Anti-pinch control method and device, storage medium, controller, vehicle and product
By obtaining the operating parameters of the motor, especially the torque, to perform anti-clip control in the window, the misjudgment problem of the anti-clip mechanism in the prior art is solved, and the accuracy and safety of anti-clip control are improved.
Patent Information
- Application Number
- CN202510146805.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-08
- Publication Date
- 2025-04-22
AI Technical Summary
The existing window anti-clip technology cannot accurately distinguish the window speed reduction caused by obstacles and the speed reduction caused by speed regulation function, resulting in misjudgment and insufficient accuracy of the anti-clip mechanism.
Anti-pinch control is performed by obtaining the operating parameters of the motor, including torque. The specific steps include obtaining the motor's torque during the window movement and determining whether the anti-clip function is triggered based on the torque changes.
It improves the accuracy of anti-pinch control and can more effectively distinguish window speed reduction caused by obstacles and speed regulation functions, thereby improving safety.
Smart Images
Figure CN119860123A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of anti-pinch control technology, and in particular to an anti-pinch control method, device, storage medium, controller, vehicle and product. Background Art
[0002] The window anti-pinch function is an important part of the vehicle safety system. Among the current window anti-pinch strategies, the Hall anti-pinch technology is relatively mature. In the Hall anti-pinch technology, when the window encounters an obstacle, the window will slow down and the pulse width of the Hall signal will become longer, thereby determining whether the anti-pinch mechanism is triggered.
[0003] Some car windows have a speed control function. Based on the speed control function, the car window will also slow down when it is about to move to the specified position, and the pulse width of the Hall signal will also become longer. At this time, the pulse width of the Hall signal will mistakenly determine that the anti-pinch mechanism is triggered. Therefore, the current method of triggering the anti-pinch mechanism cannot determine whether it is the obstacle that causes the car window to slow down or the speed control function that causes the car window to slow down. Therefore, the accuracy of the current method of triggering the anti-pinch mechanism needs to be improved. Summary of the invention
[0004] The embodiment of the present application provides an anti-pinch control method, which improves the accuracy of anti-pinch control and at least partially solves the above-mentioned technical problems.
[0005] In order to achieve the above object, according to a first aspect of the present application, an anti-pinch control method is provided, comprising:
[0006] In the process of driving the window of the target object to move by the motor, obtaining the operating parameters of the motor, wherein the operating parameters at least include the torque of the motor;
[0007] Anti-pinch control is performed on the above-mentioned windows based on the above-mentioned operating parameters.
[0008] Optionally, in the process of driving the window of the target object to move by the motor, obtaining the operating parameters of the motor includes:
[0009] During the process of driving the window of the target object to move by the motor, determining the movement state of the window;
[0010] In response to the movement state being a completed startup state, an operating parameter including the torque of the motor is acquired.
[0011] Optionally, the anti-pinch control of the window based on the operating parameters includes:
[0012] In response to the torque of the motor being greater than a preset torque, anti-pinch control is performed on the window based on the current of the motor.
[0013] Optionally, after determining the motion state of the window, the method further includes:
[0014] In response to the motion state being a starting state, obtaining the current of the motor;
[0015] Based on the current of the motor, the window is controlled to prevent pinching.
[0016] Optionally, based on the current of the motor, anti-pinch control is performed on the window, including:
[0017] In response to the current being greater than a preset current, the anti-pinch function of the window is triggered.
[0018] Optionally, in response to the current being greater than a preset current, triggering the anti-pinch function of the window includes:
[0019] In response to the current being greater than the preset current, the anti-pinch count is increased and updated;
[0020] In response to the updated anti-pinch count meeting the preset count condition, the anti-pinch function of the above-mentioned window is triggered.
[0021] Optionally, this embodiment also includes:
[0022] In response to the updated anti-pinch count not satisfying the preset count condition, the process returns to the step of determining the motion state of the window.
[0023] Optionally, this embodiment also includes:
[0024] In response to the torque of the motor being less than or equal to the preset torque, and / or the current being less than or equal to the preset current, the anti-pinch count is reduced and updated, and the step of determining the operating parameters including the torque of the motor is returned to be executed.
[0025] Optionally, this embodiment also includes:
[0026] Obtaining an initial preset torque and / or an initial preset current for the current position of the window;
[0027] Based on the temperature of the motor and / or the voltage of the motor, the initial preset torque and / or the initial preset current are adjusted to obtain the preset torque and / or the preset current.
[0028] Optionally, the adjusting process of the initial preset torque and / or the initial preset current based on the temperature of the motor and / or the voltage of the motor to obtain the preset torque and / or the preset current includes:
[0029] Filtering the temperature of the motor and / or the voltage of the motor to obtain a filtered temperature and / or a filtered voltage;
[0030] Based on the filtered temperature and / or the filtered voltage, the initial preset torque and / or the initial preset current are adjusted to obtain the preset torque and / or the preset current.
[0031] Optionally, the adjusting process of the initial preset torque and / or the initial preset current based on the temperature of the motor and the voltage of the motor to obtain the preset torque and / or the preset current includes:
[0032] Multiplying the temperature of the motor, the preset temperature coefficient, the voltage of the motor, the preset voltage coefficient and the initial preset torque to obtain the preset torque;
[0033] And / or, the temperature of the motor, the preset temperature coefficient, the voltage of the motor, the preset voltage coefficient and the initial preset current are multiplied to obtain the preset current.
[0034] Optionally, the obtaining of the initial preset torque and / or the initial preset current for the current position of the window comprises:
[0035] Based on the Hall signal obtained during the window movement, a target Hall sub-stroke is determined from the preset Hall sub-strokes;
[0036] Based on the target Hall sub-stroke, an initial preset torque and / or an initial preset current for the current position of the window is determined from at least two candidate preset torques and / or at least two candidate preset currents.
[0037] Optionally, in the process of driving the window of the target object to move by the motor, determining the motion state of the window includes:
[0038] In the process of driving the window of the target object to move by the motor, obtaining the running time of the motor;
[0039] Based on the running time, the motion state of the window is determined.
[0040] Optionally, obtaining the torque in the operating parameters of the motor includes:
[0041] Obtaining the rotation speed of the motor, the bus voltage and the bus current of the motor;
[0042] The torque of the motor is determined based on the rotational speed, the bus voltage and the bus current.
[0043] Optionally, in the process of driving the window of the target object to move by the motor, obtaining the operating parameters of the motor includes:
[0044] During the process of driving the window of the target object to move by the motor, determining the movement direction of the window;
[0045] In response to the movement direction being the target direction, the operation parameters of the motor are acquired.
[0046] Optionally, in the process of driving the window of the target object to move by the motor, determining the movement direction of the window includes:
[0047] Acquiring a Hall signal during the process of driving the window of the target object by the motor to move;
[0048] Based on the Hall signal, the movement direction of the window is determined.
[0049] Optionally, this embodiment also includes:
[0050] Based on the Hall signal, determining whether the position of the window is within a preset anti-pinch area;
[0051] In response to the movement direction being the target direction, obtaining the operating parameters of the motor includes:
[0052] In response to the movement direction being the target direction and the position of the window being a position within the preset anti-pinch area, the operating parameters of the motor are acquired.
[0053] Optionally, the target object is a vehicle.
[0054] According to a second aspect of the present application, there is provided an anti-pinch control device, comprising:
[0055] An acquisition module, used for acquiring operating parameters of the motor when the window of the target object is driven by the motor to move, wherein the operating parameters at least include the torque of the motor;
[0056] A control module is used to perform anti-pinch control on the above-mentioned window based on the above-mentioned operating parameters.
[0057] According to a third aspect of the present application, a computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the embodiments of the present application are implemented.
[0058] According to a fourth aspect of the present application, a controller is also provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the embodiments of the present application are implemented.
[0059] According to a fifth aspect of the present application, a vehicle is also provided, comprising the controller in an embodiment of the present application.
[0060] According to the sixth aspect of the present application, a computer program product is also provided, including a computer program or instructions, which implement the steps in the embodiments of the present application when executed by a processor.
[0061] To summarize, in the embodiment of the present application, when the window of the target object is driven by a motor to move, the operating parameters of the motor are obtained, and the operating parameters include at least the torque of the motor. Since the torque of the motor will increase when the window encounters an obstacle, the anti-pinch control of the window is performed based on the operating parameters, which can improve the accuracy of the anti-pinch control.
[0062] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS
[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.
[0064] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.
[0065] Figure 1 is a flowchart of the steps of an anti-pinch control method provided in an exemplary embodiment of the present application;
[0066] Figure 2 is a schematic diagram of the relationship between the speed of a vehicle and time provided in an exemplary embodiment of the present application;
[0067] Figure 3 is a schematic diagram of obtaining quadrature-axis current provided in an exemplary embodiment of the present application;
[0068] Figure 4 is a schematic diagram of determining a preset current and a preset torque provided in an exemplary embodiment of the present application;
[0069] Figure 5 is a schematic diagram of another anti-pinch control method provided in an exemplary embodiment of the present application;
[0070] Figure 6 is a schematic diagram of an anti-pinch control device provided in an exemplary embodiment of the present application. DETAILED DESCRIPTION
[0071] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.
[0072] This application provides a method for anti-pinch control. Figure 1 The anti-pinch control method provided in the embodiment of the present application includes steps 100 to 200, which are described in detail below. In this embodiment, a vehicle is used as an example for description and a vehicle is used as an execution subject for description.
[0073] Step 100 , in the process of driving the window of the target object to move by the motor, obtaining the operating parameters of the motor, where the operating parameters at least include the torque of the motor.
[0074] The target object refers to an object including a window, and its type can be set according to actual conditions. For example, the target object can be a vehicle, a room or a robot, which is not limited in this embodiment.
[0075] The movement of the window may refer to at least one of an upward movement, a downward movement, a forward movement, and a backward movement of the window (when the window is a skylight, the movement of the window may be a forward movement or a backward movement).
[0076] The type of motor can be set according to actual conditions. For example, the motor can be a DC motor or a vector controlled motor (Field-Oriented Control, FOC). The vector controlled motor can be, for example, a brushless DC motor (BrushlessDC Motor, BLDC) or a permanent magnet synchronous motor (Permanent Magnet Synchronous Motor, PMSM). This embodiment does not limit this.
[0077] The operating parameters of the motor refer to the parameters that describe the electrical or mechanical characteristics of the motor when the motor is driving the movement of the window. In addition to the torque of the motor, the parameter types included can be set according to actual conditions. For example, the operating parameters can also include the current of the motor, and the current of the motor can be the bus current or the cross-axis current of the motor. This embodiment is not limited here.
[0078] The torque of a motor is used to describe the motor's ability to drive a window.
[0079] Optionally, the vehicle may drive the window to move via a motor when receiving a window movement control instruction from the user, or the vehicle may determine that the window moves via a motor when detecting that a certain control condition is met.
[0080] Among them, the method of receiving the window motion control instruction can be set according to the actual situation. For example, the window motion control instruction can be obtained through voice or manual triggering by the user, which is not limited in this embodiment.
[0081] Since torque has a strong ability to adapt to the environment, its anti-interference ability is stronger than that of current (for example, factors such as motor aging cause current to easily fluctuate). Therefore, in this embodiment, the operating parameters include torque, and anti-pinch control is performed based on torque, which is equivalent to anti-pinch control based on current, which can improve the accuracy and reliability of anti-pinch control, thereby improving safety.
[0082] In some embodiments, the window may encounter obstacles when it moves in one direction, but may not encounter obstacles when it moves in another direction. For example, when the window is a window on a car door, the window may encounter obstacles when it moves upward, but will not encounter obstacles when it moves downward. For another example, when the window is a sunroof of a vehicle, the window may encounter obstacles when it moves forward, but will not encounter obstacles when it moves backward.
[0083] Therefore, in order to reduce the computing resources consumed by the vehicle in determining whether to trigger the anti-pinch control, in some embodiments, in the process of driving the window of the target object by the motor to move, the operating parameters of the motor are obtained, including:
[0084] In the process of driving the window of the target object to move by the motor, determining the movement direction of the window;
[0085] In response to the moving direction being the target direction, an operating parameter of the motor is acquired.
[0086] The target direction refers to the direction in which obstacles may be encountered. For example, when the window is a window on a door, the target direction is the upward direction of the window. When the window is a sunroof of a vehicle, the target direction is the forward direction of the window.
[0087] In this embodiment, in the process of driving the window of the target object to move by a motor, the movement direction of the window is determined, and in response to the movement direction being the target direction, the operating parameters of the motor are obtained, and in response to the movement direction not being the target direction, the operating parameters of the motor are not obtained. Therefore, when the movement direction is not the target direction, there is no need to perform anti-pinch control on the window based on the obtained operating parameters, thereby reducing the computing resources consumed by performing anti-pinch control on the window based on the obtained operating parameters.
[0088] In some embodiments, the method for determining the movement direction of the window can be set according to actual conditions. For example, a sensor can be installed near the window to determine the movement direction of the window through the sensor signal, or the movement direction of the window can be determined through a Hall signal.
[0089] When the moving direction of the window is determined by the Hall signal, in the process of driving the window of the target object to move by the motor, the moving direction of the window is determined, including:
[0090] Acquiring a Hall signal during the process of driving the window of the target object by the motor to move;
[0091] Based on the Hall signal, the direction of the window's movement is determined.
[0092] The Hall signal refers to the signal generated by the Hall sensor in the motor. When the vehicle drives the window of the target object to move by the motor, before obtaining the Hall signal, the self-learning of the Hall position of the window can be started, so as to determine the movement direction of the window based on the Hall signal later.
[0093] Self-learning of the Hall position of the window refers to establishing the relationship between the Hall signal and the window position. Since the level in the Hall signal will also periodically jump when the window position changes, the window position can be represented by the number of periodic jumps of the Hall signal level.
[0094] The following uses the window on the car door as an example to explain the self-learning of the Hall position of the window.
[0095] Control the window to rise until the motor is stalled for a first time, record the first number of periodic jumps of the Hall signal level at this time, and record the first number as the upper mechanical dead point;
[0096] The window is controlled to descend until the motor is stalled for the second time, and the second number of periodic jumps of the level of the Hall signal at this time is recorded, and the second number is recorded as the lower mechanical dead point.
[0097] The upper mechanical stop point refers to the position where the window is fully closed, and the lower mechanical stop point refers to the position where the window is fully opened. The first duration and the second duration can be set according to actual conditions, and the two can be the same or different. For example, the first duration and the second duration can both be 400ms, which is not limited in this embodiment.
[0098] Since we have learned the first number of periodic jumps of the level in the Hall signal when the window is fully closed and the second number of periodic jumps of the level in the Hall signal when the window is fully open, we can subsequently determine the position of the window based on the number of periodic jumps of the level in the Hall signal, the first number and the second number.
[0099] Since the position of the window can be determined based on the Hall signal, the movement direction of the window can be determined based on the change in the position of the window.
[0100] In this embodiment, in the process of driving the window of the target object to move by the motor, a Hall signal is obtained, and the movement direction of the window is determined based on the Hall signal, thereby achieving the determination of the movement direction of the window based on the Hall signal.
[0101] In some embodiments, the present embodiment further includes:
[0102] Based on the Hall signal, determining whether the position of the window is within a preset anti-pinch area;
[0103] In response to the movement direction being the target direction, the operation parameters of the motor are obtained, including:
[0104] In response to the movement direction being the target direction and the position of the window being a position in a preset anti-pinch area, the operating parameters of the motor are acquired.
[0105] The preset anti-pinch area can be an area set by the user according to actual needs. In this embodiment, based on the Hall signal, it is determined whether the position of the window is a position in the preset anti-pinch area and the movement direction of the window is determined. In response to the movement direction being the target direction and the position of the window being a position in the preset anti-pinch area, the operating parameters of the motor are obtained, so that when the movement direction is not the target direction and / or the position of the window is not a position in the preset anti-pinch area, there is no need to perform anti-pinch control on the window based on the obtained operating parameters, further reducing the computing resources consumed by performing anti-pinch control on the window based on the obtained operating parameters.
[0106] In some embodiments, the method of obtaining the torque in the operating parameters of the motor can be set according to actual conditions, and this embodiment does not limit this.
[0107] For example, obtaining the torque of the motor's operating parameters includes:
[0108] Obtain the motor speed, motor bus voltage and bus current;
[0109] The torque of the motor is determined based on the rotational speed, the bus voltage and the bus current.
[0110] When the motor is a vector motor, if the d-axis current is 0, the bus current may also be the quadrature-axis current.
[0111] Specifically, the torque can be determined based on the speed, bus voltage and bus current, and then the torque can be determined based on the torque. That is, the speed, bus voltage and bus current can be substituted into formula (1) for calculation to obtain the torque, and the torque can be substituted into formula (2) for calculation to obtain the torque:
[0112]
[0113] T=T n -A(2)
[0114] Among them, T n represents torque, K represents torque proportional coefficient, U bus Indicates bus voltage I bus represents bus current, n represents speed, T represents torque, and A represents torque intercept correction value.
[0115] In some embodiments, in the process of driving the window of the target object to move by the motor, obtaining the operating parameters of the motor includes:
[0116] In the process of driving the window of the target object to move by the motor, determining the movement state of the window;
[0117] In response to the motion state being a completed startup state, an operating parameter including a torque of the motor is acquired.
[0118] The relationship between the speed and time of a window operation cycle can be expressed as Figure 2 As shown, from Figure 2 It can be seen that in one operation cycle of the window, the window includes a startup phase, an acceleration phase, a uniform speed phase, and a deceleration phase. When the window is in the acceleration phase, the uniform speed phase, and the deceleration phase, it can be determined that the motion state of the window is the completed startup state.
[0119] During the startup phase, the current of the motor suddenly increases. However, at this time, the speed of the motor is relatively low, and the torque calculated based on the current and speed will be relatively large. If the window is directly controlled to prevent pinching based on the torque of the motor, misjudgment may occur. Therefore, in this embodiment, in the process of driving the window of the target object to move by the motor, the motion state of the window is determined, and in response to the motion state being the completed startup state, the operating parameters including the torque of the motor are obtained to further improve the accuracy of the anti-pinch control.
[0120] In some embodiments, after determining the motion state of the window, the method further includes:
[0121] In response to the motion state being a starting state, obtaining the current of the motor;
[0122] Based on the current of the motor, the window is controlled to prevent pinching.
[0123] The current of the motor may be a bus current or a quadrature axis current of the motor, which is not limited in this embodiment. When the window is in the starting stage, it indicates that the movement state of the window is in the starting state.
[0124] In this embodiment, in response to the movement state being the starting state, the current of the motor is obtained, and based on the current of the motor, anti-pinch control is performed on the window, so that anti-pinch control is also performed during the starting phase, and the coverage of the anti-pinch control is increased, so that the anti-pinch control can be performed comprehensively, and the accuracy of the anti-pinch control is further improved.
[0125] In some embodiments, during the process of driving the window of the target object to move by the motor, determining the movement state of the window includes:
[0126] In the process of driving the window of the target object by the motor to move, obtaining the running time of the motor;
[0127] Based on the running time, determine the motion state of the window.
[0128] Among them, since the start time of the motor can usually be preset, the motion state of the window can be determined according to the preset start time and the running time of the motor. Specifically, when the motion time is greater than the start time, the motion state of the window is determined to be the completed start state, and when the motion time is less than or equal to the start time, the motion state of the window is determined to be the starting state.
[0129] In this embodiment, when the window of the target object is driven by a motor to move, the running time of the motor is obtained, and the motion state of the window is determined based on the running time. This realizes determining the motion state of the window based on the running time of the motor, thereby improving the convenience of determining the motion state of the window.
[0130] Step 200, performing anti-pinch control on the window based on the operating parameters.
[0131] Among them, the anti-pinch function of the window may be triggered in response to the operating parameter satisfying the preset parameter condition, and the anti-pinch function of the window may not be triggered in response to the operating parameter not satisfying the preset parameter condition. The preset parameter condition is a condition indicating encountering an obstacle, which may be set according to the type of the operating parameter.
[0132] For example, when the operating parameters include torque, since the torque will increase when encountering an obstacle, the preset parameter condition may be greater than the preset torque. In this case, in response to the torque being greater than the preset torque, the anti-pinch function of the window is triggered, and in response to the torque being not greater than the preset torque, the anti-pinch function of the window is not triggered.
[0133] For another example, when the operating parameters include torque and current, since the torque and current will increase when encountering an obstacle, the preset parameter condition may be greater than a preset torque and greater than a preset current. In this case, in response to the torque being greater than the preset torque and the current being greater than the preset current, the anti-pinch function of the window is triggered, and in response to the torque being not greater than the preset torque and / or the current being not greater than the preset current, the anti-pinch function of the window is not triggered.
[0134] Since the torque increases when the window slows down due to an obstacle, and decreases when the window actively slows down, in this embodiment, the anti-pinch control of the window is performed based on the operating parameters including the torque. This can distinguish whether the slowing down of the window is caused by encountering an obstacle or is actively triggered by the window, thereby improving the accuracy of the anti-pinch control.
[0135] In some embodiments, in order to further ensure accuracy, anti-pinch control can also be performed according to the anti-pinch count. At this time, the process of anti-pinch control of the window based on the operating parameters can be:
[0136] In response to the torque being greater than the preset torque, the anti-pinch count is increased and updated;
[0137] In response to the updated anti-pinch count satisfying a preset count condition, the anti-pinch function of the window is triggered.
[0138] Alternatively, the process of controlling the window anti-pinch based on the operating parameters may also be:
[0139] In response to the torque being greater than a preset torque and the current being greater than a preset current, increasing and updating the anti-pinch count;
[0140] In response to the updated anti-pinch count satisfying a preset count condition, the anti-pinch function of the window is triggered.
[0141] The preset counting condition can be set according to actual conditions, for example, the preset counting condition is greater than the preset count, which is not limited in this embodiment. Increasing and updating can refer to increasing the anti-pinch count, and the increased value can be set according to actual conditions, for example, the increased value can be 1 or 2, which is not limited in this embodiment.
[0142] In this embodiment, the anti-pinch function of the window is triggered only when the torque is greater than the preset torque and the updated anti-pinch count meets the preset counting condition, or the anti-pinch function of the window is triggered only when the torque is greater than the preset torque and the current is greater than the preset current and the updated anti-pinch count meets the preset counting condition, thereby further improving the accuracy of anti-pinch control.
[0143] In some embodiments, anti-pinch control of a window is performed based on operating parameters, including:
[0144] In response to the torque of the motor being greater than the preset torque, anti-pinch control is performed on the window based on the current of the motor.
[0145] The current of the motor may be the bus current of the motor or the quadrature-axis current of the motor, which is not limited in this embodiment.
[0146] If the motor current is already included in the operating parameters, the window can be directly controlled to prevent pinching based on the current. If the motor current is not included in the operating parameters, in response to the motor torque being greater than the preset torque, the motor current is obtained, and then the window can be controlled to prevent pinching based on the motor current.
[0147] When the motor is a brushless DC motor and the current is the quadrature axis current of the motor, refer to Figure 3 , the process of obtaining the motor current may include:
[0148] Get the three-phase current of the motor;
[0149] According to the three-phase current, determine the α-axis current and the β-axis current in the orthogonal coordinate system;
[0150] Based on the α-axis current and the β-axis current, the direct-axis (d-axis) current and the quadrature-axis (q-axis) current in the rotating coordinate system are determined.
[0151] Among them, the α-axis current and β-axis current in the orthogonal coordinate system can be determined through Clarke transformation according to the three-phase current, and the direct axis (d-axis) current and quadrature axis (q-axis) current in the rotating coordinate system can be determined based on the α-axis current and β-axis current through Park transformation.
[0152] It should be noted that the direct-axis current may be assumed to be 0.
[0153] In this embodiment, in response to the torque of the motor being greater than the preset torque, anti-pinch control is performed on the window based on the current of the motor, thereby achieving anti-pinch control based on both the torque and the current, further improving the accuracy of the anti-pinch control.
[0154] In some embodiments, anti-pinch control of a window is performed based on the current of a motor, including:
[0155] In response to the current being greater than a preset current, an anti-pinch function of the window is triggered.
[0156] Among them, when the window is controlled for anti-pinch based on the current of the motor in response to the torque of the motor being greater than the preset torque, the window anti-pinch function is triggered only when the torque of the motor is greater than the preset torque and the current is greater than the preset current, further improving the accuracy of the anti-pinch control, and the anti-pinch control is performed by means of the preset torque and the preset current, which can improve the flexibility of the anti-pinch control. When the motion state is in the starting state, the current of the motor is obtained, and the window is controlled for anti-pinch based on the current of the motor, the window anti-pinch function is triggered in response to the current being greater than the preset current, which can ensure that the window anti-pinch function is triggered only when an obstacle is encountered, further improving the accuracy of the anti-pinch control.
[0157] In some embodiments, in response to the current being greater than a preset current, triggering an anti-pinch function of the window includes:
[0158] In response to the current being greater than the preset current, the anti-pinch count is increased and updated;
[0159] In response to the updated anti-pinch count satisfying a preset count condition, the anti-pinch function of the window is triggered.
[0160] Among them, the preset counting condition can be set according to the actual situation. For example, the preset counting condition is greater than the preset count. At this time, when the updated anti-pinch count is greater than the preset count, it is determined that the updated anti-pinch count meets the preset counting condition, which is not limited in this embodiment. Increasing the update can refer to increasing the anti-pinch count. The increased value can be set according to the actual situation. For example, the increased value can be 1 or 2, which is not limited in this embodiment.
[0161] Other factors besides encountering an obstacle may also cause the motor current to increase by a larger amount, but other factors only cause the current and / or torque to increase for a short period of time, for example, during the starting phase or acceleration phase, the current increases by a larger amount for a short period of time.
[0162] At this time, if the anti-pinch function of the window is triggered directly in response to the current being greater than the preset current, a misjudgment will occur. Therefore, in this embodiment, in response to the current being greater than the preset current, the anti-pinch count is increased and updated, and in response to the updated anti-pinch count meeting the preset counting condition, the anti-pinch function of the window is triggered, thereby avoiding the phenomenon of misjudgment of triggering the anti-pinch function due to the increase in current caused by other factors, thereby further improving the accuracy of anti-pinch control.
[0163] In some embodiments, the present embodiment further includes:
[0164] In response to the updated anti-pinch count not satisfying the preset count condition, the step of returning to determine the motion state of the window is executed.
[0165] In this embodiment, in response to the updated anti-pinch count not satisfying the preset count condition, the process returns to the step of determining the motion state of the window, thereby continuously determining whether to trigger the anti-pinch control and further improving safety.
[0166] In some embodiments, the present embodiment further includes:
[0167] In response to the torque of the motor being less than or equal to the preset torque and / or the current being less than or equal to the preset current, the anti-pinch count is updated and reduced, and the step of determining the operating parameters including the torque of the motor is returned to be executed.
[0168] Among them, the reduction update may refer to reducing the anti-pinch count, and the amplitude of each reduction of the anti-pinch count may be set according to actual conditions. For example, the amplitude of each reduction may be 1 or 2, which is not limited in this embodiment.
[0169] In this embodiment, in response to the torque of the motor being less than or equal to the preset torque, and / or the current being less than or equal to the preset current, the anti-pinch count is reduced and updated, and the step of determining the operating parameters including the torque of the motor is returned to further improve the accuracy of the anti-pinch control.
[0170] In some embodiments, the preset torque may be a preset initial preset torque, and / or the preset current may be a preset initial preset current.
[0171] In some embodiments, in order to further improve the accuracy of anti-pinch control, this embodiment further includes:
[0172] Obtaining an initial preset torque and / or an initial preset current for a current position of the window;
[0173] Based on the temperature of the motor and / or the voltage of the motor, the initial preset torque and / or the initial preset current are adjusted to obtain the preset torque and / or the preset current.
[0174] The temperature of the motor refers to the temperature of the motor at the current sampling time, and the voltage of the motor refers to the voltage of the motor at the current sampling time. The voltage of the motor may refer to the bus voltage of the motor.
[0175] In this embodiment, an initial preset torque and / or an initial preset current for the current position of the window are obtained, and the initial preset torque is adjusted based on the temperature of the motor and / or the voltage of the motor to obtain the preset torque, and / or the initial preset current is adjusted based on the temperature of the motor and / or the voltage of the motor to obtain the preset current, so that the initial preset torque and / or the initial preset current can be corrected at different temperatures and / or voltages, thereby improving the accuracy of the preset torque and / or preset current, thereby improving the accuracy of anti-pinch control.
[0176] In some embodiments, the initial preset torque and / or the initial preset current are adjusted based on the temperature of the motor and / or the voltage of the motor to obtain the preset torque and / or the preset current, including:
[0177] Filtering the temperature of the motor and / or the voltage of the motor to obtain a filtered temperature and / or a filtered voltage;
[0178] Based on the filtered temperature and / or the filtered voltage, the initial preset torque and / or the initial preset current are adjusted to obtain the preset torque and / or the preset current.
[0179] The method of filtering the temperature of the motor and / or the voltage of the motor can be set according to the actual situation. For example, the temperature of the motor and / or the voltage of the motor can be filtered by an exponential moving average filter and a first-order low-pass filter. This embodiment is not limited here.
[0180] When the temperature of the motor and / or the voltage of the motor are filtered by exponential moving average filtering, the voltage can be filtered by formula (3) and the temperature can be filtered by formula (4):
[0181]
[0182]
[0183] Among them, t represents the sampling time, w represents the filter coefficient, Represents the filtered voltage of the motor at sampling time t, V t represents the voltage of the motor at sampling time t, represents the filtered voltage of the motor at sampling time (t-1), Represents the filtered temperature of the motor at sampling time t, C t represents the temperature of the motor at sampling time t, Represents the filtered temperature of the motor at sampling time (t-1).
[0184] In this embodiment, the temperature of the motor and / or the voltage of the motor are filtered to obtain the filtered temperature and / or the filtered voltage. Based on the filtered temperature and / or the filtered voltage, the initial preset torque and / or the initial preset current are adjusted to obtain the preset torque and / or the preset current. Through the filtering process, the unexpected jitter of the voltage and / or the temperature during the operation of the motor and the resulting erroneous judgment of the anti-pinch control are reduced, thereby further improving the accuracy of the anti-pinch control.
[0185] In some embodiments, based on the temperature of the motor, the initial preset torque and / or the initial preset current are adjusted to obtain the preset torque and / or the preset current, including:
[0186] Multiplying the temperature of the motor, the preset temperature coefficient and the initial preset torque to obtain the preset torque;
[0187] And / or, the temperature of the motor, the preset temperature coefficient and the initial preset current are multiplied to obtain the preset current.
[0188] In some embodiments, the initial preset torque and / or the initial preset current are adjusted based on the voltage of the motor to obtain the preset torque and / or the preset current, including:
[0189] Multiplying the voltage of the motor, the preset voltage coefficient and the initial preset torque to obtain the preset torque;
[0190] And / or, multiplying the voltage of the motor, the preset voltage coefficient and the initial preset current to obtain the preset current.
[0191] In some embodiments, the initial preset torque and / or the initial preset current are adjusted based on the temperature of the motor and the voltage of the motor to obtain the preset torque and / or the preset current, including:
[0192] Multiplying the temperature of the motor, the preset temperature coefficient, the voltage of the motor, the preset voltage coefficient and the initial preset torque to obtain the preset torque;
[0193] And / or, the temperature of the motor, the preset temperature coefficient, the voltage of the motor, the preset voltage coefficient and the initial preset current are multiplied to obtain the preset current.
[0194] Among them, when filtering the temperature and / or voltage, the filtered temperature, the preset temperature coefficient, the filtered voltage, the preset voltage coefficient and the initial preset torque can be multiplied to obtain the preset torque, and the filtered temperature, the preset temperature coefficient, the filtered voltage, the preset voltage coefficient and the initial preset current can be multiplied to obtain the preset current.
[0195] Specifically, the temperature of the motor, the preset temperature coefficient, the voltage of the motor, the preset voltage coefficient and the initial preset torque can be substituted into formula (5) for calculation to obtain the preset torque, or the temperature of the motor, the preset temperature coefficient, the voltage of the motor, the preset voltage coefficient and the initial preset current can be substituted into formula (5) for calculation to obtain the preset current:
[0196] S p =K V ×V t ×K C ×C t ×S(5)
[0197] Among them, S P Indicates preset torque or preset current, S indicates initial preset torque or initial preset current, K V Indicates the preset voltage coefficient, K C Indicates the preset temperature coefficient.
[0198] In this embodiment, the temperature of the motor, the preset temperature coefficient, the voltage of the motor, the preset voltage coefficient and the initial preset torque are multiplied to obtain the preset torque, and / or the temperature of the motor, the preset temperature coefficient, the voltage of the motor, the preset voltage coefficient and the initial preset current are multiplied to obtain the preset current, thereby realizing the correction of the initial preset current and the initial preset torque according to the temperature and voltage.
[0199] According to the following Figure 4 , a process of determining a preset current and a preset torque is described.
[0200] At least two candidate preset torques and at least two candidate preset currents are obtained. The temperature of the motor and the voltage of the motor are obtained, the temperature and the voltage are filtered to obtain a filtered temperature and a filtered voltage, an initial preset torque and an initial preset current are determined from the at least two candidate preset torques and the at least two candidate preset currents, and the initial preset torque and the initial preset current are corrected according to the filtered temperature and the filtered voltage to obtain a preset torque and a preset current.
[0201] In some embodiments, the initial preset torque and the initial preset current for different positions of the window are different. Therefore, obtaining the initial preset torque and / or the initial preset current for the current position of the window includes:
[0202] Based on the Hall signal obtained during the window movement, a target Hall sub-stroke is determined from the preset Hall sub-strokes;
[0203] Based on the target Hall sub-travel, an initial preset torque and / or an initial preset current for the current position of the window is determined from at least two candidate preset torques and / or at least two candidate preset currents.
[0204] Among them, the Hall signal between the upper mechanical stop point and the lower mechanical stop point of the window can be evenly divided into N segments, each segment of the Hall signal can be called a preset Hall sub-stroke, and the initial preset torque and initial preset current corresponding to each preset Hall sub-stroke are different. N can be set according to actual conditions. For example, N can be 20 or 30, which is not limited in this embodiment.
[0205] After obtaining the current Hall signal, the target number of periodic level jumps in the current Hall signal is determined, and the preset Hall sub-stroke corresponding to the target number is determined. The preset Hall sub-stroke corresponding to the target number is the target Hall sub-stroke.
[0206] Specifically, the target Hall sub-stroke can be determined by formula (6):
[0207]
[0208] Among them, x represents the target number, L represents the Hall signal between the upper mechanical stop point and the lower mechanical stop point of the window, i represents the i-th preset Hall sub-stroke, and the i-th preset Hall sub-stroke is the target Hall sub-stroke.
[0209] It should be noted that when i is not an integer, the principle of rounding down can be followed. For example, if i is greater than 12 and less than 13, then i is 12.
[0210] After obtaining the target Hall sub-stroke, the vehicle can use the candidate preset torque and candidate preset current corresponding to the target Hall sub-stroke as the initial preset torque and initial preset current for the current position of the window.
[0211] For example, the target Hall sub-stroke is the i-th preset Hall sub-stroke, that is, the candidate preset torque and candidate preset current corresponding to the i-th preset Hall sub-stroke are used as the initial preset torque and initial preset current for the current position of the window.
[0212] In this embodiment, based on the Hall signal obtained during the movement of the window, a target Hall sub-stroke is determined from the preset Hall sub-stroke, and based on the target Hall sub-stroke, an initial preset torque and / or an initial preset current for the current position of the window are determined from at least two candidate preset torques and / or at least two candidate preset currents, so that different positions have different initial preset torques and initial preset currents, further improving the accuracy of the preset torque and preset current, thereby further improving the accuracy of anti-pinch control.
[0213] According to the following Figure 5 , the anti-pinch control provided in this application is further explained.
[0214] The window performs self-learning to determine whether the movement direction of the window is the target direction and whether the position of the window is in the preset anti-pinch area. If so, it determines whether the running time of the motor exceeds the start-up time. If so, it indicates that the movement state of the window is the completed start-up state. The motor speed, bus voltage and bus current of the motor are obtained. Based on the speed, bus voltage and bus current, the motor torque is determined. Based on the torque, the motor torque is determined to determine whether the motor torque is greater than the preset torque. If the motor torque is not greater than the preset torque, the anti-pinch count is reduced and updated, and the step of obtaining the motor speed, bus voltage and bus current of the motor is returned. If the motor torque is greater than the preset torque, the motor quadrature axis current is obtained.
[0215] If the running time of the motor does not exceed the starting time, it means that the movement state of the window is the starting state, and the quadrature-axis current of the motor is obtained.
[0216] Determine whether the quadrature axis current is greater than a preset current. If the quadrature axis current is greater than the preset current, the anti-pinch count is increased and updated, and it is determined whether the updated anti-pinch count meets the preset count condition. If so, the anti-pinch function of the window is triggered. If the updated anti-pinch count does not meet the preset count condition, return to the step of determining whether the movement direction of the window is the target direction and whether the position of the window is within the preset anti-pinch area.
[0217] If the quadrature axis current is not greater than the preset current, the anti-pinch count is reduced and updated, and the process returns to execute the step of obtaining the motor speed, the motor bus voltage, and the bus current.
[0218] If the movement direction of the window is not the target direction and / or the position of the window is not within the preset anti-pinch area, the anti-pinch count is cleared to 0.
[0219] The specific implementation method and corresponding beneficial effects of this embodiment can be specifically referred to the above method embodiment, and this embodiment will not be described in detail here.
[0220] As can be seen from the above, in the embodiment of the present application, in the process of driving the window of the target object to move by the motor, the operating parameters of the motor are obtained, and the operating parameters include at least the torque of the motor. Since the torque of the motor will increase when the window encounters an obstacle, the anti-pinch control of the window is performed based on the operating parameters, which can improve the accuracy of the anti-pinch control.
[0221] Figure 6 is a schematic diagram of the structure of an anti-pinch control device provided in an embodiment of the present application. Figure 6 , the anti-pinch control device may include an acquisition module 601 and a control module 602, wherein:
[0222] The acquisition module 601 is used to acquire the operating parameters of the motor when the window of the target object is driven by the motor to move. The operating parameters at least include the torque of the motor.
[0223] The control module 602 is used to perform anti-pinch control on the window based on the operating parameters.
[0224] Among them, the acquisition module 601 and the control module 602 can be used to execute the various steps in the embodiments corresponding to the above-mentioned anti-pinch control method respectively. For the specific implementation methods of these modules and more details, please refer to the corresponding method part, which will not be repeated here.
[0225] An embodiment of the present application also provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned mobile charging scheduling method.
[0226] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.
[0227] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) 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 device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing 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.
[0228] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising 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.
[0229] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing 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.
[0230] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0231] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.
[0232] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated communication signals and carrier waves.
[0233] In some embodiments, the present application also provides a controller on which a computer program is stored, and when the computer program is executed by a processor, the steps in the embodiments of the present application are implemented.
[0234] In some embodiments, the present application further provides a vehicle, including the controller in the embodiments of the present application. The vehicle may be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., and the present disclosure does not specifically limit this.
[0235] In some embodiments, the present application also provides a computer program product, including a computer program or instructions, which implement the steps in the embodiments of the present application when the computer program or instructions are executed by a processor.
[0236] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0237] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0238] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.
[0239] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.
Claims
1. An anti-pinch control method, characterized in that: include: In the process of driving the window of the target object to move by the motor, obtaining the operating parameters of the motor, wherein the operating parameters at least include the torque of the motor; The window is subjected to anti-pinch control based on the operating parameters.
2. The method according to claim 1, characterized in that: The step of obtaining the operating parameters of the motor during the process of driving the window of the target object to move by the motor includes: During the process of driving the window of the target object to move by the motor, determining the movement state of the window; In response to the movement state being a completed startup state, an operation parameter including the torque of the motor is acquired.
3. The method according to claim 2, characterized in that The anti-pinch control of the window based on the operating parameters includes: In response to the torque of the motor being greater than a preset torque, anti-pinch control is performed on the window based on the current of the motor.
4. The method according to claim 2, characterized in that: After determining the motion state of the window, the method further includes: In response to the motion state being a starting state, obtaining a current of the motor; The window is controlled to be anti-pinch based on the current of the motor.
5. The method according to any one of claims 3-4, characterized in that: Based on the current of the motor, the window is controlled to prevent pinching, including: In response to the current being greater than a preset current, an anti-pinch function of the window is triggered.
6. The method according to claim 5, characterized in that In response to the current being greater than a preset current, triggering the anti-pinch function of the window comprises: In response to the current being greater than a preset current, increasing and updating the anti-pinch count; In response to the updated anti-pinch count satisfying a preset count condition, the anti-pinch function of the window is triggered.
7. The method according to claim 6, characterized in that The method further comprises: In response to the updated anti-pinch count not satisfying the preset count condition, returning to the step of determining the motion state of the window.
8. The method according to claim 6, characterized in that The method further comprises: In response to the torque of the motor being less than or equal to the preset torque and / or the current being less than or equal to the preset current, the anti-pinch count is updated and reduced, and the step of determining the operating parameters including the torque of the motor is returned to be executed.
9. The method according to claim 5, characterized in that The method further comprises: obtaining an initial preset torque and / or an initial preset current for a current position of the window; Based on the temperature of the motor and / or the voltage of the motor, the initial preset torque and / or the initial preset current are adjusted to obtain the preset torque and / or the preset current.
10. The method according to claim 9, characterized in that The adjusting process of the initial preset torque and / or the initial preset current based on the temperature of the motor and / or the voltage of the motor to obtain the preset torque and / or the preset current includes: Filtering the temperature of the motor and / or the voltage of the motor to obtain a filtered temperature and / or a filtered voltage; Based on the filtered temperature and / or the filtered voltage, the initial preset torque and / or the initial preset current are adjusted to obtain the preset torque and / or the preset current.
11. The method according to claim 9, characterized in that The adjusting process of the initial preset torque and / or the initial preset current based on the temperature of the motor and the voltage of the motor to obtain the preset torque and / or the preset current includes: Multiplying the temperature of the motor, the preset temperature coefficient, the voltage of the motor, the preset voltage coefficient and the initial preset torque to obtain the preset torque; And / or, the preset current is obtained by multiplying the temperature of the motor, the preset temperature coefficient, the voltage of the motor, the preset voltage coefficient and the initial preset current.
12. The method according to claim 9, characterized in that The obtaining of an initial preset torque and / or an initial preset current for a current position of the window comprises: Determining a target Hall sub-stroke from preset Hall sub-strokes based on the Hall signal acquired during the movement of the window; Based on the target Hall sub-stroke, an initial preset torque and / or an initial preset current for the current position of the window is determined from at least two candidate preset torques and / or at least two candidate preset currents.
13. The method according to claim 2, characterized in that The step of determining the motion state of the window during the process of driving the window of the target object to move by the motor includes: In the process of driving the window of the target object to move by the motor, obtaining the running time of the motor; Based on the running time, the motion state of the window is determined.
14. The method according to claim 1, characterized in that Obtaining the torque in the operating parameters of the motor includes: Obtaining the rotation speed of the motor, the bus voltage and the bus current of the motor; The torque of the motor is determined based on the speed, the bus voltage, and the bus current.
15. The method according to claim 1, characterized in that The step of obtaining the operating parameters of the motor during the process of driving the window of the target object to move by the motor includes: During the process of driving the window of the target object to move by the motor, determining the movement direction of the window; In response to the movement direction being the target direction, an operating parameter of the motor is acquired.
16. The method according to claim 15, characterized in that The step of determining the movement direction of the window during the process of driving the window of the target object to move by the motor includes: Acquiring a Hall signal during the process of driving the window of the target object by the motor to move; Based on the Hall signal, the direction of movement of the window is determined.
17. The method according to claim 16, characterized in that The method further comprises: Based on the Hall signal, determining whether the position of the window is a position in a preset anti-pinch area; In response to the movement direction being the target direction, obtaining the operating parameters of the motor includes: In response to the movement direction being the target direction and the position of the window being a position in the preset anti-pinch area, the operating parameters of the motor are acquired.
18. The method according to claim 1, characterized in that The target object is a vehicle.
19. An anti-pinch control device, characterized in that: include: An acquisition module, used for acquiring operating parameters of the motor when the window of the target object is driven by the motor to move, wherein the operating parameters at least include the torque of the motor; A control module is used to perform anti-pinch control on the window based on the operating parameters.
20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 18 are implemented.
21. A controller having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 18 are implemented.
22. A vehicle, characterized in that: Comprising a controller as claimed in claim 21.
23. A computer program product, characterized in that The method comprises a computer program or instructions, which implement the steps of the method according to any one of claims 1 to 18 when executed by a processor.