Part anti-pinch control method and system, vehicle and electronic equipment

Abstract

The embodiment of the invention provides an anti-pinch control method and system for a part, a vehicle and electronic device.The method comprises the steps that in the current movement process of the part, the current state signal feature of the part is detected; target state signal features of the part are obtained, and the target state signal features are obtained by clustering at least one preset state signal feature and / or historical state signal features; based on the current state signal feature and the target state signal feature, whether the part triggers an anti-pinch function or not is determined; and under the condition that it is determined that the part triggers the anti-pinch function, the part is controlled to execute anti-pinch operation. The technical problem that the anti-pinch function of parts is poor is solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of signal processing technology, and in particular to a component anti-pinch control method, system, vehicle and electronic equipment. Background Art

[0002] In modern vehicle design, electric vehicle components such as windows, seats, and tailgates all need to apply anti-pinch functions during the opening, closing, or adjustment process to ensure the personal safety of passengers and the vehicle experience. The anti-pinch function is the key to ensuring the safe operation of electric vehicle components.

[0003] However, during vehicle use, sensor aging, changes in environmental factors, and wear and tear can cause the anti-pinch function to have poor stability, making it prone to misjudgment or missed judgments. Summary of the invention

[0004] The embodiments of the present application provide a component anti-pinch control method, device, electronic device and computer-readable storage medium, aiming to improve the technical problem that the component anti-pinch function has poor stability and is prone to misjudgment or missed judgment.

[0005] According to one aspect of the present application, a component anti-pinch control method is provided, comprising: detecting a current state signal feature of the component during a current movement of the component; acquiring a target state signal feature of the component, wherein the target state signal feature is obtained by clustering at least one preset state signal feature and / or a historical state signal feature, the preset state signal feature is a state signal feature of the component during a calibration process, and the historical state signal feature is a state signal feature of the component during a historical movement process that satisfies a preset condition; determining whether the component triggers an anti-pinch function based on the current state signal feature and the target state signal feature; and controlling the component to perform an anti-pinch operation when it is determined that the component triggers the anti-pinch function.

[0006] It is easy to notice that the preset state signal characteristics and / or historical state signal characteristics of the components are clustered, and the anti-pinch judgment benchmark is dynamically updated according to the usage of the components and environmental changes. Then, the obtained target state signal characteristics are compared with the current state signal characteristics to determine whether the component has triggered the anti-pinch function, thereby improving the judgment accuracy of the anti-pinch function. When the component triggers the anti-pinch function, the component is controlled to perform the anti-pinch operation, which can improve the accuracy and stability of the anti-pinch function. The anti-pinch function can thereby solve the technical problem that the anti-pinch function of the components is poor in stability and prone to misjudgment or missed judgment.

[0007] Furthermore, at least one preset state signal feature and / or historical state signal feature of a component is clustered to obtain a target state signal feature of the component, including: when it is determined that the blocking function and the anti-pinch function of the component have not been triggered during the historical movement, determining that the state signal feature of the component during the historical movement is the historical state signal feature.

[0008] In the above steps, by determining whether the stall or anti-pinch function is triggered during the historical movement process, whether the state signal characteristics during the historical movement process are historical state signal characteristics that can be used for clustering, and selecting the data source for clustering, thereby ensuring that the target state signal characteristics can accurately reflect the current system state and achieve the purpose of improving the accuracy of anti-pinch judgment.

[0009] Furthermore, the preset state signal feature includes preset feature values ​​detected respectively at multiple positions of the component within a preset position range; obtaining the target state signal feature of the component includes: clustering the preset feature values ​​corresponding to the same position in at least one preset state signal feature to obtain the first cluster center of the same position; and summarizing the first cluster centers of multiple positions to obtain the target state signal feature.

[0010] In the above steps, the signal features at each position are independently clustered to obtain the first cluster center by segmented clustering according to different positions, and then summarized to form the target state signal features, which can accurately describe the changes in signal features at different positions, thereby improving the sensitivity and adaptability of the anti-pinch function.

[0011] Furthermore, the preset state signal features all include preset feature values ​​detected respectively at multiple positions of the component within a preset position interval, and the historical state signal features include historical feature values ​​detected respectively at multiple positions of the component; obtaining the target state signal features of the component includes: replacing at least one preset state signal feature with the historical state signal feature to obtain at least one replaced state signal feature; clustering the feature values ​​corresponding to the same position in at least one replaced state signal feature to obtain a second cluster center at the same position; and summarizing the second cluster centers of multiple positions to obtain the target state signal features.

[0012] In the above steps, the preset state signal characteristics are replaced by historical characteristic values, and the anti-pinch judgment benchmark can be dynamically adjusted when the system ages or the environment changes. The second cluster center of each position reflects the latest signal characteristic status. The target state signal characteristics formed after aggregation are real-time adaptive, ensuring the consistency and stability of the anti-pinch function during vehicle use.

[0013] Furthermore, based on the current state signal characteristics and the target state signal characteristics, it is determined whether the component triggers the anti-pinch function, including: determining the current clamping force of the component based on the current state signal characteristics and the target state signal characteristics; when the current clamping force is less than or equal to the preset clamping force, determining that the component has not triggered the anti-pinch function; when the current clamping force is greater than the preset clamping force, determining that the component has triggered the anti-pinch function.

[0014] In the above steps, the current clamping force is compared with the preset clamping force, which realizes the quantitative judgment of the anti-pinch function, avoids the uncertainty and misjudgment caused by direct judgment based on signal characteristics, and improves the reliability and accuracy of the anti-pinch function.

[0015] Furthermore, based on the current state signal characteristics and the target state signal characteristics, the current clamping force of the component is determined, including: determining the current distance between the current state signal characteristics and the target state signal characteristics; performing differential and integral operations on the current distance and multiple historical distances to obtain the current clamping force of the component, wherein different historical distances are distances between different historical state signal characteristics and the target state signal characteristics, and different historical state signal characteristics have different detection times; comparing the current clamping force with the preset clamping force to determine whether the component triggers the anti-pinch function.

[0016] In the above steps, the fluctuation of signal characteristics is smoothed by differential and integral calculation methods, and the changing trend of the clamping force is accurately reflected, so that the anti-pinch function can be effectively activated even under slight resistance or low-speed operation, thereby improving the sensitivity and efficiency of the anti-pinch function.

[0017] Further, determining the target distance between the current state signal feature and the target state signal feature includes: determining the distance between the current state signal feature and different target signal features in the target state signal feature to obtain multiple distances; determining the minimum distance among the multiple distances to obtain the target distance.

[0018] In the above steps, by determining the minimum distance as the target distance, the influence of abnormal points in the signal characteristics on the anti-pinch judgment is avoided, ensuring that the anti-pinch function is started based on the real-time signal that is closest to the target state signal characteristics, thereby improving the robustness of the anti-pinch function.

[0019] Furthermore, the current distance and multiple historical distances are differentially and integrally calculated to obtain the current clamping force of the component, including: differentially calculating the current distance and the distances corresponding to two adjacent positions in the multiple historical distances to obtain multiple differential values; and integrating the multiple differential values ​​to obtain the current clamping force.

[0020] In the above steps, the rate of change of the signal characteristics is captured by differential operation, and these changes are accumulated using integral operation, thereby effectively filtering the signal noise, achieving an accurate estimation of the current clamping force, and ensuring the accurate triggering of the anti-pinch function.

[0021] Furthermore, based on the current state signal characteristics and the target state signal characteristics, it is determined whether the component triggers the anti-pinch function, including: when the current state signal characteristics are detected, the current position of the component is determined; when the current position is within a preset position range and the current position has not reached the soft stop point, it is determined whether the component triggers the anti-pinch function based on the current state signal characteristics and the target state signal characteristics.

[0022] In the above steps, the anti-pinch judgment is only started when the current position is within the preset position range and has not reached the soft stop point, avoiding unnecessary calculations and operations in the non-anti-pinch range, thereby saving resources and improving the response speed of the system.

[0023] According to another aspect of the present application, there is also provided an anti-pinch control system for components, including: a detection circuit, used to detect the current state signal characteristics of the component during the current movement of the component; an electronic controller, used to obtain the target state signal characteristics of the component, determine whether the component triggers the anti-pinch function based on the current state signal characteristics and the target state signal characteristics, and control the component to perform an anti-pinch operation when it is determined that the component triggers the anti-pinch function, wherein the target state signal characteristics are obtained by clustering at least one preset state signal characteristic and / or historical state signal characteristic, the preset state signal characteristic is the state signal characteristic detected by the component during the calibration process, and the historical state signal characteristic is the state signal characteristic of the component in the historical movement process adjacent to the current movement process that meets the preset conditions.

[0024] Furthermore, the preset state signal feature includes preset feature values ​​detected respectively at multiple positions of the component within a preset position range; the electronic controller includes: an extraction module, used to cluster the preset feature values ​​corresponding to the same position in at least one preset state signal feature to obtain the first cluster center of the same position, and to summarize the first cluster centers of multiple positions to obtain the target state signal feature.

[0025] Furthermore, the preset state signal features all include preset feature values ​​detected respectively at multiple positions of the component within a preset position range, and the historical state signal features include historical feature values ​​detected respectively at multiple positions of the component; the electronic controller includes: an update module, used to replace at least one preset state signal feature with the historical state signal feature to obtain at least one replaced state signal feature, clustering the feature values ​​corresponding to the same position in at least one replaced state signal feature to obtain a second cluster center of the same position, and summarizing the second cluster centers of multiple positions to obtain the target state signal feature.

[0026] According to another aspect of the present application, a vehicle is also provided, comprising an anti-pinch control system of the above-mentioned components. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of a component anti-pinch control method provided in one embodiment of the present application;

[0028] Figure 2 is a schematic diagram of an optional hardware principle based on a Hall sensor provided in an embodiment of the present application;

[0029] Figure 3 is a schematic diagram of an optional hardware principle based on ripple current provided in an embodiment of the present application;

[0030] Figure 4 is a flow chart of an optional anti-pinch control strategy provided in one embodiment of the present application;

[0031] Figure 5 is a flowchart of an optional adaptive function provided by an embodiment of the present application;

[0032] Figure 6 It is a schematic diagram of an anti-pinch control system for a component provided in one embodiment of the present application;

[0033] Figure 7 It is a schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] The following are some explanations of the terms in the application documents:

[0036] In this application, parts are various electrified parts in the vehicle, which may include but are not limited to electric windows, electric seats, electric tailgates, etc. Parts are usually driven by actuators and perform specific movements such as opening and closing, lifting and lowering, and moving forward and backward through actuators.

[0037] In this application, the anti-pinch function is an automatic protection mechanism designed to prevent possible pinching or squeezing accidents during the operation of the parts. When it is detected that the movement of the parts may cause pinching damage to passengers or objects, the anti-pinch function will automatically start to avoid or reduce potential damage.

[0038] In this application, the anti-pinch operation is a series of operations performed by the system to avoid or resolve the clamping event when the anti-pinch function is triggered. The anti-pinch operation may include but is not limited to: stopping the motor, running in reverse to release the clamped object, issuing an alarm signal, recording the event, etc.

[0039] In this application, the Hall signal is when the motor is running, the magnetic poles on the rotor change the magnetic field near the Hall sensor, thereby generating a pulse signal. The frequency and phase of these pulse signals can reflect the rotation speed and position of the motor.

[0040] In this application, the Hall sensor is a magnetic sensor based on the Hall effect, which is used to detect the strength of the magnetic field and convert it into an electrical signal. In the field of motor control, the Hall sensor can be installed inside the motor to detect the magnetic field changes of the motor rotor, thereby determining the position and speed of the motor.

[0041] In this application, ripple current refers to the current fluctuation caused by power supply voltage fluctuation or load change in the DC motor drive circuit. The magnitude of the ripple current is directly related to the operating state of the motor. For example, when the motor encounters a blockage, the ripple current will increase significantly.

[0042] In the present application, the ripple current acquisition module is used to measure the ripple current in the DC motor drive circuit, and can capture the current fluctuation when the motor is running. The ripple current acquisition module may include a current sensor, a differential amplifier, an A / D (Analog to Digital) converter and other devices, but is not limited thereto.

[0043] In this application, the soft stop point is a point set by the software or control system before the physical limit position of the component during movement. Beyond this point, the actuator will not continue to move, thereby avoiding damage caused by hard collision. For example, a car window will reach the soft stop point before it is fully closed. At this time, the system will slow down the movement of the car window and perform more precise control to prevent passengers from being pinched or the mechanism from being damaged.

[0044] In this application, the actuator motor is a key component in the component control system, which is used to drive the actuator (such as windows, tailgates, seats, etc.) to move. The working state and output torque of the actuator motor can be obtained by detecting its current, voltage, speed and other signal characteristics.

[0045] An anti-pinch control method for a component provided in an embodiment of the present application includes: detecting a current state signal feature of the component during a current movement process of the component; clustering at least one preset state signal feature and / or a historical state signal feature of the component to obtain a target state signal feature of the component, the historical state signal feature being a state signal feature detected by the component during a historical movement process adjacent to the current movement process; determining whether the component triggers an anti-pinch function based on the current state signal feature and the target state signal feature; and controlling the component to perform an anti-pinch operation when it is determined that the anti-pinch function has been triggered.

[0046] The anti-pinch control method for the above-mentioned components provided in the embodiment of the present application achieves the following technical effects: clustering the preset state signal characteristics and / or historical state signal characteristics of the components, dynamically updating the anti-pinch judgment benchmark according to the usage and environmental changes of the components, and then comparing the obtained target state signal characteristics with the current state signal characteristics to determine whether the component has triggered the anti-pinch function, thereby improving the judgment accuracy of the anti-pinch function. When the component triggers the anti-pinch function, the component is controlled to perform the anti-pinch operation, which can improve the accuracy and stability of the anti-pinch function, thereby solving the technical problem that the anti-pinch function of the components is poor in stability and prone to misjudgment or missed judgment.

[0047] Embodiment 1

[0048] The present application embodiment provides a component anti-pinch control method, please refer to Figure 1 , including the following steps:

[0049] Step S110: During the current movement of the component, the current state signal characteristics of the component are detected.

[0050] The current state signal characteristics in the above steps are state signal characteristics detected in real time during the current movement of the component, which can be used to determine whether the component is operating normally and whether there is a risk of clamping. The state signal characteristics are used to describe the state of the component during the movement process, and can reflect the operating state of the component, the position and speed of the component, etc., but the content that the state signal characteristics can reflect is not limited to this. The state signal characteristics can be characterized by the Hall pulse width detected by the Hall sensor, and can also be characterized by the ripple current amplitude detected by the ripple current acquisition module, but it is not limited to this.

[0051] In an optional embodiment, if the anti-pinch function of a component is implemented based on the hardware architecture of a Hall sensor, the current state signal characteristics of the component can be detected by a Hall sensor installed inside the component. Specifically, the running state of the motor is identified by the Hall sensor, and the running state of the motor includes but is not limited to the position and speed of the motor, etc., and then a Hall signal is generated based on the running state of the motor, and the ECU (Electronic Control Unit) is used to identify and analyze the Hall signal to obtain the current state signal characteristics of the component.

[0052] In another optional embodiment, if the anti-pinch function of the component is implemented based on the hardware architecture of the ripple current, the ripple current signal in the motor drive circuit can be collected in real time through the ripple current acquisition module, and the real-time position of the component and the current state of the motor can be calculated based on the ripple current signal, thereby obtaining the current state signal characteristics.

[0053] In another optional embodiment, an ultrasonic sensor can be used to detect the current state signal characteristics of the component. Specifically, the ultrasonic sensor can be installed at a key position of the component's motion path, such as the edge of a window or the inside of a door. During the current motion of the component, the ultrasonic sensor continuously emits sound wave pulses and receives pulses reflected from surrounding objects. The ECU analyzes the echo time difference fed back by the ultrasonic sensor and calculates the distance to potential obstacles, thereby determining the current state signal characteristics.

[0054] Step S120: Obtain target state signal characteristics of the component, wherein the target state signal characteristics are obtained by clustering at least one preset state signal characteristic and / or historical state signal characteristic, the preset state signal characteristic is the state signal characteristic of the component during the calibration process, and the historical state signal characteristic is the state signal characteristic of the component during the historical movement process that meets preset conditions.

[0055] The preset state signal characteristics in the above steps are state signal characteristics when the component is in an ideal state or a standard state. The preset state signal characteristics can be used as a standard reference for normal operation to determine whether the current state signal characteristics deviate from the normal range.

[0056] The historical status signal characteristics in the above steps are the status signal characteristics detected during the past movement of the components, which can reflect the operating status of the components at different time points, and help the system learn the natural aging and environmental changes of the components, so as to make more accurate decisions when judging whether to trigger the anti-pinch function.

[0057] The target state signal characteristics in the above steps are a group of highly representative state signal characteristics obtained by clustering analysis of preset state signal characteristics and / or historical state signal characteristics, and can be used as a basis for determining whether to trigger the anti-pinch function.

[0058] The calibration process in the above steps refers to the process of accurately measuring and setting the normal working state of the parts after the parts are produced or the vehicle is assembled. During the calibration process, the state signal characteristics of the parts under ideal or standard conditions, that is, the preset state signal characteristics, can be obtained.

[0059] The preset conditions in the above steps are pre-set conditions, which can be preset according to actual application conditions, and the specific content of the preset conditions is not limited here. For example, the preset condition can be that the component has not triggered the stall function and the anti-pinch function during the historical movement process.

[0060] In an optional embodiment, when executing the anti-pinch control method, at least one preset state signal feature and / or historical state signal feature may be first obtained, and the at least one preset state signal feature and / or historical state signal feature may be clustered to obtain the target state signal feature of the component. It should be noted that, when the component has just been used and no historical data has been generated, at least one preset state signal feature may be clustered to obtain the target state signal feature; and when the component has been put into use and historical data has been generated, at least one preset state signal feature and historical state signal feature may be clustered to obtain the target state signal feature.

[0061] When obtaining at least one preset state signal characteristic, the components in normal working state can be tested, different temperatures, load conditions and movement speeds can be set, and signal characteristics such as the Hall pulse width or ripple current amplitude generated by the electric components can be collected under different conditions, as well as the corresponding component position information to obtain the preset state signal characteristics.

[0062] When acquiring at least one historical state signal feature, the state signal features that meet the preset conditions can be collected during the use of the anti-pinch function to obtain the historical state signal features. The preset state signal features and / or historical state signal features may include but are not limited to the Hall pulse width or ripple current amplitude, as well as the position information of the components, etc.

[0063] When clustering, the preset state signal features and / or historical state signals can be grouped by position to form a column vector. Then, a clustering algorithm is used to analyze the column vector data of each position to identify the core data points, that is, the centroid. Among them, the clustering algorithm can be a K-means clustering algorithm, a hierarchical clustering algorithm, or a DBSCAN (Density-Based Spatial Clustering of Applications with Noise) algorithm, but is not limited to this. The centroid obtained by clustering can represent the average value of the signal characteristics during normal operation, and the centroids corresponding to multiple positions constitute the target state signal characteristics.

[0064] In another optional embodiment, a clustering operation may be performed on at least one preset state signal feature and / or historical state signal feature to obtain a target state signal feature, and the target state signal feature is stored in a database. When the anti-pinch control method is executed, the target state signal feature of the component may be obtained from the database storing the target state signal feature according to the type of the component.

[0065] Step S130: Determine whether the component triggers the anti-pinch function based on the current state signal characteristics and the target state signal characteristics.

[0066] In an optional embodiment, a threshold value can be set in advance, and the ECU compares the current state signal characteristics with the target state signal characteristics. If the deviation between the previous state signal characteristics and the target state signal characteristics exceeds the preset threshold value, it can be determined that the component triggers the anti-pinch function.

[0067] In another optional embodiment, an abnormality detection algorithm may be applied to determine whether the current state signal characteristic deviates from the normal range of the target state signal characteristic, and the abnormality detection algorithm may be an Isolation Forest algorithm or a Local Outlier Factor algorithm, but is not limited thereto. When the current state signal characteristic deviates from the normal range of the target state signal characteristic, it is determined that the component triggers the anti-pinch function.

[0068] In another optional embodiment, the clamping force of the component can be determined according to the current state signal characteristics and the target state signal characteristics. Then, the clamping force of the component is compared with a preset clamping force threshold, and when the clamping force of the component is greater than the preset clamping force threshold, it is determined that the component triggers the anti-pinch function.

[0069] Step S140: When it is determined that the component triggers the anti-pinch function, the component is controlled to perform an anti-pinch operation.

[0070] In an optional embodiment, when it is determined that a component triggers the anti-pinch function, the ECU starts an anti-pinch response program, sends an anti-pinch signal to the motor drive circuit, controls the motor to stop immediately, and then runs in reverse to quickly release the clamping condition.

[0071] In another optional embodiment, when it is determined that a component has triggered the anti-pinch function, the ECU adjusts the soft start parameters in the motor drive circuit to gradually decelerate the motor instead of stopping it immediately, thereby avoiding sudden stops that may cause additional impact on the clamped object and achieving the anti-pinch function.

[0072] It is easy to notice that the preset state signal characteristics and / or historical state signal characteristics of the components are clustered, and the anti-pinch judgment benchmark is dynamically updated according to the usage of the components and environmental changes. Then, the obtained target state signal characteristics are compared with the current state signal characteristics to determine whether the component triggers the anti-pinch function, thereby improving the judgment accuracy of the anti-pinch function. When the component triggers the anti-pinch function, the component is controlled to perform the anti-pinch operation, which can improve the accuracy and stability of the anti-pinch function, thereby achieving the technical effect of improving the performance of the anti-pinch function of the components and solving the technical problem of poor performance of the anti-pinch function of the components.

[0073] In an optional embodiment of the present application, when it is determined that the component has not triggered the stall function and the anti-pinch function during the historical movement process, the state signal characteristics of the component during the historical movement process are determined to be historical state signal characteristics.

[0074] The stall function in the above steps is a function used to deal with abnormal situations when the motor stops rotating or fails to rotate as expected due to excessive external resistance. During the up and down movement of automotive parts, if the motor current is detected to be abnormally high or the motor speed is abnormally low, it can be determined that the motor has encountered a physical obstacle, that is, a stall has occurred. To prevent motor damage or excessive force from causing safety problems, the control system will activate the stall function and perform operations such as immediately stopping the motor and rotating in the opposite direction to remove the obstacle.

[0075] In an optional embodiment, when the component does not trigger the stall function or the anti-pinch function during the historical movement process, the state signal characteristics during the historical movement process can be considered to be valid and normal. At this time, the state signal characteristics during the historical movement process are determined as historical state signal characteristics, and the historical state signal characteristics are clustered together with the preset state signal characteristics. This can more accurately reflect the current real state of the component, including possible wear, aging or environmental changes. Therefore, when the component does not trigger the stall function and the anti-pinch function during the historical movement process, the state signal characteristics of the component during the historical movement process can be determined as historical state signal characteristics that can be used for clustering.

[0076] In the above steps, by determining whether the stall or anti-pinch function is triggered during the historical movement process, whether the state signal characteristics during the historical movement process are historical state signal characteristics that can be used for clustering, and selecting the data source for clustering, thereby ensuring that the target state signal characteristics can accurately reflect the current system state and achieve the purpose of improving the accuracy of anti-pinch judgment.

[0077] In an optional embodiment of the present application, the preset state signal feature includes preset feature values ​​detected respectively at multiple positions of the component within a preset position range; obtaining the target state signal feature of the component includes: clustering the preset feature values ​​corresponding to the same position in at least one preset state signal feature to obtain the first cluster center of the same position; and summarizing the first cluster centers of multiple positions to obtain the target state signal feature.

[0078] The first cluster center in the above step is a typical value or average value of the signal feature in a normal state at a certain position obtained after clustering the signal values ​​of the preset state signal feature at the position.

[0079] In an optional embodiment, a target position is selected from multiple positions within a preset position interval, and multiple signal values ​​corresponding to the target position are selected from the preset state signal characteristics, these signal values ​​are regarded as a data set, and a preprocessing operation is performed on the data set. The preprocessing operation may include but is not limited to data cleaning, normalization, etc.

[0080] Then, a clustering algorithm is used to process the data set. The clustering algorithm is used to identify the patterns or concentrated areas in the data set, and similar signal values ​​are clustered together to form clusters. The center point of the cluster is used as the first cluster center.

[0081] Then, the other positions in the preset position interval are traversed, and the preset characteristic values ​​corresponding to the other positions are also clustered to obtain the first cluster center. The obtained multiple first cluster centers are summarized, and the first cluster center values ​​of each position in the preset position interval are arranged in position order to form a matrix to obtain the target state signal feature.

[0082] For example, the Hall pulse width data of normal opening and closing of n groups of parts at m positions can be obtained through calibration. Each position corresponds to a Hall pulse width, and each group of parts has m Hall pulse width data, which can be expressed as:

[0083] N i =[a1 a2…a m ];

[0084] Among them, N iRepresents the Hall pulse width data of the i-th group of parts, a1, a2, ..., a m Represents the specific Hall pulse width data in the i-th group of parts.

[0085] The Hall pulse width data of multiple groups of parts are combined into a sample matrix, and the preset state signal characteristics are characterized by the sample matrix. The preset state signal characteristics can be expressed as:

[0086]

[0087] Among them, S n is the preset state signal feature, N1, ..., N n Represents the Hall pulse width data of multiple groups of parts, It is the specific Hall pulse width data in each group of parts.

[0088] Then the preset state signal features are clustered. Specifically, S n Each column represents the Hall pulse width data of different groups at the same position. n Split m column vectors R i , then S n =[R1 R2…R m ], where R1, R2, R m All S n Column vector of .

[0089] In the column vector R i Select K data as the centroid to form the centroid matrix C j ,but There are m column vectors in total, so there are m centroid matrices. e1, e2, …, e k is the centroid matrix C j Calculate the column vector R i Data points and centroid matrix C j The distance between the centroids and the data points is assigned to the centroid set with the smallest distance. Calculate the column vector R i Data points and centroid matrix C j The formula for the distance to the centroid is as follows:

[0090]

[0091] Where d(x, c) is the column vector R i Data points and centroid matrix C j The distance of the centroid, R represents the column vector, C represents the centroid matrix, x j is the value of the feature vector x at the jth feature position, c j is the value of cluster center c at the jth feature position.

[0092] In all column vectors R i After all the data points in the matrix are divided into centroid sets, the matrix centroid is recalculated. The calculation formula is as follows:

[0093]

[0094] Among them, e i is the updated centroid, C τ is the set of all data points in cluster τ, length(C τ ) is the number of data points in cluster τ, and x is the data point in cluster τ.

[0095] Calculate the distance between the new centroid and the original centroid, and determine whether the distance between the front and rear centroids is less than the threshold. If it is less than the threshold, it means that the calculation has converged to the predetermined range. If it is not less than the threshold, it means that the centroid needs to be updated until the front and rear centroids are less than the threshold.

[0096] The centroid matrix C obtained by updating the centroid j As the first cluster center, multiple first cluster centers are summarized, that is, the centroid matrix C obtained by updating the centroid j Splice and get the standard centroid matrix P j , which is the target state signal feature. The target state signal feature can be expressed as:

[0097]

[0098] Among them, P j is the target state signal feature, C1, C2, …, C m are multiple centroid matrices, is the centroid data in the centroid matrix.

[0099] In the above steps, the signal features at each position are independently clustered to obtain the first cluster center by segmented clustering according to different positions, and then summarized to form the target state signal features, which can accurately describe the changes in signal features at different positions, thereby improving the sensitivity and adaptability of the anti-pinch function.

[0100] In an optional embodiment of the present application, the preset state signal features all include preset feature values ​​detected respectively at multiple positions of the component within a preset position range, and the historical state signal features include historical feature values ​​detected respectively at multiple positions of the component; obtaining the target state signal features of the component includes: replacing at least one preset state signal feature with the historical state signal feature to obtain at least one replaced state signal feature; clustering the feature values ​​corresponding to the same position in at least one replaced state signal feature to obtain a second cluster center at the same position; and summarizing the second cluster centers of multiple positions to obtain the target state signal features.

[0101] The second cluster center in the above step is a typical value or average value of the signal feature in the normal state at a certain position obtained after clustering the replaced state signal feature.

[0102] In an optional embodiment, the purpose of replacing at least one preset state signal feature with a historical state signal feature is to dynamically update the signal feature database to reflect the real state of the components over time. During the long-term use of the vehicle, the wear and aging of the components or the changes in environmental conditions will cause the signal features of the vehicle to change when it is in motion. Therefore, it is necessary to update the vehicle's understanding of normal signal features regularly or according to conditions to adapt to such changes.

[0103] The collected historical state signal features are added to the preset state signal features to obtain a fused data set. Based on the fused data set, the data point with the earliest timestamp can be determined as the oldest data point by comparing the timestamps of data collection, and the oldest data point in the preset state signal features can be removed, while keeping the size and representativeness of the fused data set unchanged, so as to replace the preset state signal features with the historical state signal features, and obtain at least one replaced state signal feature.

[0104] Then, the feature values ​​corresponding to the same position in at least one replaced state signal feature are clustered, and the center point of each cluster is calculated to obtain a second cluster center. Then, multiple positions within the preset position interval are traversed to respectively determine multiple second cluster centers corresponding to the multiple positions. The second cluster centers of the multiple positions are summarized to obtain the target state signal feature.

[0105] In the above steps, the preset state signal characteristics are replaced by historical characteristic values, and the anti-pinch judgment benchmark can be dynamically adjusted when the system ages or the environment changes. The second cluster center of each position reflects the latest signal characteristic status. The target state signal characteristics formed after aggregation are real-time adaptive, ensuring the consistency and stability of the anti-pinch function during vehicle use.

[0106] In an optional embodiment of the present application, whether a component triggers an anti-pinch function is determined based on current state signal characteristics and target state signal characteristics, including: determining the current clamping force of the component based on the current state signal characteristics and the target state signal characteristics; when the current clamping force is less than or equal to the preset clamping force, determining that the component has not triggered the anti-pinch function; when the current clamping force is greater than the preset clamping force, determining that the component has triggered the anti-pinch function.

[0107] The current clamping force in the above steps is the magnitude of the force actually acting on the moving mechanism during the movement of the component.

[0108] The preset clamping force in the above steps is a pre-set clamping force, which can be regarded as a threshold value, and the value can be adjusted according to the actual application situation. The specific value of the preset clamping force is not limited here.

[0109] In an optional embodiment, the difference between the current signal feature and the target state signal feature can be calculated, wherein the difference between the current signal feature and the target state signal feature can be characterized by a measure of signal strength or rate of change. Then, the difference in signal features is converted into an estimated value of the current clamping force through a preset conversion relationship, and the estimated value is used as the current clamping force of the component. The preset conversion relationship can be a differential calculation followed by integration, but is not limited thereto.

[0110] Since the activation of the anti-pinch function requires judging whether the motion mechanism encounters a greater resistance than in normal operation, it is necessary to set a preset clamping force, and use the preset clamping force as the activation threshold of the anti-pinch function. When the current clamping force detected is less than or equal to the preset clamping force, it means that the motion mechanism has not encountered any resistance beyond expectations and is in normal operation, so there is no need to activate the anti-pinch function; when the current clamping force is greater than the preset clamping force, it means that the motion mechanism has encountered an abnormally large resistance and may have clamped an object. At this time, the anti-pinch function needs to be activated to reverse the movement of the parts or stop them to release the objects that may be clamped to avoid further damage or danger.

[0111] In the above steps, the current clamping force is compared with the preset clamping force, which realizes the quantitative judgment of the anti-pinch function, avoids the uncertainty and misjudgment caused by direct judgment based on signal characteristics, and improves the reliability and accuracy of the anti-pinch function.

[0112] In an optional embodiment of the present application, the current clamping force of the component is determined based on the current state signal characteristics and the target state signal characteristics, including: determining the current distance between the current state signal characteristics and the target state signal characteristics; performing differential and integral operations on the current distance and multiple historical distances to obtain the current clamping force of the component, wherein different historical distances are the distances between different historical state signal characteristics and the target state signal characteristics, and different historical state signal characteristics have different detection times; comparing the current clamping force with the preset clamping force to determine whether the component triggers the anti-pinch function.

[0113] The current distance in the above steps is the difference between the current state signal characteristics and the target state signal characteristics during the current movement of the component. The current distance reflects the deviation between the current movement state and the normal operating state.

[0114] In an optional embodiment, the detected current state signal feature is compared with the target state signal feature, and the distance between the two is calculated to obtain the target distance. The target distance can be a direct difference in signal feature values ​​or a distance in a higher dimensional feature space.

[0115] The difference between the current distance and multiple historical distances is calculated to obtain a differential value that can reflect the rate of change of the clamping force. The differential value is then integrated within the time window to obtain an integral value. The integral value reflects the cumulative change of the clamping force over a period of time and can approximately represent the current clamping force. Therefore, the integral value can be used as the current clamping force.

[0116] Then the current clamping force is compared with the preset clamping force, and when the current clamping force is greater than the preset clamping force, it is determined that the component triggers the anti-pinch function.

[0117] In the above steps, the fluctuation of signal characteristics is smoothed by differential and integral calculation methods, and the changing trend of the clamping force is accurately reflected, so that the anti-pinch function can be effectively activated even under slight resistance or low-speed operation, thereby improving the sensitivity and efficiency of the anti-pinch function.

[0118] In an optional embodiment of the present application, determining the target distance between the current state signal characteristic and the target state signal characteristic includes: determining the distance between the current state signal characteristic and different target signal characteristics in the target state signal characteristic to obtain multiple distances; determining the minimum distance among the multiple distances to obtain the target distance.

[0119] In an optional embodiment, the current state signal feature is compared with each cluster center in the target state signal feature, that is, the target signal feature, and the distance between the two is calculated to obtain multiple distances. Specifically, the distance between the two can be calculated by a variety of distance measurement methods, such as Euclidean distance, Manhattan distance, etc.

[0120] For example, assuming that the current motion position is position i, the current state signal characteristic value is S i , the cluster centers in the target state signal feature are C1, C2, ..., C n , calculate S i With every C j The distance D(S) between (j=1,2,...,n) i ,C j ).

[0121] From the calculated multiple distances D(S i ,C1),D(S i ,C2)…D(S i ,C n ) and mark it as the target distance.

[0122] In the above steps, by determining the minimum distance as the target distance, the influence of abnormal points in the signal characteristics on the anti-pinch judgment is avoided, ensuring that the anti-pinch function is started based on the real-time signal that is closest to the target state signal characteristics, thereby improving the robustness of the anti-pinch function.

[0123] In an optional embodiment of the present application, differential and integral operations are performed on the current distance and multiple historical distances to obtain the current clamping force of the component, including: differential operations are performed on the current distance and the distances corresponding to two adjacent positions in the multiple historical distances to obtain multiple differential values; and integral operations are performed on the multiple differential values ​​to obtain the current clamping force.

[0124] In an optional embodiment, a difference operation is performed on the current distance and the distances corresponding to two adjacent positions in the multiple historical distances to obtain multiple difference values. The calculation formula is as follows:

[0125] df i =dm i -dm i-1 ;

[0126] Among them, m i and m i-1 is the distance between two adjacent positions, d represents the difference operation, df i is the difference value.

[0127] A time window value u is preset, and all differential values ​​within the window are integrated to obtain the current clamping force. The calculation formula is as follows:

[0128] W i =df i +df i+1 +…+df i+u ;

[0129] Among them, W i is the current clamping force, df i 、df i+1 , …, df i+u are multiple differential values ​​from position i to position i+u, where u is a preset time window value.

[0130] In the above steps, the rate of change of the signal characteristics is captured by differential operation, and these changes are accumulated using integral operation, thereby effectively filtering the signal noise, achieving an accurate estimation of the current clamping force, and ensuring the accurate triggering of the anti-pinch function.

[0131] In an optional embodiment of the present application, whether a component triggers an anti-pinch function is determined based on current state signal characteristics and target state signal characteristics, including: when the current state signal characteristics are detected, determining the current position of the component; when the current position is within a preset position range and the current position has not reached the soft stop position, determining whether the component triggers the anti-pinch function based on the current state signal characteristics and the target state signal characteristics.

[0132] In an optional embodiment, when the current state signal feature is detected, the current position of the actuator can be determined by identifying the number of pulses or square wave pulses. If the current position is within the preset anti-pinch interval and has not yet reached the soft stop position, the control system will determine whether to trigger the anti-pinch function based on the distance between the current state signal feature and the target state signal feature. If the distance between the current state signal feature and the target state signal feature exceeds the preset threshold, it means that an object is clamped. At this time, the anti-pinch operation can be started and the actuator can be reversed to release the clamped object.

[0133] In the above steps, the anti-pinch judgment is only started when the current position is within the preset position range and has not reached the soft stop point, avoiding unnecessary calculations and operations in the non-anti-pinch range, thereby saving resources and improving the response speed of the system.

[0134] In an optional embodiment of the present application, determining the current position of a component includes one of the following: collecting a Hall signal generated by an execution motor through a Hall sensor, and identifying the number of pulses of the Hall signal to obtain the current position; collecting a ripple current generated by the execution motor through a ripple current acquisition module, converting the ripple current into a square wave signal, and identifying the number of pulses of the square wave signal to obtain the current position; wherein the execution motor is used to control the movement of the component.

[0135] The number of pulses of the Hall signal in the above steps refers to the number of pulse signals output by the Hall sensor during the motor rotation process, which is related to the position or rotation angle of the motor.

[0136] The square wave signal in the above steps is a signal that changes periodically in time, and its characteristic is that in each period, the signal jumps between two levels.

[0137] In an optional embodiment, a pulse signal is outputted every time the motor rotates to a certain angle. Therefore, the Hall signal generated by the execution motor can be detected by the Hall sensor, and the rotation position of the motor can be tracked by counting the Hall signal pulses, thereby determining the current position of the component. Every time the window rises or falls a certain distance, the Hall sensor will collect a pulse, and the accumulated number of pulses reflects the lifting and lowering position of the window.

[0138] In another optional embodiment, the ripple current generated by the actuator motor can be collected by the ripple current collection module, and then the ripple current signal can be divided into two paths for processing by the differential amplifier. One path is converted into an easy-to-process square wave signal by the ripple-square wave conversion circuit, and the current position of the actuator can be determined by counting the square wave signal pulses. The other signal is used to monitor the current amplitude to detect whether an object is clamped.

[0139] In the above steps, the Hall signal pulse number recognition and the square wave signal pulse number recognition converted by ripple current can be used respectively, ensuring that position detection can be effectively performed on vehicles with or without Hall sensors or ripple current acquisition modules, thereby expanding the scope of application of the method.

[0140] In an optional embodiment of the present application, the current state signal characteristics of the component are detected, including one of the following: collecting the Hall signal generated by the execution motor through a Hall sensor, and identifying the pulse width of the Hall signal to obtain the current state signal characteristics; collecting the ripple current generated by the execution motor through a ripple current acquisition module, and identifying the amplitude of the ripple current to obtain the current state signal characteristics.

[0141] The pulse width of the Hall signal in the above steps is the duration of each pulse in the Hall signal. By identifying the pulse width of the Hall signal, the key operating information of the current component, that is, the current state signal characteristics, can be obtained.

[0142] The amplitude of the ripple current in the above steps is the difference between the maximum value and the minimum value of the current fluctuation in the ripple current signal.

[0143] In an optional embodiment, a Hall sensor may be installed on the motor so that the Hall sensor can detect the magnetic field change of the motor rotor. The Hall sensor then captures the magnetic field change of the motor and converts the magnetic field change into an electrical signal, thereby completing the collection of the Hall signal.

[0144] When identifying the pulse width of the Hall signal, the Hall signal can be amplified and converted into a digital pulse signal that is easy for the ECU to process through the Hall signal detection circuit. Then the ECU captures the digital pulse of the Hall signal through the input port. When the rising edge of the pulse signal is detected, the timer is started; when the falling edge is detected, the timer is stopped and the duration of the pulse is recorded to obtain the pulse width. The change in pulse width reflects the change in the position and speed of the motor rotor. The pulse width is analyzed by the ECU to determine the position and speed of the motor at the current time point and obtain the current state signal characteristics of the component.

[0145] In another optional embodiment, a current sensor is installed in the motor drive circuit to obtain the DC drive current. Then, the ripple current is separated from the DC drive current by a ripple current acquisition module through a filter or a differential amplifier to obtain the ripple current generated by the execution motor.

[0146] When identifying the amplitude of the ripple current, use an A / D converter to convert the analog signal of the ripple current into a digital signal, and use the ECU to read the digital signal output by the A / D converter. Repeat the above acquisition process to obtain multiple digital signals, and determine the maximum and minimum values ​​of the current fluctuation in the ripple current signal based on the multiple digital signals, calculate the difference between the maximum and minimum values ​​of the current fluctuation, and determine the amplitude of the ripple current. By identifying the amplitude of the ripple current, the current state signal characteristics of the component can be obtained.

[0147] In the above steps, methods for obtaining the current state signal characteristics through pulse width identification of the Hall signal and amplitude identification of the ripple current are provided respectively, ensuring that the current state signal characteristics can be accurately detected under various conditions, providing a reliable data basis for subsequent anti-pinch judgment.

[0148] A preferred embodiment is described below as an example. Figure 2 is a schematic diagram of an optional hardware principle based on a Hall sensor provided in an embodiment of the present application, such as Figure 2As shown in the figure, the execution function of electric parts requires the mutual cooperation between the electronic control unit (ECU), the motor drive circuit, the actuator motor, the Hall sensor, the Hall signal detection circuit and the actuator. Among them, the ECU controls the motor drive circuit and controls the movement of the actuator motor by changing the current and voltage; the rotation of the actuator motor generates a Hall signal, which is collected by the Hall sensor, and the Hall signal detection circuit converts the Hall signal and sends it to the ECU; the ECU analyzes the Hall signal, identifies the current position and speed of the actuator, makes an anti-pinch judgment, and decides whether to start the anti-pinch operation; the ECU controls the actuator motor through the motor drive circuit, and then drives the actuator to move. In addition, the battery can power the entire vehicle electronic system through the zone control unit (ZCU), and the central control unit (CCU) sends instructions and data to the ZCU through the CAN (Controller Area Network) bus. The ZCU forwards these instructions and data to the corresponding ECU through the LIN (Local Interconnect Network) bus, and feeds back information to the CCU through the CAN bus. At the same time, the ECU can also feed back information to the ZCU through the LIN bus.

[0149] Figure 3 is a schematic diagram of an optional hardware principle based on ripple current provided by an embodiment of the present application, such as Figure 3As shown, the execution function of electric components requires the cooperation between the electronic control unit, motor drive circuit, execution motor, ripple current acquisition module, differential amplifier, analog to digital acquisition circuit, ripple-square wave conversion circuit and actuator. Among them, the ECU controls the operation of the actuator motor through the motor drive circuit, and collects the ripple current data in real time through the ripple current acquisition module; the ripple current signal detected by the ripple current acquisition module is amplified by the differential amplifier and then divided into two paths: one path is converted into a square wave signal through the ripple-square wave conversion circuit to determine the position of the actuator; the other path is converted into a digital signal through the analog to digital acquisition circuit, that is, the A / D acquisition circuit, to monitor the current amplitude; the ECU analyzes the pulse count of the square wave signal and the current amplitude in the digital signal to determine whether the movement state of the actuator is normal. If the ECU detects an abnormality, such as the current amplitude exceeds the normal range or the pulse count of the ripple current does not meet the expectation, it means that an object may be clamped. The ECU will change the running direction of the actuator motor through the motor drive circuit to start the anti-pinch operation of the actuator to avoid further injury or damage. If everything is normal, the ECU will continue to monitor the movement of the actuator and adjust the control strategy according to the real-time data when necessary to ensure smooth and safe movement. In addition, the battery can power the entire vehicle electronic system through the regional control unit. The central control unit sends instructions and data to the ZCU through the CAN bus. The ZCU forwards these instructions and data to the corresponding ECU through the LIN bus and feeds back information to the CCU through the CAN bus. At the same time, the ECU can also feed back information to the ZCU through the LIN bus.

[0150] Figure 4 is a flow chart of an optional anti-pinch control strategy provided by an embodiment of the present application, such as Figure 4 As shown, anti-pinch control requires the coordination of the standard centroid module, the anti-pinch calculation module, and the anti-pinch judgment module. In the standard centroid module, the following steps need to be performed:

[0151] Step S402, obtaining n groups of Hall pulse width matrices S n .

[0152] Set n groups of Hall pulse width matrices S n As a sample.

[0153] Step S404: Sample S n The data in is split into m column vectors R according to the same position j .

[0154] Step S406, from R j Randomly select k data points as the centroids to form the centroid matrix C j .

[0155] Step S408: Rj The point in C j The distance between the centroids is calculated and assigned to the nearest set of centroids.

[0156] Step S410, after all data are divided into sets, the centroid of each set is recalculated.

[0157] Step S412, determining whether the distance between the new centroid and the original centroid is less than a threshold.

[0158] When the distance between the new centroid and the original centroid is less than the threshold, step S414 is executed; when the distance between the new centroid and the original centroid is not less than the threshold, step S408 is executed.

[0159] Step S414: j The obtained centroid matrix C j Splice and get the standard matrix P j .

[0160] In the anti-pinch calculation module, the steps to be performed are as follows:

[0161] Step S416, determining the real-time detection position and the corresponding pulse width.

[0162] Step S418, determining whether it is in the anti-pinch zone.

[0163] When the real-time detection position and the corresponding pulse width are in the anti-pinch interval, step S420 is executed; when the real-time detection position and the corresponding pulse width are not in the anti-pinch interval, step S416 is executed.

[0164] Step S420: compare the pulse width at the position with the standard matrix P j Calculate the distance size and retain the minimum distance dm.

[0165] After completing step S414 and step S418 satisfies the condition that the real-time detection position and the corresponding pulse width are in the anti-pinch interval, step S420 is executed.

[0166] Step S422, performing differentiation on the minimum distance.

[0167] Step S424, select u as the window value, and integrate the difference value in the window to obtain the calculated value of the clamping force.

[0168] In the anti-pinch judgment module, the steps to be performed are as follows:

[0169] Step S426, determining whether the calculated value of the clamping force is greater than a preset threshold.

[0170] When step S424 is completed, step S426 is executed. When the calculated clamping force value is greater than the preset threshold, step S428 is executed; when the calculated clamping force value is not greater than the preset threshold, step S416 is executed.

[0171] Step S428, triggering anti-pinch, and the motion mechanism runs in the reverse direction.

[0172] Figure 5 is a flowchart of an optional adaptive function provided by an embodiment of the present application, such as Figure 5 As shown, the adaptive function requires the cooperation between the real-time data acquisition module and the standard centroid matrix update module. When running the real-time data acquisition module, the steps required are as follows:

[0173] Step S502: The component receives an operation instruction.

[0174] Step S504, determining whether the part is running in the anti-pinch range.

[0175] If the part is running in the anti-pinch zone, execute step S506; if the part is not running in the anti-pinch zone, execute step S502.

[0176] Step S506, recording the moving position of the part and the Hall pulse width data.

[0177] Step S508, determining whether the part has reached the soft stop position.

[0178] When the part reaches the soft stop position, step S510 is executed; when the part does not reach the soft stop position, step S506 is executed.

[0179] Step S510, determining whether the stall function is triggered during the operation of the part.

[0180] When the stall function is triggered during the operation of the part, step S514 is executed; when the stall function is not triggered during the operation of the part, step S512 is executed.

[0181] Step S512, determining whether the anti-pinch function is triggered during the operation of the part.

[0182] When the anti-pinch function is triggered during the operation of the part, step S514 is executed; when the anti-pinch function is not triggered during the operation of the part, step S518 is executed.

[0183] Step S514, deleting the recorded motion data.

[0184] Step S516, exit the adaptive function.

[0185] In the standard centroid matrix update module, the steps required are as follows:

[0186] Step S518, transform the n groups of Hall pulse width matrices Sn into (N1, N2, ..., Nn), delete the data N1, and set the label to -1.

[0187] In step S512, when the anti-pinch function is not triggered during the operation of the part, this step is performed to remove the oldest data point.

[0188] Step S520: Use the newly collected data as new Nn to form a new Sn matrix.

[0189] Step S522: The new Sn matrix is ​​transformed into a new standard matrix Pj through a standard centroid extraction module.

[0190] Step S524, storing the new standard matrix Pj, completing the updating of the standard matrix Pj.

[0191] The electric components of the vehicle, such as windows and tailgate, will wear and age during long-term use, which may affect the accuracy of the anti-pinch function. The adaptive function can compensate for the signal changes caused by component aging and wear by updating and adjusting the anti-pinch parameters in real time, ensuring that the anti-pinch function can respond effectively at different stages of use.

[0192] Embodiment 2

[0193] The present application also provides a component anti-pinch control system 60, please refer to Figure 6 , including: a detection circuit 610, used to execute step 110; an electronic controller 620, used to execute steps 120, 130, and 140.

[0194] The electronic controller 620 includes: an extraction module for clustering preset feature values ​​corresponding to the same position in at least one preset state signal feature to obtain a first cluster center at the same position, and summarizing the first cluster centers of multiple positions to obtain a target state signal feature.

[0195] The electronic controller 620 also includes: an updating module, which is used to replace at least one preset state signal feature with a historical state signal feature to obtain at least one replaced state signal feature, cluster the feature values ​​corresponding to the same position in at least one replaced state signal feature to obtain a second clustering center at the same position, and summarize the second clustering centers of multiple positions to obtain a target state signal feature.

[0196] The electronic controller 620 also includes: a calculation module, which is used to determine the current clamping force of the component based on the current state signal characteristics and the target state signal characteristics; a judgment module, which is used to determine that the component has not triggered the anti-pinch function when the current clamping force is less than or equal to the preset clamping force, and determine that the component has triggered the anti-pinch function when the current clamping force is greater than the preset clamping force.

[0197] The detection circuit 610 includes: a Hall sensor arranged on the execution motor, and a Hall signal detection circuit connected between the Hall sensor and the electronic controller, wherein the Hall sensor is used to collect the Hall signal generated by the execution motor, the Hall signal detection circuit is used to transmit the Hall signal, and the electronic controller is used to identify the pulse width of the Hall signal to obtain the current state signal characteristics; a ripple current acquisition module arranged on the execution motor, and an analog-to-digital acquisition circuit connected between the ripple current acquisition module and the electronic controller, wherein the ripple current acquisition module is used to collect the ripple current generated by the execution motor, the analog-to-digital acquisition circuit is used to transmit the ripple current, and the electronic controller is used to identify the amplitude of the ripple current to obtain the current state signal characteristics; wherein the execution motor is used to control the movement of components.

[0198] The detection circuit 610 also includes: a conversion circuit connected between the ripple current acquisition module and the electronic controller, wherein the conversion circuit is used to convert the ripple current into a square wave signal, and the electronic controller is used to identify the number of pulses of the Hall signal or the square wave signal to obtain the current position, wherein the current position is the position of the component when the current state signal characteristics are detected.

[0199] An embodiment of the present application also provides a vehicle, including an anti-pinch control system for vehicle components introduced in any embodiment of the present application.

[0200] The present application also provides an electronic device 70, please refer to Figure 7 , including a processor 710 and a memory 720, wherein the memory 710 is used to store computer programs; the processor 720 is used to execute the programs stored in the memory 710 to implement the anti-pinch control method of components introduced in any embodiment of the present application.

[0201] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the anti-pinch control method for components introduced in any embodiment of the present application is implemented.

[0202] In this application, a plurality refers to two or more than two.

[0203] In this application, unless otherwise clearly defined, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0204] The terms "first", "second", "third", "fourth", etc. (if any) in this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence.

[0205] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0206] If there is no special description, all steps of the present application can be performed in sequence or randomly. For example, the method includes steps A and B, which means that the method may include steps A and B performed in sequence, or steps B and A performed in sequence. For example, the method may also include step C, which means that step C can be added to the method in any order, for example, the method may include steps A, B and C, or steps A, C and B, or steps C, A and B, etc.

[0207] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A component anti-pinch control method, characterized in that: include: During the current movement of the component, detecting the current state signal characteristics of the component; Acquire a target state signal feature of the component, wherein the target state signal feature is obtained by clustering at least one preset state signal feature and / or a historical state signal feature, the preset state signal feature is a state signal feature of the component during a calibration process, and the historical state signal feature is a state signal feature of the component during a historical movement process that meets a preset condition; Determining whether the component triggers an anti-pinch function based on the current state signal characteristics and the target state signal characteristics; When it is determined that the component triggers the anti-pinch function, the component is controlled to perform an anti-pinch operation.

2. The method according to claim 1, characterized in that The method further comprises: When it is determined that the component has not triggered the stall function and the anti-pinch function during the historical movement, the state signal characteristic of the component during the historical movement is determined to be the historical state signal characteristic.

3. The method according to claim 1 or 2, characterized in that: The preset state signal feature includes preset feature values ​​respectively detected at a plurality of positions of the component within a preset position interval; The step of obtaining the target state signal characteristics of the component comprises: Clustering the preset feature values ​​corresponding to the same position in at least one of the preset state signal features to obtain a first cluster center at the same position; The first cluster centers of the multiple positions are aggregated to obtain the target state signal feature.

4. The method according to claim 1 or 2, characterized in that: The preset state signal features all include preset feature values ​​detected at multiple positions of the component within a preset position interval, and the historical state signal features include historical feature values ​​detected at the multiple positions of the component; The step of obtaining the target state signal characteristics of the component comprises: Replacing at least one of the preset state signal features with the historical state signal feature to obtain at least one replaced state signal feature; Clustering the feature values ​​corresponding to the same position in the at least one replaced state signal feature to obtain a second cluster center at the same position; The second cluster centers of the multiple positions are aggregated to obtain the target state signal feature.

5. The method according to claim 1, characterized in that The determining whether the component triggers the anti-pinch function based on the current state signal feature and the target state signal feature includes: Determining a current clamping force of the component based on the current state signal characteristic and the target state signal characteristic; When the current clamping force is less than or equal to the preset clamping force, determining that the component does not trigger the anti-pinch function; When the current clamping force is greater than the preset clamping force, it is determined that the component triggers the anti-pinch function.

6. The method according to claim 5, characterized in that The determining the current clamping force of the component based on the current state signal feature and the target state signal feature includes: Determining a current distance between the current state signal feature and the target state signal feature; Performing differential and integral operations on the current distance and a plurality of historical distances to obtain a current clamping force of the component, wherein different historical distances are distances between different historical state signal features and the target state signal feature, and the detection times of the different historical state signal features are different; The current clamping force is compared with a preset clamping force to determine whether the component triggers the anti-pinch function.

7. The method according to claim 6, characterized in that The determining a target distance between the current state signal feature and the target state signal feature comprises: Determine the distance between the current state signal feature and different target signal features in the target state signal feature to obtain multiple distances; The minimum distance among the multiple distances is determined to obtain the target distance.

8. The method according to claim 6, characterized in that The step of performing differential and integral operations on the current distance and a plurality of historical distances to obtain the current clamping force of the component includes: Performing a difference operation on the current distance and the distances corresponding to two adjacent positions in the multiple historical distances to obtain multiple difference values; The multiple differential values ​​are integrated to obtain the current clamping force.

9. The method according to claim 1, characterized in that: The determining whether the component triggers the anti-pinch function based on the current state signal feature and the target state signal feature includes: When the current state signal feature is detected, determining the current position of the component; When the current position is within a preset position interval and the current position has not reached a soft stop position, it is determined whether the component triggers the anti-pinch function based on the current state signal characteristics and the target state signal characteristics.

10. A component anti-pinch control system, characterized in that: include: A detection circuit, used for detecting the current state signal characteristics of the component during the current movement of the component; An electronic controller is used to obtain a target state signal characteristic of the component, determine whether the component triggers an anti-pinch function based on the current state signal characteristic and the target state signal characteristic, and control the component to perform an anti-pinch operation when it is determined that the component triggers the anti-pinch function, wherein the target state signal characteristic is obtained by clustering at least one preset state signal characteristic and / or historical state signal characteristic, the preset state signal characteristic is a state signal characteristic of the component during a calibration process, and the historical state signal characteristic is a state signal characteristic of the component during a historical movement process that meets a preset condition.

11. The system according to claim 10, characterized in that The preset state signal feature includes preset feature values ​​respectively detected at a plurality of positions of the component within a preset position interval; The electronic controller includes: an extraction module, which is used to cluster the preset feature values ​​corresponding to the same position in at least one of the preset state signal features to obtain the first cluster center of the same position, and to summarize the first cluster centers of the multiple positions to obtain the target state signal feature.

12. The system according to claim 10, characterized in that The preset state signal features all include preset feature values ​​detected at multiple positions of the component within a preset position interval, and the historical state signal features include historical feature values ​​detected at the multiple positions of the component; The electronic controller includes: an updating module, which is used to replace at least one of the preset state signal features with the historical state signal feature to obtain at least one replaced state signal feature, cluster the feature values ​​corresponding to the same position in the at least one replaced state signal feature to obtain a second clustering center of the same position, and summarize the second clustering centers of the multiple positions to obtain the target state signal feature.

13. A vehicle, characterized in that: include: The system according to any one of claims 10 to 12.

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