinch strategy is triggered, the switch state of the door where the window is located is obtained.
[0046] Step S22, when the vehicle door changes from an open state to a closed state within a first preset time period, stop executing the vehicle window anti-pinch strategy.
[0047] When the door is closed, the window will shake relative to the guide rail used to fix the window, causing the output current of the window motor to change. If the door is detected to change from an open state to a closed state within the first preset time after the window anti-pinch strategy is triggered, it means that the window anti-pinch strategy is likely to be misjudged due to the window shaking caused by the door closing, so the window anti-pinch strategy is stopped. In this way, the situation where the window anti-pinch strategy is triggered by the change of the door switch state can be identified and eliminated in time, which is conducive to improving the accuracy of the window anti-pinch strategy.
[0048] Here, the first preset duration is set as a time interval to avoid the duration used to judge the change of the door switch state being too long, resulting in the judgment of the door switch state change that has no effect on the triggering of the window anti-pinch strategy after the window anti-pinch strategy is triggered for a long time, which is conducive to reducing the situation of false anti-pinch judgment errors. Exemplarily, in some embodiments, the value range of the first preset duration is 20ms to 250ms. In this way, setting the first preset duration within a certain time interval can avoid the duration being too short to miss the change of the door switch state, and avoid the duration being too long to consider the door switch state change process that is irrelevant to the window anti-pinch strategy judgment process into the false anti-pinch judgment, and finally play a technical effect of improving the accuracy of the window anti-pinch strategy execution. In addition, the door switch state itself is an accurately identifiable identification event, and the door switch state change can be accurately detected, and the change of the door switch state is used as the judgment standard for stopping the execution of the window anti-pinch strategy, which can achieve a logically concise and accurate judgment process.
[0049] Combination Figure 7 As shown, an embodiment of the present application provides another vehicle control method, including steps S31 to S33.
[0050] Step S31, when the window anti-pinch strategy is triggered to be executed, the switch state of the door where the window is located is obtained.
[0051] Step S32, when the vehicle door changes from an open state to a closed state within a first preset time period, determining whether the window anti-pinch strategy is triggered by a change in the switch state of the vehicle door.
[0052] Step S33, when the window anti-pinch strategy is triggered by a change in the switch state of the door, stop executing the window anti-pinch strategy.
[0053] When the embodiment of the present application detects that the vehicle door changes from an open state to a closed state, it further determines whether the current window anti-pinch strategy is triggered by the change in the switch state of the vehicle door. It can distinguish the situation that may occur during the implementation process that although the vehicle door changes from an open state to a closed state within the first preset time period after the window anti-pinch strategy is triggered, the opening process of the window is actually hindered and the window anti-pinch strategy needs to be executed. The window anti-pinch strategy is stopped only when the window anti-pinch strategy is triggered by the change in the switch state of the vehicle door, which is beneficial to improving the accuracy of the window anti-pinch strategy.
[0054] Here combined Figure 8 As shown, for step S32, when the vehicle door changes from an open state to a closed state within a first preset time period, determining whether the vehicle window anti-pinch strategy is triggered by a change in the switch state of the vehicle door is described in more detail. Step S32 includes step S3211 and step S3212.
[0055] Step S3211, obtaining the fluctuation of the output current of the window motor when the door changes from an open state to a closed state.
[0056] The window motor here is a motor used to drive the movement of the window in the vehicle. Further, in the case where multiple motors are used to drive the movement of different windows in the vehicle, the window motor here is a motor used to drive and trigger the window anti-pinch strategy.
[0057] In some embodiments, the fluctuation of the output current is specifically the waveform of the output current, which is conducive to ensuring that all characteristics of the output current are fully obtained. In some embodiments, the fluctuation characteristic of the output current is the amplitude change of the output current.
[0058] Step S3212, determining whether the window anti-pinch strategy is triggered by a change in the switch state of the door according to the fluctuation of the output current.
[0059] In this way, based on the change in the door switch state, it is further determined whether the window anti-pinch strategy is triggered by the change in the door switch state according to the fluctuation of the output current of the window motor during the period when the door changes from an open state to a closed state, that is, during the closing process of the door, which is conducive to improving the accuracy of the window anti-pinch strategy control.
[0060] Specifically, in some embodiments, determining whether the window anti-pinch strategy is triggered by the switch state change of the door according to the fluctuation of the output current includes: if the fluctuation of the output current matches the first preset fluctuation feature in the high-impact door closing situation, then determining that the window anti-pinch strategy is triggered by the switch state change of the door. High-impact door closing is a situation where the door closing process is too strong. In this case, the current fluctuation caused by the door closing will trigger the window anti-pinch strategy, that is, the current window anti-pinch strategy is triggered by the switch state change of the door.
[0061] During the implementation process, the fluctuation characteristics of the output current of the window motor in the high-impact door closing condition during the period when the door changes from an open state to a closed state are determined in advance through experiments, model training, simulation, etc., as the first preset fluctuation characteristics. The fluctuation of the output current of the window motor during the period when the door changes from an open state to a closed state actually obtained during the implementation process is compared and matched with the first preset fluctuation characteristics. If it can match the first preset fluctuation characteristics, it is determined that the current situation is that the window anti-pinch strategy is triggered by the change of the door switch state. At this time, the window closing process is actually not hindered, and the window anti-pinch strategy is a misjudgment. In this way, it is possible to accurately judge whether the window anti-pinch strategy is triggered by the change of the door switch state, which is conducive to improving the accuracy of the window anti-pinch strategy.
[0062] The first preset fluctuation characteristic is determined according to at least one of the structural setting of the vehicle window, the power supply parameters of the vehicle window motor, and the position information of the vehicle window. The structural setting of different vehicle windows, the power supply parameters of the vehicle window motor, and the position information of the vehicle window are different in different actual situations, and the first preset fluctuation characteristic in the current situation may also change accordingly.
[0063] The structural setting of the vehicle window is specifically the supporting structure of the vehicle window. The door frame guide rail generally serves as a guiding support structure for the movement of the vehicle window glass. Determining the first preset fluctuation characteristic according to the structural setting of the vehicle window includes: determining the first preset fluctuation characteristic according to the guide rail structure of the vehicle window. Compared with the double-sided guide rail structure, when the single-sided guide rail structure is adopted, the vehicle window glass is only constrained by the single-sided guide rail during the movement. When the door changes from an open state to a closed state, the vehicle window glass is impacted by the closing door, and the displacement and shaking in the door frame are more serious. The mechanical movement of the vehicle window glass is transmitted to the vehicle window motor through the transmission mechanism. Due to electromagnetic induction, the state of the motor rotor cutting the magnetic flux lines is relatively disordered, resulting in irregular fluctuations in the current, that is, the output current of the vehicle window motor has a relatively serious fluctuation. Under the double-sided guide rail structure, the double-sided guide rail provides double-sided stable limit for the vehicle window glass, the movement trajectory of the vehicle window glass is smoother, and the fluctuation of the output current of the vehicle window motor is relatively stable. Therefore, determining the first preset fluctuation characteristic based on the guide rail structure of the vehicle window is conducive to improving the accuracy of the first preset fluctuation characteristic that is finally determined, thereby improving the accuracy of the judgment process of whether the vehicle window anti-pinch strategy is changed by the door switch state, and further improving the accuracy of the vehicle window anti-pinch strategy.
[0064] The power supply parameters of the window motor include the vehicle voltage. Determining the first preset fluctuation characteristic according to the power supply parameters of the window motor includes: determining the first preset fluctuation characteristic according to the current vehicle voltage of the vehicle. As the basic power supply parameter of the vehicle electrical system, the vehicle voltage has a close correlation with the current amplitude. Even if the user's operation-related parameters are completely consistent during the door closing process, the fluctuation of the output current of the window motor is different under different vehicle voltages. Specifically, there is a positive correlation between the vehicle voltage and the current amplitude. More specifically, according to Ohm's law and the principle of electromagnetic induction of the motor, when the equivalent resistance and inductance of the window motor are relatively stable, when the vehicle voltage is high, the current amplitude passing through the window motor winding is large, which is reflected in the current waveform as a high current amplitude. On the contrary, the amplitude is low. Therefore, determining the first preset fluctuation characteristic according to the current vehicle voltage of the vehicle is conducive to improving the accuracy of the first preset fluctuation characteristic finally determined, thereby improving the accuracy of the judgment process of whether the window anti-pinch strategy is changed by the door switch state, and then improving the accuracy of the window anti-pinch strategy.
[0065] The position information of the vehicle window includes one or more of the position-related parameters such as the degree of closing of the vehicle window in the current closing process, the angle of the vehicle window when the vehicle door starts to close, etc. In this way, the accurate first preset fluctuation feature can be determined according to the actual position information of the vehicle window, thereby improving the accuracy of the judgment process of whether the vehicle window anti-pinch strategy is changed by the door switch state, thereby improving the accuracy of the vehicle window anti-pinch strategy.
[0066] In some embodiments, determining whether the window anti-pinch strategy is triggered by the change in the switch state of the door is determined based on the fluctuation of the output current, including: if the fluctuation of the output current does not match the second preset fluctuation feature under the low-impact door closing condition, then determining that the window anti-pinch strategy is triggered by the change in the switch state of the door. That is, the judgment of whether the window anti-pinch strategy is triggered by the change in the switch state of the door can also be achieved by calibrating the current fluctuation feature under the low-impact door closing condition during the process of the door changing from the open state to the closed state. If the fluctuation of the current output current does not match the second fluctuation feature of the output current under the low-impact door closing condition, it means that the door closing process at this time is a high-impact door closing process, and the window anti-pinch strategy is triggered by the change in the switch state of the door, which is a misjudgment caused by the door closing, and there is actually no need to execute the window anti-pinch strategy. In this way, it is conducive to ensuring the accuracy of the window anti-pinch strategy.
[0067] Among them, the fluctuation characteristics of the output current of the window motor in the low-impact door closing condition during the period when the door changes from the open state to the closed state are determined in advance through experiments, model training, simulation, etc., as the second preset fluctuation characteristics. Similar to the first preset fluctuation characteristics, the second preset fluctuation characteristics here are determined according to at least one of the structural setting of the window, the power supply parameters of the window motor and the position information of the window. The more specific influence relationship is similar to the above-mentioned first preset fluctuation characteristic determination process, which will not be repeated here.
[0068] Here, an exemplary description is given of the first preset fluctuation feature and the second preset fluctuation feature.
[0069] Figure 9-1 Figure 1 is a schematic diagram of the current waveform of the window motor during the window closing process. Peak A1 corresponds to the moment when the window motor starts to close the window. Peak B1 corresponds to the situation where the window closing process is hindered, resulting in an increase in current. In the implementation process, the number of revolutions of the window motor can represent the current position of the window glass.
[0070] If the number of revolutions of the window motor indicates that the window glass is completely closed or almost completely closed when the peak B1 is detected, it means that the peak B1 is caused by the contact between the window glass and the window fixing structure, which is a normal window closing process and there is no need to execute the window anti-pinch strategy. Here, almost completely closed means that the distance between the window glass and the window fixing structure is less than the set distance. In some embodiments, the set distance is 4 mm.
[0071] If when peak B1 is detected, the number of revolutions of the window motor indicates that the window glass has not been closed or has not reached an almost completely closed state, it means that peak B1 is caused by an obstacle other than the window fixing mechanism contacting during the closing process, or the window shaking due to the closing of the door, and the window anti-pinch strategy needs to be executed.
[0072] Experimental calculations found that Figure 9-2 As shown in the figure, during high impact door closing, when the door changes from an open state to a closed state, due to the shaking of the window glass, a trough C1 will appear before the peak B2 that triggers the window anti-pinch strategy. Figure 9-3 As shown in FIG, if the door is closed with low impact at this time, although the door state changes from open to closed, the low impact door closing situation cannot trigger the window anti-pinch strategy. The window anti-pinch strategy can only be triggered by encountering an obstacle. Figure 9-1 The current waveforms between the peaks A1 and B1 are similar in that there is no obvious trough between the peak A1 and the peak B3 that triggers the window anti-pinch strategy.
[0073] Therefore, in some embodiments, the trough is used to distinguish the first preset fluctuation feature from the second preset fluctuation feature. That is, the first preset fluctuation feature includes: there is a trough with an amplitude greater than the set amplitude between the first wave peak formed by the start of the window motor and the second wave peak that triggers the window anti-pinch strategy. The second preset fluctuation feature includes: there is no trough with an amplitude greater than the set amplitude between the first wave peak formed by the start of the window motor and the second wave peak that triggers the window anti-pinch strategy. In some embodiments, combined with Fig.10 As shown, the aforementioned step S32 includes step S3221 and step S3222.
[0074] Step S3221, obtaining the movement parameters of the door during the period when the door changes from an open state to a closed state.
[0075] The vehicle is provided with a motion monitoring device for detecting motion parameters of the vehicle door, which is electrically connected to the control device of the vehicle.
[0076] Step S3222, determining whether the window anti-pinch strategy is triggered by a change in the switch state of the door based on the motion parameters.
[0077] Here, another method for judging whether the window anti-pinch strategy is triggered by the switch state change of the door is provided. That is, directly monitoring the process during which the door changes from the open state to the closed state, that is, the movement parameters of the door during the closing process, can reflect the intensity of the current door closing process through the movement parameters, and then reflect the risk of the door closing process directly triggering the window anti-pinch strategy, so as to achieve the accuracy of the judgment process of whether the window anti-pinch strategy is triggered by the switch state change of the door.
[0078] Wherein, in some embodiments, the motion parameter includes speed. Determining whether the window anti-pinch strategy is triggered by the switch state change of the door according to the motion parameter includes: when the speed is greater than the speed threshold, determining that the window anti-pinch strategy is triggered by the switch state change of the door. That is, if the movement speed of the door during the closing process is too fast, it means that the current door closing process is more violent and easy to trigger the window anti-pinch strategy, so it is determined that the current window anti-pinch strategy is triggered by the switch state of the door. On the contrary, when the speed is less than or equal to the speed threshold, it is determined that the window anti-pinch strategy is not triggered by the switch state change of the door. The movement speed of the door during the closing process is slow, which means that the current door closing is relatively gentle, and the impact on the current fluctuation is relatively small, and it is not easy to trigger the window anti-pinch strategy, which means that the current window anti-pinch strategy is not caused by the change of the door state, but has an anti-pinch demand.
[0079] Here, a more specific description is made of the determination method of the speed threshold. In some embodiments, the first speed interval of the door under the condition that the closing process of the door is so violent that the current fluctuation caused by the closing process may be misjudged as the need to execute the window anti-pinch strategy, and the second speed interval of the door under the condition that the closing process of the door is relatively gentle and the closing process will not be misjudged as the need to execute the window anti-pinch strategy. Specifically, the closing process of the door with different speeds is simulated, and it is tested whether closing the door at the speed will trigger the window anti-pinch strategy to determine whether the current speed belongs to the first speed interval or the second speed interval. The speed boundary value that can distinguish the first speed interval and the second speed interval is used as the speed threshold. In some embodiments, the motion parameter includes acceleration. Determining whether the window anti-pinch strategy is triggered by the change of the switch state of the door according to the motion parameter includes: when the acceleration is greater than the acceleration threshold, determining that the window anti-pinch strategy is triggered by the change of the switch state of the door. That is, if the movement acceleration of the door during the closing process is too fast, it means that the current door closing process is relatively violent and easy to trigger the window anti-pinch strategy, so it is determined that the current window anti-pinch strategy is triggered by the switch state of the door. On the contrary, when the acceleration is less than or equal to the acceleration threshold, it is determined that the window anti-pinch strategy is not triggered by the change of the door's switch state. The door's movement acceleration during closing is small, indicating that the current door is closed gently, and the impact on current fluctuations is relatively small, which is not easy to trigger the window anti-pinch strategy, indicating that the current window anti-pinch strategy is not caused by the change of the door state, but has an anti-pinch demand.
[0080] Here, a specific description is made of the method for determining the acceleration threshold. In some embodiments, the first acceleration interval of the door is tested by experiments in which the door closing process is so violent that the current fluctuation caused by the door closing process may be misjudged as the need to execute the window anti-pinch strategy, and the second acceleration interval of the door is tested in which the door closing process is relatively gentle and the door closing process will not be misjudged as the need to execute the window anti-pinch strategy. Specifically, the door closing process with different accelerations is simulated, and it is tested whether closing the door with the acceleration will trigger the window anti-pinch strategy to determine whether the current acceleration belongs to the first acceleration interval or the second acceleration interval. The acceleration boundary value that can distinguish the first acceleration interval and the second acceleration interval is used as the acceleration threshold.
[0081] It is understandable that the speed threshold and the acceleration threshold may have different values for different vehicle models, door structures and different actual needs, and no restriction is made on the specific values of the speed threshold and the acceleration threshold here.
[0082] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
Claims
1. A vehicle control method, characterized in that: include: When the window anti-pinch strategy is triggered, the switch state of the door where the window is located is obtained; Whether to stop executing the window anti-pinch strategy is controlled according to the obtained switch state of the vehicle door.
2. The control method according to claim 1, characterized in that: The controlling whether to stop executing the window anti-pinch strategy according to the obtained switch state of the vehicle door comprises: Within a first preset time period, when the vehicle door changes from an open state to a closed state, the vehicle window anti-pinch strategy is stopped.
3. The control method according to claim 1, characterized in that: Controlling whether to stop executing the window anti-pinch strategy according to the obtained switch state of the door includes: Within a first preset time period, when the vehicle door changes from an open state to a closed state, determining whether the vehicle window anti-pinch strategy is triggered by a change in the switch state of the vehicle door; When the vehicle window anti-pinch strategy is triggered by a change in the switch state of the vehicle door, the vehicle window anti-pinch strategy is stopped.
4. The control method according to claim 3, characterized in that: The determining whether the vehicle window anti-pinch strategy is triggered by a change in the switch state of the vehicle door comprises: Obtaining fluctuations in output current of a window motor during a period in which the door changes from an open state to a closed state; Whether the vehicle window anti-pinch strategy is triggered by a change in the switch state of the vehicle door is determined according to the fluctuation of the output current.
5. The control method according to claim 4, characterized in that: The determining, according to the fluctuation of the output current, whether the window anti-pinch strategy is triggered by a change in the switch state of the door comprises: If the fluctuation of the output current matches the first preset fluctuation characteristic under the high-impact door closing condition, it is determined that the window anti-pinch strategy is triggered by the change in the switch state of the door; or If the fluctuation of the output current does not match the second preset fluctuation feature under the low-impact door closing condition, it is determined that the window anti-pinch strategy is triggered by the change in the switch state of the door.
6. The control method according to claim 3, characterized in that: The determining whether the vehicle window anti-pinch strategy is triggered by a change in the switch state of the vehicle door comprises: Obtaining movement parameters of the vehicle door during a period in which the vehicle door changes from an open state to a closed state; Determine whether the vehicle window anti-pinch strategy is triggered by a change in the switch state of the vehicle door according to the motion parameter.
7. The control method according to claim 6, characterized in that: The motion parameters include speed; The determining, according to the motion parameter, whether the vehicle window anti-pinch strategy is triggered by a change in the switch state of the vehicle door comprises: In the case where the speed is greater than a speed threshold, determining that the window anti-pinch strategy is triggered by a change in the switch state of the door; and / or The motion parameters include acceleration; The determining, according to the motion parameter, whether the vehicle window anti-pinch strategy is triggered by a change in the switch state of the vehicle door comprises: When the acceleration is greater than an acceleration threshold, it is determined that the vehicle window anti-pinch strategy is triggered by a change in the switch state of the vehicle door.
8. The control method according to claim 2 or 3, characterized in that: After stopping the execution of the vehicle window anti-pinch strategy, the control method further includes: The vehicle window is controlled to continue to execute the closing action.
9. The control method according to claim 1, characterized in that: The starting triggering of executing the window anti-pinch strategy includes: Obtain the output current of the window motor during the window closing process; When the output current meets the triggering condition of the vehicle window anti-pinch strategy, the vehicle window anti-pinch strategy is triggered and executed.
10. A vehicle control device, characterized in that: The method comprises one or more processors for implementing the vehicle control method as claimed in any one of claims 1 to 9.
11. A vehicle, characterized in that: include: Car windows; A window motor, used to drive the window to move; Car doors; A door switch state detection device, used to detect the switch state of the door; The control device as claimed in claim 10 is electrically connected to the window motor and the door switch state detection device.