Road surface characteristic frequency calculation method, road surface type identification method, vehicle window anti-pinch control method, system and vehicle

Abstract

The invention discloses a road surface characteristic frequency calculation method, a road surface type identification method, a vehicle window anti-pinch control method, a system and a vehicle, the current road surface characteristic frequency is calculated based on the acceleration change condition of a vehicle window motor, and the road surface type is identified according to the current road surface characteristic frequency; after the absolute value of the acceleration of the car window motor is larger than the first anti-pinch threshold value, whether the absolute value of the acceleration of the car window motor is larger than the second anti-pinch threshold value or not needs to be judged after the number of ripples is increased by M1, and whether the absolute value of the acceleration of the car window motor is larger than the second anti-pinch threshold value or not is continuously judged within a period of time; therefore, the anti-pinch accuracy and the anti-pinch control reliability are improved. By means of the anti-pinch device, mistaken anti-pinch in a static state can be avoided, mistaken anti-pinch on a bumpy road surface can be dealt with, the mistaken anti-pinch phenomenon of the car window caused by road surface excitation is effectively avoided, and meanwhile it can be guaranteed that the car window still has the anti-pinch function under the current condition.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle control, and particularly relates to a method for calculating road surface characteristic frequency, a method for identifying road surface types, a window anti-pinch control method, a system and a vehicle. Background Art

[0002] Electrically operated lifting windows have been fully popularized at present. During the use of electrically operated lifting windows, it is inevitable that the glass will pinch an object or even a person during the rising process, especially when the window pinches a passenger during the rising process, which will cause relatively serious consequences. Therefore, the anti-pinch function has also become a standard configuration for electrically operated lifting windows. Currently, the window anti-pinch control mainly includes anti-pinch technology based on current ripple and anti-pinch technology based on Hall pulses. The anti-pinch method based on current ripple is mainly: on the basis of extracting the current ripple, calculating the DC component of the window motor current, and using the DC component of the motor current as the input of the anti-pinch control system, which can reduce the probability of false anti-pinch of the window. However, during the actual use of the window, due to problems such as environmental changes, aging of the window rubber strip, aging and failure of the window lifter, etc., the DC component of the motor current will change greatly during the window rising process, and different windows of the same vehicle will have different dissimilation. In addition, a major challenge faced by window anti-pinch technology is the false anti-pinch control on bumpy roads, but this method cannot cope with the complex working conditions when the vehicle is driving on bumpy roads; therefore, this method cannot completely solve the problem of false anti-pinch.

[0003] When the vehicle is driving on a bumpy road, the up and down vibration of the vehicle body will cause changes in the acceleration of the window glass. At this time, the response of the window motor is somewhat similar to that when the window pinches an object; when the false anti-pinch phenomenon is serious, it will cause the window to be unable to close automatically on bumpy roads, posing a threat to driving safety. How to calculate the road surface characteristic frequency and identify the road surface type based on the changes of the window motor, and perform window anti-pinch control based on the road surface type (such as bumpy road, smooth road) is an urgent problem to be solved. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for calculating road surface characteristic frequency, a method for identifying road surface types, a window anti-pinch control method, a system and a vehicle, so as to accurately identify the road surface type and perform accurate window anti-pinch control according to the road surface type, and avoid the occurrence of false anti-pinch situations.

[0005] In the first aspect, the present invention provides a method for calculating road surface characteristic frequency, which includes:

[0006] Starting from when the window begins to rise, according to the change of the window motor current, count the number of ripples and the moment when each ripple appears, and store them. The initial value of the number of ripples is 0, that is, when the window begins to rise, the number of ripples is equal to 0.

[0007] Calculate the acceleration of the window motor according to the number of ripples and the occurrence time of each ripple, and store it.

[0008] Identify the acceleration wave peak value and acceleration wave valley value of the window motor (that is, select the acceleration wave peak value and acceleration wave valley value from all the acceleration values of the window motor), and count the number k of acceleration wave peak values 1 and the number k of acceleration wave valley values 2 , and record the occurrence time of each acceleration wave peak value and the occurrence time of each acceleration wave valley value.

[0009] Use the formula: Calculate the k-th jitter frequency F k , and store it. Where, T' k represents the occurrence time of the k-th acceleration wave peak value, T” k represents the occurrence time of the k-th acceleration wave valley value, int() represents the floor function, represents taking the integer part of, k≥1.

[0010] Average the k jitter frequencies (that is, F 1 、...、F k ), and obtain the average jitter frequency F.

[0011] Take the average jitter frequency F as the current road surface characteristic frequency.

[0012] Preferably, the method for calculating the acceleration of the window motor according to the number of ripples and the occurrence time of each ripple is:

[0013] Use the formula: Calculate the rotational speed n of the window motor when the i-th ripple appears i ; where, P represents the number of pole pairs of the window motor, i represents the current number of ripples, i≥j, A i-j represents the number of ripples when the i-j-th ripple appears, A i represents the number of ripples when the i-th ripple appears, Δt i represents the time difference between the occurrence time of the i-th ripple and the occurrence time of the i-j-th ripple, j represents the preset number-of-ripples threshold, A 0 =0.

[0014] Use the formula: Calculate the acceleration (i.e., the current acceleration of the window motor) a of the window motor when the i-th ripple appears i ; where, n i-j represents the rotational speed of the window motor when the i-j-th ripple appears.

[0015] Preferably, the method for identifying the acceleration wave peak value and the acceleration wave trough value of the window motor (i.e., selecting the acceleration wave peak value and the acceleration wave trough value of the window motor from all the acceleration values of the window motor) is as follows:

[0016] Calculate the acceleration gradient of the window motor and make a judgment: if the acceleration gradient of the window motor at the previous moment is greater than zero, and the acceleration gradient of the window motor at the current moment is less than or equal to zero, then it is determined that the current moment is the moment when the acceleration wave peak value appears, and the acceleration value of the current window motor is the acceleration wave peak value; if the acceleration gradient of the window motor at the previous moment is less than zero, and the acceleration gradient of the window motor at the current moment is greater than or equal to zero, then it is determined that the current moment is the moment when the acceleration wave trough value appears, and the acceleration value of the current window motor is the acceleration wave trough value.

[0017] In a second aspect, the present invention provides a road surface type identification method, which includes:

[0018] Adopt the above-mentioned road surface characteristic frequency calculation method to calculate the current road surface characteristic frequency.

[0019] According to the current road surface characteristic frequency, query the preset correspondence table between the road surface type and the road surface characteristic frequency to obtain the road surface type on which the current vehicle is traveling.

[0020] In a third aspect, the present invention provides a window anti-pinch control method, which includes:

[0021] Step 1: Adopt the above-mentioned road surface characteristic frequency calculation method to calculate the current road surface characteristic frequency, and then execute Step 2.

[0022] Step 2: Determine the anti-pinch first threshold Thd11 and the anti-pinch second threshold Thd22 according to the current road surface characteristic frequency, and then execute Step 3.

[0023] Step 3: Judge whether the absolute value of the acceleration of the window motor is greater than the anti-pinch first threshold Thd11. If so, execute Step 4, otherwise continue to execute Step 3.

[0024] Step 4: Start counting the increase in the number of ripples, and then execute Step 5.

[0025] Step 5: Judge whether the increase in the number of ripples is greater than M 1 , if so (i.e., after the number of ripples increases by M 1 ), then execute Step 6, otherwise continue to execute Step 5; where M 1 represents a preset first number threshold.

[0026] Step 6: Judge whether the absolute value of the acceleration of the window motor is greater than the anti-pinch second threshold Thd22. If so, execute Step 8, otherwise execute Step 7.

[0027] Step 7: Determine whether the increase in the number of ripples is greater than M 2 . If it is, return to execute Step 1; otherwise, return to execute Step 6. Here, M 2 represents a preset second numerical threshold, and M 2 > M 1 .

[0028] Step 8: Control the window to stop rising and lower to the bottom (i.e., perform window anti-pinch control, control the window motor to reverse until the window reaches the bottom), and then end.

[0029] Preferably, the method for determining the first anti-pinch threshold Thd11 and the second anti-pinch threshold Thd22 according to the current road surface characteristic frequency is as follows:

[0030] Judge the magnitude relationship between the current road surface characteristic frequency and the preset frequency threshold:

[0031] If the current road surface characteristic frequency is greater than or equal to the preset frequency threshold (i.e., when the road surface type where the current vehicle is traveling is a bumpy road surface), first average the k 2 identified acceleration trough values to obtain the average acceleration trough value, then use the average acceleration trough value as the acceleration dynamic compensation value a, and then use the formula: Thd11 = Thd1 + a, Thd22 = Thd2 + a to calculate and obtain the first anti-pinch threshold Thd11 and the second anti-pinch threshold Thd22.

[0032] If the current road surface characteristic frequency is less than the preset frequency threshold (i.e., when the road surface type where the current vehicle is traveling is a smooth road surface), then make Thd11 = Thd1 and Thd22 = Thd2.

[0033] Among them, Thd1 represents a preset first acceleration threshold, and Thd2 represents a preset second acceleration threshold.

[0034] Preferably, the preset frequency threshold is 20Hz, the preset first acceleration threshold Thd1 = 500r / s 2 , and the preset second acceleration threshold Thd2 = 1500r / s 2 .

[0035] Preferably, the preset first numerical threshold M 1 = 30, and the preset second numerical threshold M 2 = 50.

[0036] Fourthly, the present invention provides a window anti-pinch control system, which includes a controller, and the controller is programmed to execute the above window anti-pinch control method.

[0037] Fifth aspect, the present invention provides a vehicle, which includes the above window anti-pinch control system.

[0038] Compared with the prior art, the present invention has the following effects:

[0039] (1) Based on the acceleration change of the window motor, the current road surface characteristic frequency is calculated accurately; according to the current road surface characteristic frequency, the road surface type is accurately identified, which is more conducive to window anti-pinch control.

[0040] (2) After the absolute value of the acceleration of the window motor is greater than the first anti-pinch threshold Thd11, it is necessary to wait for the number of ripples to increase by M 1 pieces (equivalent to waiting for a period of time) and then determine whether the absolute value of the acceleration of the window motor is greater than the second anti-pinch threshold Thd22, thereby avoiding false anti-pinch caused by the rapid change of the window glass when the vehicle drives over a suddenly high bump or a suddenly sunken deep pit road surface, and improving the anti-pinch accuracy.

[0041] (3) During a period of time (that is, during the process of the number of ripples increasing by M 2 -M 1 ), continuously determine whether the absolute value of the acceleration of the window motor is greater than the second anti-pinch threshold Thd22. Since the actual vehicle driving environment is complex, judging within a period of time has higher reliability and is not easy to miss judgment, thereby improving the reliability of anti-pinch control.

[0042] (4) Based on the acceleration of the window motor to judge whether to execute anti-pinch control, without judging the window speed, it has stronger adaptability. Because the change of the window speed is not only related to voltage, temperature, and road surface, but also related to the aging degree of components, assembly inconsistency, etc. If the window speed is judged again, more errors will be introduced.

[0043] (5) The preset first acceleration threshold and the preset second acceleration threshold are obtained through off-line calibration, while the acceleration dynamic compensation value is obtained online; on a bumpy road surface, the first anti-pinch threshold and the second anti-pinch threshold are appropriately increased in real time according to the road surface bumpiness, without relying on the test environment, and can be compensated according to the real-time state of the vehicle, with stronger adaptability; it can not only avoid false anti-pinch under static conditions, but also cope with false anti-pinch on bumpy road surfaces, effectively avoiding the phenomenon of false anti-pinch of the window caused by road excitation, and at the same time ensuring that the window still has the anti-pinch function under the current situation. Description of the Drawings

[0044] Figure 1 It is a flowchart of the road surface characteristic frequency calculation method in an embodiment of the present invention.

[0045] Figure 2 It is a flowchart of the road surface type identification method in an embodiment of the present invention.

[0046] Figure 3 This is the flowchart of the window anti-pinch control method in the embodiment of the present invention.

[0047] Figure 4 This is the flowchart of the method for determining the first anti-pinch threshold and the second anti-pinch threshold in the embodiment of the present invention.

[0048] Figure 5 This is a schematic diagram of the change of the window motor when the vehicle is driving on a smooth road surface in the embodiment of the present invention.

[0049] Figure 6 This is a schematic diagram of the change of the window motor when the vehicle is driving on a bumpy road surface in the embodiment of the present invention. Detailed implementation manners

[0050] In order to more comprehensively understand the features and technical content of the embodiments of the present invention, the implementation of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The accompanying drawings are only for reference and illustration purposes and are not used to limit the embodiments of the present invention.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used herein are only for the purpose of describing the embodiments of the present invention and are not intended to limit the present invention.

[0052] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with each other without conflict.

[0053] As Figure 1 shown, the road surface feature frequency calculation method in the embodiment of the present invention is executed by a controller and includes:

[0054] First step: Starting from when the window starts to rise, according to the change of the window motor current, count the number of ripples (that is, each time a ripple change is detected, the number of ripples increases by 1) and the moment when each ripple appears, and store them. The initial value of the number of ripples is 0, that is, the number of ripples is equal to 0 when the window starts to rise. The method of detecting ripples according to the change of the window motor current belongs to the prior art.

[0055] Second step: Calculate the acceleration of the window motor according to the number of ripples and the moment when each ripple appears, and store it.

[0056] In some embodiments, the method of calculating the acceleration of the window motor according to the number of ripples and the moment when each ripple appears is as follows:

[0057] First, use the formula: Calculate the rotational speed n of the window motor when the i-th ripple appears i . Where P represents the number of pole pairs of the window motor, i represents the current number of ripples (i.e., the currently counted number of ripples, and the value of i increases continuously), i ≥ j, A i-j represents the number of ripples when the (i - j)-th ripple appears, A i represents the number of ripples when the i-th ripple appears, A i -A i-j = j, Δt i represents the time difference between the moment when the i-th ripple appears and the moment when the (i - j)-th ripple appears, j represents the preset threshold number of ripples, A 0 = 0, j ≥ 1. As an example, the value of j is taken as 8 here, i.e., j = 8.

[0058] Then use the formula: Calculate the acceleration (i.e., the current acceleration of the window motor) a of the window motor when the i-th ripple appears i . Where n i-j represents the rotational speed of the window motor when the (i - j)-th ripple appears.

[0059] Step 3: Identify the acceleration wave peak value and acceleration wave valley value of the window motor (i.e., select the acceleration wave peak value and acceleration wave valley value from all the acceleration values of the window motor), and count the number k 1 of the acceleration wave peak value and the number k 2 of the acceleration wave valley value, and record the moment when each acceleration wave peak value appears and the moment when each acceleration wave valley value appears.

[0060] In some embodiments, the method for identifying the acceleration wave peak value and acceleration wave valley value of the window motor (i.e., selecting the acceleration wave peak value and acceleration wave valley value from all the acceleration values of the window motor) is as follows:

[0061] Calculate the acceleration gradient of the window motor (the calculation method belongs to the prior art), and make a judgment: if the acceleration gradient of the window motor at the previous moment is greater than zero, and the acceleration gradient of the window motor at the current moment is less than or equal to zero, then it is determined that the current moment is the moment when the acceleration wave peak value appears, and the acceleration value of the current window motor is the acceleration wave peak value; if the acceleration gradient of the window motor at the previous moment is less than zero, and the acceleration gradient of the window motor at the current moment is greater than or equal to zero, then it is determined that the current moment is the moment when the acceleration wave valley value appears, and the acceleration value of the current window motor is the acceleration wave valley value.

[0062] Step 4: Use the formula: Calculate the k-th jitter frequency F k , and store it. Where T' k represents the moment when the k-th acceleration wave peak value appears, T”k Denotes the moment when the k-th acceleration trough value appears, int() represents the floor function, Denotes taking The integer part of, where k ≥ 1.

[0063] Step 5, Calculate the average of the k jitter frequencies (e.g., F 1 , F 2 ,..., F k ) to obtain the average jitter frequency F,

[0064] That is

[0065] Step 6, Use the average jitter frequency F as the current road surface characteristic frequency.

[0066] As Figure 2 Shown, the road surface type recognition method in the embodiment of the present invention is executed by a controller and includes:

[0067] Step 1, Use the above road surface characteristic frequency calculation method to calculate the current road surface characteristic frequency.

[0068] Step 2, According to the current road surface characteristic frequency, query the preset correspondence table between road surface types and road surface characteristic frequencies to obtain the road surface type on which the current vehicle is traveling. The preset correspondence table between road surface types and road surface characteristic frequencies is obtained through offline calibration and stored in the controller. As an example, common road surface types include: resonant road surface, washboard road surface, Belgian road surface, damaged road surface, and smooth road surface, etc. Resonant road surface, washboard road surface, Belgian road surface, and damaged road surface can be collectively referred to as bumpy road surfaces.

[0069] When the vehicle is traveling on a smooth road surface, the acceleration of the window motor will not undergo violent jitter. Only when the vehicle is traveling on a bumpy road surface, the acceleration of the window motor will undergo violent vibration at a certain frequency. Figure 5 Shows the changes in the rotational speed, acceleration, and number of ripples of the window motor when the vehicle is traveling on a smooth road surface. Figure 6 Shows the changes in the rotational speed, acceleration, and number of ripples of the window motor when the vehicle is traveling on a bumpy road surface.

[0070] As Figure 3 Shown, the window anti-pinch control method in the embodiment of the present invention is executed by a controller and includes:

[0071] Step 1, Use the above road surface characteristic frequency calculation method to calculate the current road surface characteristic frequency, and then execute Step 2.

[0072] Step 2: Determine the first anti-pinch threshold Thd11 and the second anti-pinch threshold Thd22 according to the current road surface characteristic frequency, and then execute Step 3.

[0073] In some embodiments, the method for determining the first anti-pinch threshold Thd11 and the second anti-pinch threshold Thd22 according to the current road surface characteristic frequency (see Figure 4 ) includes:

[0074] S11: Determine whether the current road surface characteristic frequency is greater than or equal to a preset frequency threshold. If so (i.e., when the road surface type where the current vehicle is traveling is a bumpy road surface), execute S12; otherwise (i.e., when the current road surface characteristic frequency is less than the preset frequency threshold and the road surface type where the current vehicle is traveling is a smooth road surface), execute S15. As an example, the preset frequency threshold is 20 Hz.

[0075] S12: Calculate the average of the k 2 identified acceleration trough values (such as a 1 , a 2 ,..., ) to obtain the average acceleration trough value (i.e., ), and then execute S13.

[0076] S13: Use the average acceleration trough value as the acceleration dynamic compensation value a (i.e., ), and then execute S14.

[0077] S14: Use the formula: Thd11 = Thd1 + a, Thd22 = Thd2 + a to calculate the first anti-pinch threshold Thd11 and the second anti-pinch threshold Thd22, and then end. Where Thd1 represents the preset first acceleration threshold, and Thd2 represents the preset second acceleration threshold. As an example, the preset first acceleration threshold Thd1 = 500 r / s 2 , and the preset second acceleration threshold Thd2 = 1500 r / s 2 .

[0078] S15: Set Thd11 = Thd1, Thd22 = Thd2, and then end.

[0079] Step 3: Determine whether the absolute value of the acceleration of the window motor is greater than the first anti-pinch threshold Thd11. If so, execute Step 4; otherwise, continue to execute Step 3.

[0080] Step 4: Start counting the increase in the number of ripples, and then execute Step 5.

[0081] Step 5: Determine whether the increase in the number of ripples is greater than M 1 , if so (i.e., when the number of ripples increases by M 1If (after a certain number of times), then perform Step Six; otherwise, continue to perform Step Five. Among them, M 1 represents a preset first number threshold. As an example, the preset first number threshold M 1 = 30.

[0082] Step Six: Determine whether the absolute value of the acceleration of the window motor is greater than the anti-pinch second threshold Thd22. If so, perform Step Eight; otherwise, perform Step Seven.

[0083] Step Seven: Determine whether the increase in the number of ripples is greater than M 2 . If so, return to perform Step One; otherwise, return to perform Step Six. Among them, M 2 represents a preset second number threshold, and M 2 > M 1 . As an example, the preset second number threshold M 2 = 50.

[0084] Step Eight: Control the window to stop rising and lower to the bottom (i.e., perform window anti-pinch control, control the window motor to reverse until the window reaches the bottom), and then end.

[0085] In addition, an embodiment of the present invention further provides a window anti-pinch control system, which includes a controller programmed to execute the above window anti-pinch control method. An embodiment of the present invention further provides a vehicle, which includes the above window anti-pinch control system.

[0086] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for calculating road surface characteristic frequency, characterized in that: include: When the window starts to rise, the number of ripples and the time when each ripple appears are counted and stored according to the change of the window motor current; According to the number of ripples and the time when each ripple appears, the acceleration of the window motor is calculated and stored; Identify the acceleration peak value and the acceleration trough value of the window motor, count the number k1 of the acceleration peak value and the number k2 of the acceleration trough value, and record the time when each acceleration peak value and each acceleration trough value appear; Using the formula: Calculate the kth jitter frequency F k , and store; where T' k Indicates the time when the kth acceleration peak value appears, T” k represents the time when the kth acceleration trough value appears, int() represents the rounding down function; The k jitter frequencies are averaged to obtain the jitter frequency average value F; The jitter frequency average value F is used as the current road surface characteristic frequency.

2. The method for calculating road surface characteristic frequency according to claim 1, characterized in that: According to the number of ripples and the time when each ripple appears, the acceleration of the window motor is calculated as follows: Using the formula: Calculate the speed n of the window motor when the i-th ripple appears i ; Where P represents the pole pair number of the window motor, i represents the current ripple number, i≥j, A i-j Indicates the number of ripples when the ijth ripple appears, A i Indicates the number of ripples when the i-th ripple appears, Δt i represents the time difference between the time when the i-th ripple appears and the time when the ij-th ripple appears, j represents the preset ripple number threshold, A0=0; Using the formula: Calculate the acceleration a of the window motor when the i-th ripple appears i ; where n i-j It represents the speed of the window motor when the ijth ripple appears.

3. The method for calculating road surface characteristic frequency according to claim 1, characterized in that: The method for identifying the peak value and valley value of the acceleration wave of the window motor is as follows: Calculate the acceleration gradient of the window motor and make a judgment; If the acceleration gradient of the window motor at the previous moment is greater than zero, and the acceleration gradient of the window motor at the current moment is less than or equal to zero, then the current moment is determined to be the moment when the acceleration wave peak value appears, and the current acceleration value of the window motor is the acceleration wave peak value; If the acceleration gradient of the window motor at the previous moment is less than zero, and the acceleration gradient of the window motor at the current moment is greater than or equal to zero, it is determined that the current moment is the moment when the acceleration trough value occurs, and the current acceleration value of the window motor is the acceleration trough value.

4. A road surface type identification method, characterized in that: include: Calculate the current road surface characteristic frequency by using the road surface characteristic frequency calculation method as described in any one of claims 1 to 3; According to the current road surface characteristic frequency, a preset corresponding relationship table between road surface type and road surface characteristic frequency is queried to obtain the road surface type on which the vehicle is currently traveling.

5. A vehicle window anti-pinch control method, characterized in that: include: Step 1, using the road surface characteristic frequency calculation method as described in any one of claims 1 to 3 to calculate the current road surface characteristic frequency, and then executing step 2; Step 2: Determine the first anti-pinch threshold Thd11 and the second anti-pinch threshold Thd22 according to the current road surface characteristic frequency, and then execute step 3; Step 3: determine whether the absolute value of the acceleration of the window motor is greater than the first anti-pinch threshold Thd11, if yes, proceed to step 4, otherwise continue to step 3; Step 4: Start counting the increase in the number of ripples, and then proceed to step 5; Step 5: determine whether the increase in the number of ripples is greater than M1. If so, execute step 6; otherwise, continue to execute step 5; wherein M1 represents the preset first number threshold; Step 6: Determine whether the absolute value of the acceleration of the window motor is greater than the second anti-pinch threshold Thd22, if yes, execute step 8, otherwise execute step 7; Step 7: determine whether the increase in the number of ripples is greater than M2. If so, return to step 1, otherwise return to step 6; wherein M2 represents the preset second numerical threshold, M2>M1; Step 8: Control the car window to stop rising and drop to the bottom, and then end.

6. The vehicle window anti-pinch control method according to claim 5, characterized in that: According to the current road surface characteristic frequency, the method of determining the first anti-pinch threshold Thd11 and the second anti-pinch threshold Thd22 is as follows: Determine the magnitude relationship between the current road surface characteristic frequency and a preset frequency threshold; If the current road characteristic frequency is greater than or equal to the preset frequency threshold, the k2 identified acceleration trough values ​​are averaged to obtain the acceleration trough average value, and then the acceleration trough average value is used as the acceleration dynamic compensation value a. Then, the formula: Thd11 = Thd1 + a, Thd22 = Thd2 + a is used to calculate the first anti-pinch threshold Thd11 and the second anti-pinch threshold Thd22; If the current road surface characteristic frequency is less than the preset frequency threshold, Thd11 = Thd1, Thd22 = Thd2; Wherein, Thd1 represents a preset first acceleration threshold, and Thd2 represents a preset second acceleration threshold.

7. The vehicle window anti-pinch control method according to claim 6, characterized in that: The preset frequency threshold is 20 Hz, and the preset first acceleration threshold Thd1 = 500 r / s 2 , the preset second acceleration threshold Thd2 = 1500r / s 2 .

8. The vehicle window anti-pinch control method according to any one of claims 5 to 7, characterized in that: The preset first numerical threshold M1=30, and the preset second numerical threshold M2=50.

9. A vehicle window anti-pinch control system, comprising a controller, characterized in that: The controller is programmed to execute the vehicle window anti-pinch control method as claimed in any one of claims 5 to 8.

10. A vehicle, characterized in that: It includes the vehicle window anti-pinch control system as claimed in claim 9.

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