A method, system, vehicle, and electronic device for preventing pinching of components.

Abstract

This application provides a method, system, vehicle, and electronic device for anti-pinch control of components. The method includes: detecting current state signal features of the component during its current movement; acquiring target state signal features of the component, wherein the target state signal features are obtained by clustering at least one preset state signal feature and / or historical state signal features; determining whether the component triggers an anti-pinch function based on the current state signal features and the target state signal features; and controlling the component to perform an anti-pinch operation if the component triggers the anti-pinch function. This application solves the technical problem of poor performance in component anti-pinch functions.

Description

Technical Field

[0001] This application relates to the field of signal processing technology, and in particular to a method, system, vehicle, and electronic device for preventing pinching of components. Background Technology

[0002] In modern vehicle design, electric vehicle components such as windows, seats, and tailgates all need to have anti-pinch functions during opening, closing, or adjustment to ensure passenger safety and vehicle user experience. Anti-pinch functions are key to ensuring the safe operation of electric vehicle components.

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

[0004] This application provides a method, device, electronic device, and computer-readable storage medium for controlling the anti-pinch function of components, aiming to improve the technical problem that the anti-pinch function of components is poorly stable and prone to misjudgment or omission.

[0005] According to one aspect of this application, a method for anti-pinch control of a component is provided, comprising: detecting current state signal features of the component during its current movement; acquiring target state signal features of the component, wherein the target state signal features are obtained by clustering at least one preset state signal feature and / or historical state signal feature, the preset state signal features being state signal features of the component during calibration, and the historical state signal features being state signal features of the component that meet preset conditions during its historical movement; determining whether the component triggers an anti-pinch function based on the current state signal features and the target state signal features; and controlling the component to perform an anti-pinch operation if it is determined that the component has triggered an anti-pinch function.

[0006] It is noteworthy that clustering the preset state signal features and / or historical state signal features of components, dynamically updating the anti-pinch judgment benchmark based on the usage and environmental changes of the components, and then comparing the obtained target state signal features with the current state signal features to determine whether the component has triggered the anti-pinch function, improves the accuracy of the anti-pinch function judgment. When the component triggers the anti-pinch function, controlling the component to perform the anti-pinch operation can improve the accuracy and stability of the anti-pinch function execution. This addresses the technical problem of poor stability of component anti-pinch function, which is prone to misjudgment or missed judgment.

[0007] Furthermore, clustering at least one preset state signal feature and / or historical state signal feature of the component to obtain the target state signal feature of the component includes: determining the state signal feature of the component during the historical movement as the historical state signal feature when it is determined that the component did not trigger the stall function and the anti-pinch function during the historical movement.

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

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

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

[0011] Furthermore, the preset state signal features are all included in the preset feature values ​​detected at multiple positions of the component within a preset position range, and the historical state signal features are included in the historical feature values ​​detected 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 features 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; and summarizing the second cluster centers at multiple positions to obtain the target state signal features.

[0012] In the above steps, by replacing the preset state signal features with historical feature values, the benchmark for anti-pinch judgment can be dynamically adjusted when the system ages or the environment changes. The second cluster center at each position reflects the latest signal feature state. The target state signal features formed after aggregation have real-time adaptability, ensuring the consistency and stability of the anti-pinch function during vehicle use.

[0013] Furthermore, based on the characteristics of the current state signal and the characteristics of the target state signal, it is determined whether the component has triggered the anti-pinch function, including: determining the current clamping force of the component based on the characteristics of the current state signal and the characteristics of the target state signal; if the current clamping force is less than or equal to the preset clamping force, it is determined that the component has not triggered the anti-pinch function; if the current clamping force is greater than the preset clamping force, it is determined 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 directly judging 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 the distances between different historical state signal characteristics and the target state signal characteristics, and the detection time of different historical state signal characteristics is different; 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, differential and integral calculation methods are used to smooth the fluctuations of signal characteristics and accurately reflect the changing trend of clamping force, 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 features and the target state signal features includes: determining the distance between different target signal features in the current state signal features and the target state signal features to obtain multiple distances; and 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 characteristics that are closest to the target state, thus improving the robustness of the anti-pinch function.

[0019] Furthermore, differential and integral operations are performed on the current distance and multiple historical distances to obtain the current clamping force of the component, including: performing differential operations on the distances corresponding to two adjacent positions in the current distance and multiple historical distances to obtain multiple differential values; and performing integral operations on the multiple differential values ​​to obtain the current clamping force.

[0020] In the above steps, the rate of change of signal characteristics is captured by differential operation, and these changes are accumulated by integral operation, thereby effectively filtering signal noise, realizing accurate estimation of the current clamping force, and ensuring 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, 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 point, determining 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 initiated when the current position is within the preset position range and the current position has not reached the soft stop point. This avoids unnecessary calculations and operations in non-anti-pinch ranges, thereby saving resources and improving the system's response speed.

[0023] According to another aspect of this application, an anti-pinch control system for a component is also provided, comprising: a detection circuit for detecting the current state signal characteristics of the component during its current movement; and an electronic controller for acquiring the target state signal characteristics of the component, determining whether the component triggers the anti-pinch function based on the current state signal characteristics and the target state signal characteristics, and controlling the component to perform an anti-pinch operation if the component triggers the anti-pinch function. The target state signal characteristics are obtained by clustering at least one preset state signal characteristic and / or historical state signal characteristics. The preset state signal characteristics are state signal characteristics detected by the component during calibration, and the historical state signal characteristics are state signal characteristics of the component that meet preset conditions during historical movements adjacent to the current movement.

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

[0025] Furthermore, the preset state signal features are all included in the preset feature values ​​detected at multiple positions of the component within a preset position range, and the historical state signal features are included in the historical feature values ​​detected 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 features to obtain at least one replaced state signal feature, to cluster 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, and to summarize the second cluster centers at multiple positions to obtain the target state signal feature.

[0026] According to another aspect of this application, a vehicle is also provided, including an anti-pinch control system for the aforementioned components. Attached Figure Description

[0027] Figure 1 This is a flowchart of an anti-pinch control method for a component provided in an embodiment of this application;

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

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

[0030] Figure 4 This is a flowchart of an optional anti-pinch control strategy provided in one embodiment of this application;

[0031] Figure 5 This is a flowchart of an optional adaptive function provided in one embodiment of this application;

[0032] Figure 6 This is a schematic diagram of an anti-pinch control system for a component provided in an embodiment of this application;

[0033] Figure 7 This is a schematic diagram of an electronic device provided in one embodiment of this application. Detailed Implementation

[0034] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0035] The following explains some terms used in the application documents:

[0036] In this application, "components" refers to various electrified parts in a vehicle, including but not limited to power windows, power seats, and power tailgates. Components are typically driven by actuators and perform specific movements, such as opening and closing, lifting, and forward / backward movement, through actuators.

[0037] In this application, the anti-pinch function is an automatic protection mechanism designed to prevent possible clamping or crushing accidents during the operation of components. When the movement of a component is detected to potentially cause clamping injury to a passenger or object, the anti-pinch function will automatically activate to avoid or mitigate the potential injury.

[0038] In this application, the anti-pinch operation refers to a series of actions performed by the system to avoid or resolve clamping events after the anti-pinch function is triggered. The anti-pinch operation may include, but is not limited to: stopping the motor, reversing the operation to release the clamped object, issuing an alarm signal, and recording the event.

[0039] In this application, the Hall signal is a pulse signal generated when the rotor's magnetic poles change the magnetic field near the Hall sensor during motor operation. The frequency and phase of these pulse signals can reflect the motor's rotational speed and position.

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

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

[0042] In this application, the ripple current acquisition module is used to measure the ripple current in the DC motor drive circuit, and can capture the fluctuation of the current during motor operation. The ripple current acquisition module may include, but is not limited to, devices such as current sensors, differential amplifiers, and A / D (Analog to Digital) converters.

[0043] In this application, the soft stop point is a point set by the software or control system before a component reaches its physical limit position during movement. Beyond this point, the actuator will stop moving, thereby avoiding damage caused by a hard collision. For example, a car window will reach the soft stop point before it is fully closed. At this point, the system will slow down the movement speed of the window and perform more precise control to prevent injury to passengers or damage to the mechanism.

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

[0045] This application provides an anti-pinch control method for a component, comprising: detecting the current state signal features of the component during its current movement; clustering at least one preset state signal feature and / or historical state signal feature of the component to obtain a target state signal feature of the component, wherein the historical state signal feature is a state signal feature detected by the component during a historical movement adjacent to the current movement; 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 if it is determined that the component has triggered an anti-pinch function.

[0046] The anti-pinch control method for the components provided in this application achieves the following technical effects: clustering the preset state signal features and / or historical state signal features of the components; dynamically updating the anti-pinch judgment benchmark according to the usage and environmental changes of the components; then comparing the obtained target state signal features with the current state signal features to determine whether the components have triggered the anti-pinch function, thereby improving the accuracy of the anti-pinch function judgment; and controlling the components to perform anti-pinch operations when the components trigger the anti-pinch function, which can improve the accuracy and stability of the anti-pinch function execution, thereby solving the technical problem that the anti-pinch function of the components is unstable and prone to misjudgment or omission.

[0047] Example 1

[0048] This application provides an anti-pinch control method for components. Please refer to [the relevant documentation]. Figure 1 This includes the following steps:

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

[0050] The current status signal characteristics mentioned above are the real-time status signal characteristics detected during the current movement of the component. These characteristics can be used to determine whether the component is operating normally and whether there is a risk of clamping. The status signal characteristics describe the state of the component during movement and can reflect information such as the component's operating status, position, and speed. However, the content that the status signal characteristics can reflect is not limited to these. The status signal characteristics can be characterized by the Hall pulse width detected by the Hall sensor or by the ripple current amplitude detected by the ripple current acquisition module, but are not limited to these methods.

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

[0052] In another alternative embodiment, if the anti-pinch function of the component is implemented based on the hardware architecture of 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 to obtain the current state signal characteristics.

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

[0054] Step S120: Obtain the target state signal features of the component, wherein the target state signal features are obtained by clustering at least one preset state signal feature and / or historical state signal feature. The preset state signal features are the state signal features of the component during the calibration process, and the historical state signal features are the state signal features of the component during historical motion that meet preset conditions.

[0055] The preset state signal characteristics mentioned above are the state signal characteristics of the component under ideal or standard conditions. These preset state signal characteristics can serve as a standard reference for normal operation, used to determine whether the current state signal characteristics deviate from the normal range.

[0056] The historical state signal features mentioned above are the state signal features detected by the component during its past movement. They can reflect the operating state of the component at different points in time and help the system learn the natural aging and environmental change states of the component so as to make a more accurate decision when determining whether to trigger the anti-pinch function.

[0057] The target state signal features in the above steps are a set of representative state signal features obtained by clustering the preset state signal features and / or historical state signal features. These features can be used as a benchmark for determining whether the anti-pinch function is triggered.

[0058] The calibration process described above refers to the precise measurement and setting of the normal operating state of a component after its production or vehicle assembly. During calibration, the state signal characteristics of the component under ideal or standard conditions, i.e., the preset state signal characteristics, can be obtained.

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

[0060] In one optional embodiment, when executing the anti-pinch control method, at least one preset state signal feature and / or historical state signal feature can be acquired first. The at least one preset state signal feature and / or historical state signal feature can then be clustered to obtain the target state signal feature of the component. It should be noted that when the component is newly manufactured and has not yet generated historical data, clustering of at least one preset state signal feature can be performed to obtain the target state signal feature; while when the component has already been put into use and historical data has been generated, clustering of at least one preset state signal feature and historical state signal feature can be performed to obtain the target state signal feature.

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

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

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

[0064] In another optional embodiment, at least one preset state signal feature and / or historical state signal feature can be clustered in advance to obtain target state signal features, which are then stored in a database. When executing the anti-pinch control method, the target state signal features of the component can be retrieved from the database storing the target state signal features, based on the type of the component.

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

[0066] In one alternative embodiment, a threshold can be preset, and the ECU compares the current state signal characteristics with the target state signal characteristics. If the deviation between the current state signal characteristics and the target state signal characteristics exceeds the preset threshold, it can be determined that the component triggers the anti-pinch function.

[0067] In another optional embodiment, an anomaly detection algorithm can be applied to determine whether the current state signal characteristics deviate from the normal range of the target state signal characteristics. The anomaly detection algorithm can be an Isolation Forest algorithm or a Local Outlier Factor algorithm, but is not limited to these. If the current state signal characteristics deviate from the normal range of the target state signal characteristics, it is determined that the component triggers the anti-pinch function.

[0068] In another alternative embodiment, the clamping force of the component can be determined based on the characteristics of the current state signal and the characteristics of the target state signal. Then, the clamping force of the component is compared with a preset clamping force threshold. If 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: If it is determined that the anti-pinch function of the component is triggered, control the component to perform the anti-pinch operation.

[0070] In one alternative embodiment, when it is determined that the component has triggered the anti-pinch function, the ECU initiates the 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 situation.

[0071] In another alternative embodiment, when it is determined that the component triggers 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, so as to avoid the sudden stop from causing additional impact on the clamped object and thus achieving the anti-pinch function.

[0072] It is noteworthy that clustering the preset state signal features and / or historical state signal features of components, dynamically updating the anti-pinch judgment benchmark based on the usage and environmental changes of the components, and then comparing the obtained target state signal features with the current state signal features to determine whether the component has triggered the anti-pinch function, improves the accuracy of the anti-pinch function judgment. When the component triggers the anti-pinch function, controlling the component to perform the anti-pinch operation can improve the accuracy and stability of the anti-pinch function execution, thereby achieving the technical effect of improving the performance of the component's anti-pinch function and solving the technical problem of poor performance of the component's anti-pinch function.

[0073] In an optional embodiment of this application, if it is determined that the component did 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 are determined to be historical state signal characteristics.

[0074] The stall function described above is designed to handle abnormal situations where excessive external resistance causes the motor to stop or fail to rotate as expected. During the up-and-down movement of automotive parts, if an abnormal increase in motor current or an abnormal decrease in motor speed is detected, it indicates that the motor has encountered a physical obstacle, i.e., stalling has occurred. To prevent motor damage or safety issues caused by excessive force, the control system activates the stall function, immediately stopping the motor and reversing its rotation to remove the obstacle.

[0075] In one optional embodiment, when the component does not trigger the stall or anti-pinch functions during its historical movement, the state signal characteristics during the historical movement can be considered valid and normal. In this case, defining the state signal characteristics during the historical movement as historical state signal characteristics and performing cluster analysis on these historical state signal characteristics together with preset state signal characteristics can more accurately reflect the current true state of the component, including possible wear, aging, or environmental changes. Therefore, when the component does not trigger the stall or anti-pinch functions during its historical movement, the state signal characteristics of the component during its historical movement can be defined as historical state signal characteristics that can be used for clustering.

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

[0077] In an optional embodiment of this application, the preset state signal features include preset feature values ​​detected at multiple locations of the component within a preset position range; obtaining the target state signal features of the component includes: clustering the preset feature values ​​corresponding to the same location among at least one preset state signal features to obtain a first cluster center at the same location; summarizing the first cluster centers at multiple locations to obtain the target state signal features.

[0078] The first cluster center in the above steps is the typical or average value of the signal characteristics under normal conditions at a certain location, obtained by clustering the signal values ​​of the preset state signal characteristics.

[0079] In one optional embodiment, a target location is selected from multiple locations within a preset location range, and multiple signal values ​​corresponding to the target location are selected from preset state signal features. These signal values ​​are treated as a dataset, and preprocessing operations are performed on the dataset. These preprocessing operations may include, but are not limited to, data cleaning and normalization.

[0080] Then, clustering algorithms are used to process the dataset. By using clustering algorithms to identify patterns or concentrated areas in the dataset, similar signal values ​​are grouped together to form clusters, and the center point of each cluster is taken as the first cluster center.

[0081] Then, iterate through other positions within the preset position interval and cluster the preset feature values ​​corresponding to other positions to obtain the first cluster centers. Summarize the multiple first cluster centers and arrange the first cluster center values ​​of each position within the preset position interval in positional order to form a matrix, thus obtaining the target state signal features.

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

[0083] N i =[a1 a2…a m ];

[0084] Where, N iThe Hall pulse width data representing the i-th group of components, a1, a2, ..., a m This represents the specific Hall pulse width data for the i-th group of parts.

[0085] The Hall pulse width data of multiple parts are combined into a sample matrix. The sample matrix is ​​used to characterize the features of the preset state signal. The features of the preset state signal can be expressed as:

[0086]

[0087] Among them, S n As preset state signal characteristics, N1, ..., N n Hall pulse width data representing multiple groups of components, This provides the specific Hall pulse width data for each group of components.

[0088] Then, the preset state signal features are clustered, specifically, S n Each column represents the Hall pulse width data for different groups at the same location, and S n Split into m column vectors R i Then S n =[R1 R2…R m ], where R1, R2, R m All are S n Column vectors.

[0089] In column vector R i K data points are selected as centroids to form a centroid matrix C. j ,but If there are m column vectors, then there are m centroid matrices. e1, e2, ..., e k Let the centroid matrix C be j The centroid data in the matrix. Calculate the column vector R. i Data points and centroid matrix C j Calculate the distance to the centroids and assign each data point to the set of centroids with the smallest distance. Calculate the column vector R. i Data points and centroid matrix C j The formula for the distance from 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 from the centroid, where R represents the column vector, C represents the centroid matrix, and x j Let c be the value of the feature vector x at the j-th feature position. j Let c be the value of the cluster center at the j-th feature position.

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

[0093]

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

[0095] Calculate the distance between the new centroid and the original centroid, and determine whether the distance between the two centroids is less than a 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 again until the distance between the two centroids is 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 aggregated, that is, the centroid matrix C obtained by updating the centroids is... j By splicing the matrices, we obtain the standard centroid matrix P. j This refers to the target state signal characteristics. The target state signal characteristics can be expressed as:

[0097]

[0098] Among them, P j For the target state signal characteristics, C1, C2, ..., C m For multiple centroid matrices, This refers to the centroid data in the centroid matrix.

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

[0100] In an optional embodiment of this application, the preset state signal features are all included in the preset feature values ​​detected at multiple positions of the component within a preset position range, and the historical state signal features are included in the historical feature values ​​detected 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 features 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; and summarizing the second cluster centers at multiple positions to obtain the target state signal features.

[0101] The second cluster center in the above steps is the typical or average value of the signal features under normal conditions at a certain location, obtained by clustering the replaced state signal features.

[0102] In one optional embodiment, the purpose of replacing at least one preset state signal feature with historical state signal features is to achieve dynamic updates to the signal feature database to reflect the true state of components over time. During long-term use, wear and tear, aging of components, or changes in environmental conditions can cause changes in the signal features of the vehicle during movement. Therefore, it is necessary to periodically or according to conditions update the vehicle's understanding of normal signal features to adapt to these changes.

[0103] The collected historical state signal features are added to the preset state signal features to obtain a fused dataset. Based on the fused dataset, the oldest data point is determined by comparing the timestamps of the data collection. The oldest data point in the preset state signal features is then removed, while maintaining the size and representativeness of the fused dataset. This allows the historical state signal features to replace the preset state signal features, resulting in at least one replaced state signal feature.

[0104] Then, cluster the feature values ​​corresponding to the same position in at least one replaced state signal feature, calculate the center point of each cluster, and obtain the second cluster center. Then, traverse multiple positions within a preset position interval and determine multiple second cluster centers corresponding to multiple positions. Summarize the second cluster centers of multiple positions to obtain the target state signal feature.

[0105] In the above steps, by replacing the preset state signal features with historical feature values, the benchmark for anti-pinch judgment can be dynamically adjusted when the system ages or the environment changes. The second cluster center at each position reflects the latest signal feature state. The target state signal features formed after aggregation have real-time adaptability, ensuring the consistency and stability of the anti-pinch function during vehicle use.

[0106] In an optional embodiment of this application, determining whether a component triggers the anti-pinch function based on the current state signal characteristics and the target state signal characteristics includes: determining the current clamping force of the component based on the current state signal characteristics and the target state signal characteristics; determining 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 determining that the component has triggered the anti-pinch function when the current clamping force is greater than the preset clamping force.

[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. The magnitude can be adjusted according to the actual application. Here, we do not limit the specific value of the preset clamping force.

[0109] In one optional embodiment, the difference between the current signal characteristics and the target state signal characteristics can be calculated, wherein the difference between the current signal characteristics and the target state signal characteristics can be characterized by a measure of signal strength or rate of change. Then, the difference in signal characteristics is converted into an estimate of the current clamping force through a preset conversion relationship, and this estimate is used as the current clamping force of the component. The preset conversion relationship can be an integral following a differential calculation, but is not limited to this.

[0110] Because activating the anti-pinch function requires determining whether the moving mechanism has encountered greater resistance than under normal operating conditions, a preset clamping force needs to be set as the activation threshold for the anti-pinch function. When the detected current clamping force is less than or equal to the preset clamping force, it indicates that the moving mechanism has not encountered unexpected resistance and is in normal operating condition, therefore the anti-pinch function does not need to be activated. However, when the current clamping force is greater than the preset clamping force, it indicates that the moving mechanism has encountered abnormally large resistance and may have clamped an object. In this case, the anti-pinch function needs to be activated to reverse or stop the movement of the components, thereby releasing the potentially clamped object and avoiding 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 directly judging based on signal characteristics, and improves the reliability and accuracy of the anti-pinch function.

[0112] In an optional embodiment of this application, the current clamping force of the component is determined based on the current state signal features and the target state signal features, including: determining the current distance between the current state signal features and the target state signal features; 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 features and the target state signal features, and the detection time of different historical state signal features is different; comparing the current clamping force with a preset clamping force to determine whether the component triggers the anti-pinch function.

[0113] The current distance in the above steps is the degree of 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 degree of deviation between the current movement state and the normal operation state.

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

[0115] Calculate the difference between the current distance and multiple historical distances to obtain a difference value that reflects the rate of change of clamping force. Then, integrate the difference value within a time window to obtain the integral value. The integral value reflects the cumulative change of clamping force over a period of time and can approximate the magnitude of 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. If the current clamping force is greater than the preset clamping force, the anti-pinch function of the component is triggered.

[0117] In the above steps, differential and integral calculation methods are used to smooth the fluctuations of signal characteristics and accurately reflect the changing trend of clamping force, 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 this application, determining the target distance between the current state signal feature and the target state signal feature includes: determining the distance between different target signal features in the current state signal feature and the target state signal feature to obtain multiple distances; and determining the minimum distance among the multiple distances to obtain the target distance.

[0119] In one optional embodiment, the current state signal features are compared with each cluster center in the target state signal features, i.e., the target signal features, and the distance between the two is calculated to obtain multiple distances. Specifically, the distance between the two can be calculated using various distance metrics, such as Euclidean distance, Manhattan distance, etc.

[0120] For example, suppose the current motion position is position i, and the characteristic value of the current state signal is S. i The cluster centers in the target state signal features are C1, C2, ..., C n Calculate S i With each C j The distance D(S) between (j=1,2,...,n) is... i C j ).

[0121] From the calculated multiple distances D(S) i C1) D(S) i ,C2)…D(S i C n Find the minimum distance 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 characteristics that are closest to the target state, thus improving the robustness of the anti-pinch function.

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

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

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

[0126] Where, m i and m i-1 The distance between two adjacent positions is d, where d represents the difference operation, and df is the distance between two adjacent positions. i This is the difference value.

[0127] A preset time window value u is used. The current clamping force is obtained by integrating all the difference values ​​within the window, and the calculation formula is as follows:

[0128] W i =df i +df i+1 +…+df i+u ;

[0129] Among them, W i Given the current clamping force, df i df i+1 、…、df i+u These are multiple difference values ​​between position i and position i+u, where u is a preset time window value.

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

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

[0132] In one optional embodiment, when a 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 a preset anti-pinch range and has not yet reached the soft stop point, 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 a preset threshold, it indicates that an object is being pinched. At this time, the anti-pinch operation can be activated, and the actuator can be reversed to release the pinched object.

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

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

[0135] In the above steps, the number of Hall signal pulses 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, characterized by switching between two levels within each cycle.

[0137] In one alternative embodiment, a pulse signal is output each time the motor rotates to a certain angle. Therefore, the Hall signal generated by the motor can be detected by a Hall sensor, and the rotational position of the motor can be tracked by counting the Hall signal pulses, thereby determining the current position of the component. The Hall sensor collects a pulse every time the window rises or falls a certain distance; the cumulative number of pulses reflects the window's position.

[0138] In another alternative embodiment, the ripple current generated by the actuator can be acquired by a ripple current acquisition module, and then the ripple current signal is split into two paths by a differential amplifier for processing. One path is converted into a square wave signal that is easy to process by a ripple-to-square wave conversion circuit. By counting the square wave signal pulses, the current position of the actuator can be determined. The other signal is used to monitor the current amplitude to detect whether an object is trapped.

[0139] In the above steps, Hall signal pulse count recognition and square wave signal pulse count recognition based on ripple current conversion can be used respectively, ensuring that position detection can be effectively performed on vehicles with or without Hall sensors or ripple current acquisition modules, thus expanding the applicability of the method.

[0140] In one optional embodiment of this application, detecting the current state signal characteristics of a component includes one of the following: acquiring a Hall signal generated by an actuator motor through a Hall sensor, and identifying the pulse width of the Hall signal to obtain the current state signal characteristics; acquiring a ripple current generated by an actuator 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, key operational information of the current component can be obtained, that is, the current status signal characteristics.

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

[0143] In one alternative embodiment, a Hall sensor can be mounted on the motor so that it can detect changes in the magnetic field of the motor rotor. The Hall sensor then captures these changes in the motor's magnetic field, converting them into electrical signals, thus completing the acquisition of the Hall signal.

[0144] When identifying the pulse width of a Hall signal, a Hall signal detection circuit can amplify the Hall signal and convert it into a digital pulse signal that is easy for the ECU to process. The ECU then captures the digital pulse of the Hall signal through its input port. When the rising edge of the pulse signal is detected, a timer is started; when the falling edge is detected, the timer is stopped and the pulse duration is recorded to obtain the pulse width. Changes in the pulse width reflect changes in the position and speed of the motor rotor. By analyzing the pulse width using the ECU, the position and speed of the motor at the current time point can be determined, thus obtaining the current state signal characteristics of the components.

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

[0146] When identifying the amplitude of the ripple current, an A / D converter is used to convert the analog signal of the ripple current into a digital signal, and the ECU reads the digital signal output by the A / D converter. This acquisition process is repeated to obtain multiple digital signals, and based on these signals, the maximum and minimum values ​​of the current fluctuations in the ripple current signal are determined. The difference between the maximum and minimum values ​​of the current fluctuations is calculated to 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] The above steps provide methods for obtaining the current state signal characteristics by identifying the pulse width of the Hall signal and the amplitude of the ripple current, respectively, ensuring that the current state signal characteristics can be accurately detected under various conditions, providing a reliable data foundation for subsequent anti-pinch judgment.

[0148] The following description uses a preferred embodiment as an example. Figure 2 This is a schematic diagram of an optional hardware principle based on a Hall sensor provided in one embodiment of this application, as shown below. Figure 2As shown, the operation of electric components requires the cooperation of an Electronic Control Unit (ECU), a motor drive circuit, an actuator, a Hall sensor, a Hall signal detection circuit, and an actuator. Specifically, the ECU controls the motor drive circuit by changing the current and voltage to control the movement of the actuator. The rotation of the actuator generates Hall signals, which are collected by the Hall sensor. The Hall signal detection circuit converts the Hall signals and sends them to the ECU. The ECU analyzes the Hall signals, identifies the current position and speed of the actuator, performs an anti-pinch judgment, and decides whether to activate the anti-pinch operation. The ECU controls the actuator through the motor drive circuit, thereby driving the actuator to move. Furthermore, the battery can power the entire vehicle's electronic system through a Zone Control Unit (ZCU). The Central Control Unit (CCU) sends commands and data to the ZCU via a CAN (Controller Area Network) bus. The ZCU forwards these commands and data to the corresponding ECUs via a LIN (Local Interconnect Network) bus and feeds back information to the CCU via the CAN bus. Simultaneously, the ECU can also feed back information to the ZCU via the LIN bus.

[0149] Figure 3 This is a schematic diagram of an optional hardware principle based on ripple current provided in one embodiment of this application, as shown below. Figure 3As shown, the electric components require the cooperation of electronic control unit, motor drive circuit, actuator motor, ripple current acquisition module, differential amplifier, analog-to-digital acquisition circuit, ripple-to-square wave conversion circuit and actuator to perform their functions. The ECU controls the operation of the actuator motor through the motor drive circuit, while simultaneously collecting 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 a differential amplifier and then split into two paths: one path is converted into a square wave signal through a ripple-to-square wave conversion circuit to determine the position of the actuator; the other path is converted into a digital signal through an analog-to-digital acquisition circuit, i.e., an 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 actuator's movement is normal. If the ECU detects an abnormality, such as the current amplitude exceeding the normal range or the ripple current pulse count not matching expectations, it indicates that an object may be clamped. The ECU will then change the direction of the actuator motor through the motor drive circuit to activate the actuator's anti-pinch operation, preventing further injury or damage. If everything is normal, the ECU continues to monitor the actuator's movement and adjusts the control strategy based on real-time data as needed to ensure smooth and safe movement. In addition, the battery can power the entire vehicle's electronic system through the regional control unit. The central control unit sends commands and data to the ZCU via the CAN bus. The ZCU forwards these commands and data to the corresponding ECUs via the LIN bus and feeds back information to the CCU via the CAN bus. At the same time, the ECUs can also feed back information to the ZCU via the LIN bus.

[0150] Figure 4 This is a flowchart of an optional anti-pinch control strategy provided in one embodiment of this application, such as... Figure 4 As shown, anti-pinch control requires the cooperation of the standard centroid module, the anti-pinch calculation module, and the anti-pinch judgment module. The steps required in the standard centroid module are as follows:

[0151] Step S402: Obtain n sets of Hall pulse width matrices S n .

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

[0153] Step S404, sample S n The data is split into m column vectors R based on their positions. j .

[0154] Step S406, from R j k data points are randomly selected as centroids to form a centroid matrix C. j .

[0155] Step S408, Rj Points in and C j The distance to the centroid is calculated, and the centroid is assigned to the set of nearest centroids.

[0156] Step S410: After all the data has been divided into sets, the centroid of each set is recalculated.

[0157] Step S412: Determine whether the distance between the new centroid and the original centroid is less than the threshold.

[0158] If the distance between the new centroid and the original centroid is less than the threshold, proceed to step S414; if the distance between the new centroid and the original centroid is not less than the threshold, proceed to step S408.

[0159] Step S414, each R j The obtained centroid matrix C j By concatenating the matrices, we obtain the standard matrix P. j .

[0160] The steps required in the anti-pinch calculation module are as follows:

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

[0162] Step S418: Determine whether the area is within the anti-pinch zone.

[0163] If the real-time detection position and the corresponding pulse width are within the anti-pinch range, proceed to step S420; if the real-time detection position and the corresponding pulse width are not within the anti-pinch range, proceed to step S416.

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

[0165] If step S414 is completed and step S418 satisfies the condition that the real-time detection position and the corresponding pulse width are within the anti-pinch range, then step S420 is executed.

[0166] Step S422: Difference the minimum distance.

[0167] Step S424: Select u as the window value, and integrate the difference values ​​within the window to obtain the calculated clamping force value.

[0168] The steps required in the anti-pinch detection module are as follows:

[0169] Step S426: Determine whether the calculated clamping force value is greater than the preset threshold.

[0170] If step S424 is completed, proceed to step S426. If the calculated clamping force is greater than the preset threshold, proceed to step S428; if the calculated clamping force is not greater than the preset threshold, proceed to step S416.

[0171] Step S428: Anti-pinch mechanism is triggered, and the motion mechanism reverses its direction.

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

[0173] In step S502, the part receives the running instruction.

[0174] Step S504: Determine whether the part is running in the anti-pinch zone.

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

[0176] Step S506: Record the movement position of the part and the Hall pulse width data.

[0177] Step S508: Determine whether the part has reached the soft stop point.

[0178] If the part reaches the soft stop point, proceed to step S510; if the part does not reach the soft stop point, proceed to step S506.

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

[0180] If the stall function is triggered during the operation of the part, proceed to step S514; if the stall function is not triggered during the operation of the part, proceed to step S512.

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

[0182] If the anti-pinch function is triggered during the operation of the part, proceed to step S514; if the anti-pinch function is not triggered during the operation of the part, proceed to step S518.

[0183] Step S514: Delete the recorded motion data.

[0184] Step S516: Exit the adaptive function.

[0185] The steps required in the standard centroid matrix update module are as follows:

[0186] Step S518: The n groups of Hall pulse width matrices Sn are (N1, N2, ..., Nn). Delete the data N1 and decrement the label by 1.

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

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

[0189] Step S522: The new Sn matrix is ​​processed by the standard centroid extraction module to form a new standard matrix Pj.

[0190] Step S524: Store the new standard matrix Pj, completing the update of the standard matrix Pj.

[0191] Electrical components in vehicles, such as windows and tailgates, experience wear and tear over time, affecting the accuracy of the anti-pinch function. The adaptive function compensates for signal changes caused by component aging and wear by updating and adjusting anti-pinch parameters in real time, ensuring effective response of the anti-pinch function at different stages of use.

[0192] Example 2

[0193] This application also provides an anti-pinch control system 60 for components, please refer to... Figure 6 It includes: a detection circuit 610 for executing step 110; and an electronic controller 620 for executing steps 120, 130, and 140.

[0194] The electronic controller 620 includes: an extraction module, used to cluster 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 to summarize the first cluster centers at multiple positions to obtain a target state signal feature.

[0195] The electronic controller 620 further includes: an update module, used to replace at least one preset state signal feature with historical state signal features to obtain at least one replaced state signal feature, to cluster 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, and to summarize the second cluster centers at multiple positions to obtain a target state signal feature.

[0196] The electronic controller 620 also includes: a calculation module, used to determine the current clamping force of the component based on the characteristics of the current state signal and the characteristics of the target state signal; and a judgment module, 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 to 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 mounted on the actuator motor; a Hall signal detection circuit connected between the Hall sensor and the electronic controller, wherein the Hall sensor is used to acquire the Hall signal generated by the actuator 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 mounted on the actuator 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 acquire the ripple current generated by the actuator 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 actuator motor is used to control the movement of components.

[0198] The detection circuit 610 further includes a conversion circuit connected between the ripple current acquisition module and the electronic controller. The conversion circuit is used to convert the ripple current into a square wave signal. 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. The current position is the position of the component when the current state signal characteristics are detected.

[0199] This application also provides a vehicle including an anti-pinch control system for vehicle components that implements any of the vehicle components described in any embodiment of this application.

[0200] This application also provides an electronic device 70, please refer to... Figure 7 It includes 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 for components described in any embodiment of this application.

[0201] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the anti-pinch control method for components described in any embodiment of this application.

[0202] In this application, "multiple" refers to two or more.

[0203] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

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

[0205] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0206] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

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

Claims

1. A method for preventing pinching of components, characterized in that, include: During the current movement of the component, detect the current state signal characteristics of the component; The target state signal features of the component are obtained, wherein the target state signal features are obtained by clustering at least one preset state signal feature and historical state signal features. The preset state signal features are the state signal features of the component during the calibration process, and the historical state signal features are the state signal features of the component during historical movement that meet preset conditions. The preset conditions are that the component does not trigger the stall function and does not trigger the anti-pinch function during the historical movement. Based on the current state signal characteristics and the target state signal characteristics, determine whether the component triggers the anti-pinch function; If it is determined that the component triggers the anti-pinch function, control the component to perform the anti-pinch operation; The acquisition of the target state signal features of the component includes: The historical state signal features are used to replace at least one of the preset state signal features to obtain at least one replaced state signal feature; Cluster analysis is performed on the at least one replaced state signal feature to obtain the target state signal feature.

2. The method according to claim 1, characterized in that, The method further includes: If it is determined that the component did not trigger the stall function and the anti-pinch function during the historical movement, the state signal feature of the component during the historical movement is determined as the historical state signal feature.

3. The method according to claim 1 or 2, characterized in that, The preset state signal features include preset feature values ​​detected at multiple positions of the component within a preset position range; The acquisition of the target state signal features of the component includes: 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 at the same position; The first cluster centers at the multiple locations are summarized to obtain the target state signal features.

4. The method according to claim 1 or 2, characterized in that, The preset state signal features are all included in the preset feature values ​​detected at multiple positions of the component within the preset position range, and the historical state signal features are included in the historical feature values ​​detected at the multiple positions of the component. The step of performing cluster analysis on the at least one replaced state signal feature to obtain the target state signal feature includes: Cluster 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 at the multiple locations are summarized to obtain the target state signal features.

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

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

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

8. The method according to claim 6, characterized in that, The step of performing difference and integration operations on the current distance and multiple historical distances to obtain the current clamping force of the component includes: Perform a difference operation on the distances between two adjacent positions in the current distance and the plurality of historical distances to obtain multiple difference values; The current clamping force is obtained by integrating the multiple difference values.

9. The method according to claim 1, characterized in that, Determining whether the component triggers the anti-pinch function based on the current state signal characteristics and the target state signal characteristics includes: Upon detecting the current state signal characteristics, the current position of the component is determined; If 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.

10. A component anti-pinch control system, characterized in that, include: A detection circuit is used to detect the current state signal characteristics of the component during its current movement. An electronic controller is configured to acquire target state signal features of the component, determine whether the component triggers an anti-pinch function based on the current state signal features and the target state signal features, and control the component to perform an anti-pinch operation if the component triggers the anti-pinch function. The target state signal features are obtained by clustering at least one preset state signal feature and a historical state signal feature. The preset state signal features are the state signal features of the component during the calibration process, and the historical state signal features are the state signal features of the component during historical movement that meet preset conditions. The preset conditions are that the component did not trigger a stall function and did not trigger the anti-pinch function during historical movement. The electronic controller includes: an update module, configured to replace at least one of the preset state signal features with the historical state signal features to obtain at least one replaced state signal feature; and to perform cluster analysis on the at least one replaced state signal feature to obtain the target state signal feature.

11. The system according to claim 10, characterized in that, The preset state signal features include preset feature values ​​detected at multiple positions of the component within a preset position range; The electronic controller includes an extraction module, configured to cluster 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, and to summarize the first cluster centers at the multiple positions to obtain the target state signal features.

12. The system according to claim 10, characterized in that, The preset state signal features are all included in the preset feature values ​​detected at multiple positions of the component within the preset position range, and the historical state signal features are included in the historical feature values ​​detected at the multiple positions of the component. The update module is further configured to cluster 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, and to summarize the second cluster centers at multiple positions to obtain the target state signal feature.

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

Images