Lifter speed regulation method and device, vehicle and storage medium

Abstract

The invention provides a lifter speed regulation method and device, a vehicle and a storage medium. The method comprises the steps that the first speed of a lifter in a first period is monitored; determining a speed difference based on the first speed of the lifter in the first period and a preset speed; determining a pulse width modulation (PWM) compensation value based on the speed difference; a PWM value of a second period is determined based on the PWM value of the first period and the PWM compensation value, so that the lifter moves at a second speed, the second period is the next period of the first period, and the second speed is determined by the PWM value of the second period. According to the method provided by the invention, the defect that the speed is suddenly changed due to factors such as external force obstruction or power supply voltage fluctuation in the ascending or descending process of the lifter can be overcome.

Description

Technical Field

[0001] This application relates to the field of automobiles, and in particular, to a method and device for adjusting the speed of a window lifter, a vehicle, and a storage medium. Background Art

[0002] The window lifter in a vehicle can move up or down, and the speed of the window lifter moving up or down can be controlled by Pulse Width Modulation (PWM). For example, for a certain speed of the window lifter, a corresponding PWM value can be set.

[0003] It can be seen that the rising speed or falling speed of the window lifter is controlled by setting a fixed PWM. However, when the window lifter is obstructed by an external force during the rising or falling process, its rising speed or falling speed may suddenly change due to factors such as being obstructed by an external force or power supply voltage fluctuation, affecting the user experience. Summary of the Invention

[0004] Embodiments of this application provide a method and device for adjusting the speed of a window lifter, a vehicle, and a storage medium, which helps to solve the drawback of sudden speed changes caused by factors such as being obstructed by an external force or power supply voltage fluctuation during the rising or falling process of the window lifter.

[0005] In a first aspect, embodiments of this application provide a method for adjusting the speed of a window lifter, including: monitoring a first speed of the window lifter within a first period; determining a speed difference based on the first speed of the window lifter within the first period and a preset speed; determining a Pulse Width Modulation (PWM) compensation value based on the speed difference; determining a PWM value of a second period based on the PWM value of the first period and the PWM compensation value, so that the window lifter moves at a second speed, where the second period is the next period of the first period, and the second speed is determined by the PWM value of the second period.

[0006] In one possible implementation, the PWM compensation value is obtained by converting the speed difference through an integral term and a proportional term, and the integral term includes an adaptive integral coefficient.

[0007] In one possible implementation, the adaptive integral coefficient is obtained through a preset function, and the preset function is a functional relationship between the adaptive integral coefficient and the speed difference.

[0008] In one possible implementation, the larger the absolute value of the speed difference, the smaller the adaptive integral coefficient, and the larger the PWM compensation value; the smaller the absolute value of the speed difference, the larger the adaptive integral coefficient, and the smaller the PWM compensation value.

[0009] In a second aspect, an embodiment of the present application provides a speed regulation device for a lifter, including one or more functional modules, and the one or more functional modules are used to execute the lifter speed regulation method as described in the first aspect.

[0010] In a third aspect, an embodiment of the present application provides a vehicle, including: a processor and a memory, the memory is used to store a computer program; the processor is used to run the computer program to implement the lifter speed regulation method as described in the first aspect.

[0011] In a fourth aspect, an embodiment of the present application provides a readable storage medium, in which a program is stored. When the program runs on a vehicle, the vehicle is enabled to implement the lifter speed regulation method as described in the first aspect.

[0012] In a fifth aspect, an embodiment of the present application provides a program. When the above program runs on a processor of a vehicle, the vehicle is enabled to execute the lifter speed regulation method as described in the first aspect.

[0013] In a possible design, the program in the fifth aspect may be stored in whole or in part on a storage medium packaged together with the processor, or may be stored in whole or in part on a memory not packaged together with the processor. Description of the Drawings

[0014] Figure 1 It is a schematic flowchart of an embodiment of the lifter speed regulation method provided by the present application; Figure 2 It is a schematic diagram of the speed regulation period provided by the present application; Figure 3 It is a schematic structural diagram of the lifter speed regulation device provided by an embodiment of the present application; Figure 4 It is a schematic structural diagram of the vehicle provided by an embodiment of the present application. Detailed Embodiments

[0015] In the embodiments of the present application, unless otherwise specified, the character " / " indicates that the related objects before and after are in an "or" relationship. For example, A / B may represent A or B. "And / or" describes the association relationship of related objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0016] It should be noted that the terms "first", "second", etc. involved in the embodiments of the present application are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features, nor can they be understood as indicating or implying order.

[0017] In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. In addition, "at least one (item)" or its similar expression means any combination of these items, which may include any combination of a single item or plural items. For example, at least one (item) of A, B, or C may represent: A, B, C, A and B, A and C, B and C, or A, B, and C. Each of A, B, and C itself may be an element or a set containing one or more elements.

[0018] In the embodiments of the present application, expressions such as "exemplary", "in some embodiments", and "in another embodiment" are used to give examples, illustrations, or explanations. Any embodiment or design described as "exemplary" in the present application should not be construed as being more preferred or having more advantages than other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a specific manner.

[0019] In the embodiments of the present application, "of", "corresponding", and "corresponding to" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the intended meanings are the same. In the embodiments of the present application, communication and transmission can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the meanings expressed are the same. For example, transmission may include sending and / or receiving, and can be a noun or a verb.

[0020] In the embodiments of the present application, the equality involved can be used in combination with greater than, applicable to the technical solutions adopted when greater than, or can also be used in combination with less than, applicable to the technical solutions adopted when less than. It should be noted that when equality is used in combination with greater than, it cannot be used in combination with less than; when equality is used in combination with less than, it is not used in combination with greater than.

[0021] The window regulator in a vehicle can be raised or lowered, and the raising or lowering speed of the window regulator can be controlled by Pulse Width Modulation (PWM). For example, for a certain speed of the window regulator, a corresponding PWM value can be set.

[0022] It can be seen that the raising speed or lowering speed of the window regulator is controlled by setting a fixed PWM. However, when the window regulator is obstructed by an external force during the raising or lowering process, its raising speed or lowering speed may undergo a sudden change in speed due to factors such as being obstructed by an external force or voltage fluctuation of the power supply, affecting the user experience.

[0023] Based on the above problems, the present application provides a speed regulation method for a lifter, which helps to solve the drawback of sudden speed changes caused by external force obstruction or power supply voltage fluctuations during the rising or falling process of the lifter.

[0024] Figure 1 FIG. is a schematic flowchart of an embodiment of the speed regulation method for the lifter provided by the present application, including the following steps: Step 101, monitor the first speed of the lifter within the first period.

[0025] Specifically, the lifter referred to in the present application is a window lifter in a vehicle.

[0026] The first period may be the first period, or the first period may be any period after the first period. The embodiments of the present application do not make special limitations on this.

[0027] It can be understood that the lifter can rise or fall. The first speed of the lifter within the first period may include the first rising speed and the first falling speed.

[0028] Exemplarily, in the scenario where the lifter is rising, the first speed of the lifter within the first period may be the first rising speed. Or, In the scenario where the lifter is falling, the first speed of the lifter within the first period may be the first falling speed.

[0029] Step 102, determine the speed difference based on the first speed of the lifter within the first period and the preset speed.

[0030] Specifically, the preset speed may be the speed of the lifter under normal conditions.

[0031] It can be understood that the preset speed may include the preset rising speed and the preset falling speed.

[0032] Exemplarily, in the scenario where the lifter is rising, the preset speed may be the preset rising speed. Or, In the scenario where the lifter is falling, the preset speed may be the preset falling speed.

[0033] After the first speed of the lifter is monitored within the first period, the speed difference can be calculated based on the first speed of the lifter within the first period and the preset speed.

[0034] Exemplarily, speed difference = first speed - preset speed.

[0035] It should be noted that since the first speed may be greater than the preset speed, the value of the speed difference may be positive; or, since the first speed may be less than the preset speed, the value of the speed difference may be negative.

[0036] It can be understood that the speed difference may include an ascending speed difference and a descending speed difference.

[0037] Exemplarily, in the scenario where the lifter ascends, the ascending speed difference can be determined by the difference between the ascending monitored speed and the preset ascending speed. Or, in the scenario where the lifter descends, the descending speed difference can be determined by the difference between the descending monitored speed and the preset descending speed.

[0038] Step 103: Determine the PWM compensation value based on the speed difference.

[0039] Specifically, after calculating the speed difference, the PWM compensation value can be determined based on the speed difference.

[0040] It can be understood that the PWM compensation value can be positive, or the PWM compensation value can be negative, and the positive or negative of the PWM compensation value can be determined by the specific value of the speed difference.

[0041] Among them, the method for determining the PWM compensation value based on the speed difference may include: converting the speed difference into the PWM compensation value through an integral term and a proportional term.

[0042] In some alternative embodiments, the integral term may further include an adaptive integral coefficient, and the adaptive integral coefficient can be obtained through a preset function.

[0043] Among them, the preset function may be a functional relationship between the adaptive integral coefficient and the speed difference.

[0044] Exemplarily, the preset function can be represented by the following expression: Ci = f(△v); where Ci is the adaptive integral coefficient and △v is the speed difference.

[0045] It can be understood that the larger the speed difference △v, the smaller the obtained adaptive integral coefficient Ci, and a larger PWM compensation value can be obtained, so that the speed of the lifter can reach the preset speed faster in the second period. The smaller the speed difference △v, the larger the obtained adaptive integral coefficient Ci, and a smaller PWM compensation value can be obtained, so that the speed of the lifter can be smoother in the second period.

[0046] Among them, the second period may be the next period after the first period.

[0047] Step 104: Determine the PWM value of the second period based on the PWM value of the first period and the PWM compensation value.

[0048] Specifically, when the second period starts, the PWM value of the second period can be determined based on the PWM value of the first period and the PWM compensation value. For example, the PWM value of the second period = the PWM value of the first period + the PWM compensation value of the first period, so that the motor drives the lifter to move based on the compensated PWM, that is, the lifter moves at a second speed within the second period, and the second speed is determined by the PWM value of the second period.

[0049] It can be understood that compensating the PWM value of the next period with the PWM compensation value calculated in the previous period can increase or decrease the PWM value in the next period based on the PWM value of the previous period, thereby increasing or decreasing the speed of the lifter within the second period.

[0050] Now in combination with Figure 2 , taking the lifter rising as an example, an exemplary description of the speed regulation period of the lifter is given.

[0051] Referring to Figure 2 , it is monitored that the lifter rises at a speed of v1 within the first period. Assuming that there is an external force acting on the lifter during the rising process, resulting in v1 < v0, where v0 is the preset speed. By calculating the speed difference △v = v1 - v0, the corresponding PWM compensation value of the first period is obtained based on the speed difference △v, and the PWM compensation value of the first period is compensated on the second period. Thus, the PWM value of the second period can be obtained, so that the motor drives the lifter to rise at a speed of v2 within the second period based on the PWM value of the second period. Among them, v2 > v1. It can be seen that due to the action of external force or voltage fluctuation in the previous period (for example, the first period), the speed changes suddenly. Through the compensation of the PWM value of the previous period, the speed of the current period (for example, the second period) is corrected based on the speed of the previous period, so that the corrected speed remains normal to improve the user experience.

[0052] Figure 3 FIG. is a schematic structural diagram of the lifter speed regulation device provided by the embodiment of the present application. As Figure 3 shown, the above-mentioned lifter speed regulation device 30 may include: a monitoring module 31, a determination module 32, and a compensation module 33; wherein, The monitoring module 31 is configured to monitor the first speed of the lifter within the first period; The determination module 32 is configured to determine the speed difference based on the first speed of the lifter within the first period and the preset speed; and determine the pulse width modulation PWM compensation value based on the speed difference; A compensation module 33 is configured to determine the PWM value of a second period based on the PWM value of the first period and the PWM compensation value, such that the lifter moves at a second speed. Herein, the second period is the next period of the first period, and the second speed is determined by the PWM value of the second period.

[0053] In one possible implementation, the PWM compensation value is obtained by converting the speed difference through an integral term and a proportional term, and the integral term includes an adaptive integral coefficient.

[0054] In one possible implementation, the adaptive integral coefficient is obtained through a preset function, and the preset function is a functional relationship between the adaptive integral coefficient and the speed difference.

[0055] In one possible implementation, the larger the absolute value of the speed difference is, the smaller the adaptive integral coefficient is, and the larger the PWM compensation value is; the smaller the absolute value of the speed difference is, the larger the adaptive integral coefficient is, and the smaller the PWM compensation value is.

[0056] Figure 3 The lifter speed regulation device 30 provided in the illustrated embodiment can be used to execute the technical solution of the method embodiment shown in this application, and its implementation principle and technical effects can be further referred to the relevant descriptions in the method embodiment.

[0057] It should be understood that the division of each module of the above lifter speed regulation device 30 is only a division of logical functions. In actual implementation, they can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by a processing element; they can also all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the detection module can be a separately established processing element, or can be integrated in a certain chip of the terminal device. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together or can be independently implemented. In the implementation process, each step of the above method or each of the above modules can be completed through the hardware integrated logic circuit or the instruction in the form of software in the processor element.

[0058] For example, the above-mentioned modules can be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (hereinafter referred to as ASICs), or, one or more Digital Signal Processors (hereinafter referred to as DSPs), or, one or more Field Programmable Gate Arrays (hereinafter referred to as FPGAs), etc. Again, these modules can be integrated together and implemented in the form of a System-On-a-Chip (hereinafter referred to as SOC).

[0059] Figure 4 The accompanying drawing is a schematic structural diagram of a speed regulator for a lifter provided by an embodiment of the present application. The vehicle 400 may include: at least one processor; and at least one memory communicatively connected to the processor. The memory stores program instructions executable by the processor, and the processor in the vehicle 400 can execute the actions performed in the storage access method provided by the embodiment of the present application by invoking the program instructions.

[0060] As Figure 4 shown, the vehicle 400 is presented in the form of a general-purpose computing device. The components of the vehicle 400 may include, but are not limited to: one or more processors 410, a memory 420, a communication bus 440 connecting different system components (including the memory 420 and the processor 410), and a communication interface 430.

[0061] The communication bus 440 represents one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, an Accelerated Graphics Port, a processor, or a local bus using any of the various bus architectures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, Peripheral Component Interconnection (PCI) bus, Controller Area Network (CAN) bus, and Local Interconnect Network (LIN) bus.

[0062] Vehicle 400 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the terminal device, including volatile and non-volatile media, removable and non-removable media.

[0063] Memory 420 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) and / or cache memory. The terminal device may further include other removable / non-removable, volatile / non-volatile computer system storage media. Although Figure 4 not shown, a disk drive for reading and writing to a removable non-volatile magnetic disk (e.g., "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., Compact Disc Read Only Memory (CD-ROM), Digital Video Disc Read Only Memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the communication bus 440 via one or more data media interfaces. Memory 420 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present application.

[0064] A program / utility with a set (at least one) of program modules can be stored in the memory 420. Such program modules include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment. The program modules generally execute the functions and / or methods in the embodiments described in this application.

[0065] The vehicle 400 can also communicate with one or more external devices (such as a keyboard, a pointing device, a display, etc.), and can also communicate with one or more devices that enable a user to interact with the terminal device, and / or communicate with any device that enables the terminal device to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through the communication interface 430. And, the vehicle 400 can also communicate with one or more networks (such as a Local Area Network (LAN), a Wide Area Network (WAN), and / or a public network, such as the Internet) through a network adapter ( Figure 4 not shown in the figure). The above network adapter can communicate with other modules of the terminal device through the communication bus 440. It should be understood that although Figure 4 not shown in the figure, other hardware and / or software modules can be used in combination with the vehicle 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, Redundant Arrays of Independent Drives (RAID) systems, tape drives, and data backup storage systems, etc.

[0066] The processor 410 executes various functional applications and data processing by running the programs stored in the memory 420, such as implementing the methods provided in the embodiments of this application.

[0067] It can be understood that the interface connection relationships between the modules illustrated in the embodiments of this application are only illustrative and do not constitute a structural limitation on the vehicle 400. In other embodiments of this application, the vehicle 400 can also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0068] In the above embodiments, the involved processor may include, for example, a CPU, a DSP, a microcontroller or a digital signal processor, and may also include a GPU, an embedded neural-network processor (hereinafter referred to as: NPU) and an image signal processor (hereinafter referred to as: ISP). The processor may further include necessary hardware accelerators or logic processing hardware circuits, such as an ASIC, or one or more integrated circuits for controlling the execution of the technical solution program of the present application. In addition, the processor may have the function of operating one or more software programs, and the software programs may be stored in a storage medium.

[0069] The embodiments of the present application further provide a readable storage medium, in which a program is stored. When it runs on a system, it causes the system to execute the method provided by the embodiments shown in the present application.

[0070] The embodiments of the present application further provide a program product, which includes a program. When it runs on a system, it causes the system to execute the method provided by the embodiments shown in the present application.

[0071] In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent the situation where A exists alone, A and B exist simultaneously, or B exists alone. Where A and B may be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" and its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c may be single or multiple.

[0072] Those of ordinary skill in the art can realize that the units and algorithm steps described in the embodiments disclosed herein can be implemented by a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0073] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0074] In several embodiments provided by the present application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0075] As described above, the foregoing is only a specific implementation manner of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all such changes or substitutions should be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for regulating the speed of a lift, characterized in that: The method comprises: monitoring a first speed of the elevator during a first cycle; determining a speed difference based on a first speed of the lifter during the first period and a predetermined speed; Determine a pulse width modulation (PWM) compensation value based on the speed difference; The PWM value of the second cycle is determined based on the PWM value of the first cycle and the PWM compensation value, so that the lifter moves at a second speed, wherein the second cycle is a next cycle of the first cycle and the second speed is determined by the PWM value of the second cycle.

2. The method according to claim 1, characterized in that The PWM compensation value is obtained by converting the speed difference through an integral term and a proportional term, and the integral term includes an adaptive integral coefficient.

3. The method according to claim 2, characterized in that The adaptive integral coefficient is obtained by a preset function, and the preset function is a functional relationship between the adaptive integral coefficient and the speed difference.

4. The method according to claim 2, characterized in that: The larger the absolute value of the speed difference is, the smaller the adaptive integral coefficient is, and the larger the PWM compensation value is; the smaller the absolute value of the speed difference is, the larger the adaptive integral coefficient is, and the smaller the PWM compensation value is.

5. A speed regulating device for a lift, characterized in that: The device comprises: A monitoring module, used for monitoring a first speed of the lifter in a first cycle; A determination module, configured to determine a speed difference based on a first speed of the lifter in the first period and a preset speed; and determine a pulse width modulation (PWM) compensation value based on the speed difference; A compensation module is used to determine a PWM value of a second cycle based on the PWM value of the first cycle and the PWM compensation value, so that the lifter moves at a second speed, wherein the second cycle is a next cycle of the first cycle, and the second speed is determined by the PWM value of the second cycle.

6. A vehicle, characterized in that: include: A processor and a memory, wherein the memory is used to store a program; The processor is used to run the program to implement the elevator speed control method as described in any one of claims 1-4.

7. A readable storage medium, characterized in that: The readable storage medium stores a program, and when the program is run on a vehicle, the lift speed control method according to any one of claims 1 to 4 is implemented.

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