Vehicle window glass anti-pinch control method and device, vehicle and equipment

Abstract

The invention aims to provide a vehicle window glass anti-pinch control method and device, a vehicle and equipment. The vehicle window glass anti-pinch control false triggering caused by boundary condition differences is avoided. The vehicle window glass anti-pinch control method comprises the steps that if it is determined that vehicle window glass is in a rising state, whether the vehicle window glass is in a preset vehicle door system sudden change position or not is determined according to the ripple number of a glass lifting motor; if it is determined that the vehicle window glass is located or not located at the preset vehicle door system sudden change position, whether the vehicle window glass encounters an obstacle or not in the rising process is determined according to the running current of a glass lifting motor; if it is determined that the window glass encounters an obstacle in the rising process, anti-pinch reverse rotation control is conducted.

Description

Technical Field

[0001] The present application relates to the field of window glass control, and specifically to a method, device, vehicle, equipment and medium for anti-pinch control of window glass. Background Technique

[0002] The window switch is a key component of an automobile. Structurally, it mainly includes a toggle for controlling the lifting of the window glass, a door lock and a window lock. Functionally, it mainly includes controlling the rising and falling of the window glass and controlling the anti-pinch reversal of the glass.

[0003] The window switch controls the lifting and anti-pinch function of the window glass. However, due to the large differences in the consistency of the door system, the window glass lifting system and the door decorative rubber sleeve, the boundary conditions of the entire window glass lifting are very unstable, resulting in the anti-pinch function being triggered in some specific places, causing the window glass to reverse due to anti-pinch.

[0004] In the prior art, by collecting the number of ripple pulse cycles and compensating the calibrated ripple pulse to determine whether the window is pinched, due to the large influence of the ripple pulse and quantity on the door sheet metal, the lifting mechanism and the vehicle state, the ripple will be inaccurate, so the control logic is single and the solution to the window anti-pinch function is limited. Summary of the Invention

[0005] The purpose of the present invention is to provide a method, device, vehicle and equipment for anti-pinch control of window glass, so as to avoid mis-triggering of the anti-pinch control of window glass caused by boundary condition differences.

[0006] The technical solution of the present invention is as follows: On the one hand, the present invention provides a method for anti-pinch control of window glass, including: If it is determined that the window glass is in the ascending state, determine whether the window glass is at a preset sudden change position of the door system according to the number of ripples of the window glass lifting motor; If it is determined that the window glass is at or not at the preset sudden change position of the door system, then determine whether an obstacle is encountered during the ascending process of the window glass according to the operating current of the window glass lifting motor; If it is determined that an obstacle is encountered during the ascending process of the window glass, perform anti-pinch reversal control.

[0007] Preferably, the step of determining whether the window glass is at a preset sudden change position of the door system according to the number of ripples of the window glass lifting motor includes: Determine whether the vehicle glass is in a preset anti-pinch area according to the number of ripples of the window glass lifting motor; If the vehicle glass is in the preset anti-pinch area, determine whether there is a decreasing trend in the instantaneous change quantity of the ripples; If the number of instantaneous changes in the ripple shows a decreasing trend, determine whether the window glass is at a preset mutation position of the door system according to the number of ripples of the window lifter motor.

[0008] Preferably, the step of determining whether the vehicle glass is in a preset pinch protection area according to the number of ripples of the window lifter motor includes: If the number of ripples of the window lifter motor is within a preset ripple number range, determine that the window glass is in the preset pinch protection area; The preset ripple number range is a range obtained through pre-tests indicating that the window glass is in the preset pinch protection area.

[0009] Preferably, the step of determining whether there is a decreasing trend in the number of instantaneous changes in the ripple includes: If the number of instantaneous changes in the ripple is less than or equal to the number of ripples collected within a preset unit time, determine that there is a decreasing trend in the number of instantaneous changes in the ripple.

[0010] Preferably, the step of determining whether the window glass is at a preset mutation position of the door system according to the number of ripples of the window lifter motor includes: If the number of ripples of the window lifter motor is equal to a preset number, determine that the window glass is at the preset mutation position of the door system; The preset number is the number of ripples obtained through pre-tests indicating a mutation in the door system.

[0011] Preferably, if it is determined that the window glass is at the preset mutation position of the door system, the step of determining whether there is an obstacle during the upward movement of the window glass according to the operating current of the window lifter motor includes: If the operating current of the window lifter motor is greater than a first preset current, the instantaneous change value of the operating current of the window lifter motor is greater than a first preset instantaneous change value of the current, and the current change value of the window lifter motor continuously increases within a period of time, determine that there is an obstacle during the upward movement of the window glass.

[0012] Preferably, if it is determined that the window glass is not at the preset mutation position of the door system, the step of determining whether there is an obstacle during the upward movement of the window glass according to the operating current of the window lifter motor includes: If the operating current of the window lifter motor is greater than a second preset current, the instantaneous change value of the operating current of the window lifter motor is greater than a second preset instantaneous change value of the current, and the current change value of the window lifter motor continuously increases within a period of time, determine that there is an obstacle during the upward movement of the window glass; The first preset current is greater than the second preset current, and the first preset instantaneous change value of the current is greater than the second preset instantaneous change value of the current.

[0013] On the other hand, the present application also provides a window glass pinch protection control device, including: A door system mutation position recognition module is used to determine whether the window glass is at a preset door system mutation position according to the number of ripples of the glass lifting motor if it is determined that the window glass is in the ascending state; An obstacle recognition module is used to determine whether an obstacle is encountered during the ascending process of the window glass according to the operating current of the glass lifting motor if it is determined that the window glass is at or not at the preset door system mutation position; An anti-pinch reverse control module is used to perform anti-pinch reverse control if it is determined that an obstacle is encountered during the ascending process of the window glass.

[0014] On the other hand, the present application also provides a vehicle, including the above-mentioned window glass anti-pinch control device.

[0015] On the other hand, the present application also provides a control device, including a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the above-mentioned window glass anti-pinch control method are implemented.

[0016] The beneficial effects of the present invention are as follows: First, it is determined whether the window glass is at a preset door system mutation position by using the number of ripples of the glass lifting motor, preliminarily screening out boundary conditions and avoiding misjudgment due to small fluctuations in boundary conditions; further, it is determined whether an obstacle is encountered during the ascending process of the window glass based on the operating current of the motor. By setting a reasonable current threshold, small current fluctuations caused by unstable boundary conditions are filtered out, ensuring that the anti-pinch reverse control is triggered only when an actual obstacle is encountered, thereby improving the reliability and safety of the system and enhancing the user experience.

[0017] Specifically, through comprehensive judgment of multiple parameters such as the operating condition of the glass lifting motor, the number of ripples of the glass lifting motor, the instantaneous change number of ripples, the operating current of the glass lifting motor, and the instantaneous change value of the operating current, it can be determined whether an obstacle is encountered during the ascending process of the window glass. When it is determined that the values of each parameter exceed the corresponding set parameter thresholds, it is determined that an obstacle is encountered, and the anti-pinch reverse of the motor is executed; the condition during the window lifting process can be accurately judged, and the problem of false anti-pinch reverse of the window glass caused by current fluctuations due to door system and environmental factors can be solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic flowchart of the window glass anti-pinch control method in an embodiment of the present application; Figure 2 is a schematic structural diagram of a window switch in an embodiment of the present application; Figure 3 is a schematic diagram of MCU signal acquisition, control, and storage of a window switch in an embodiment of the present application Figure 4 It is a schematic diagram of the design of the window switch safety logic in the embodiment of the present application; Figure 5 Schematic diagram of a vehicle window glass anti-pinch control device in an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to facilitate the understanding of those skilled in the art, the present invention is further described below with reference to the accompanying drawings. The description is relatively detailed, but it cannot be understood as limiting the scope of the present invention. The obvious variations and replacement forms of the following examples are all within the scope of protection of this patent.

[0020] In the embodiment of the present application, a control strategy is proposed to collect data from the electric window switch to efficiently determine whether to prevent pinching and control the reversal of the glass lifting mechanism. When the window glass is in the process of rising, once it is disturbed by the outside world and clamps an object, it will inevitably cause current fluctuations, resulting in a sudden and continuous increase in current and a sudden decrease in the number of motor ripples. By combining these characteristic points for design and logical judgment, the anti-pinch reversal control of the window glass can be controlled.

[0021] Reference Figure 1 , an embodiment of the present invention provides a vehicle window glass anti-pinch control method, comprising: S101, if it is determined that the vehicle window glass is in the raised state, determining whether the vehicle window glass is in a preset door system mutation position according to the ripple quantity of the glass lifting motor; S102, if it is determined that the vehicle window glass is at or not at the preset door system sudden change position, determining whether the vehicle window glass encounters an obstacle during the rising process according to the operating current of the glass lifting motor; S103: If it is determined that the vehicle window glass encounters an obstacle during its rising process, anti-pinch reversal control is performed.

[0022] In order to realize the above-mentioned vehicle window glass anti-pinch control method, as Figure 2 As shown, in this embodiment, a window switch is designed, which consists of a window dial, a window lock button, a door lock button and internal electrical components; by moving the window dial back and forth, the window glass can be raised and lowered.

[0023] like Figure 3 As shown, a schematic diagram of signal acquisition, control and storage of a controller for a window switch is designed in this embodiment. The controller mainly includes a signal acquisition module, a logic module, a storage module and an output module.

[0024] Among them, for the signal acquisition module, PIN1 is designed, which is used to collect the operating status of the glass lifting motor. In this embodiment, the forward rotation of the glass lifting motor represents that the window glass is rising, intending to close the window. The reverse rotation of the glass lifting motor represents that the glass is falling, intending to open the window. The anti-pinch reversal of the glass lifting motor will only occur when the glass lifting motor rotates forward, that is, when the window glass is rising. The motor can be calibrated to change the forward or reverse rotation to achieve glass rising or falling.

[0025] For the signal acquisition module, PIN2 is also designed, which is used to collect the operating current of the glass lifting motor in real time.

[0026] For the signal acquisition module, PIN3 is also designed, which is used to collect the ripple quantity during the operation of the glass lifting motor to confirm the stroke and position of the glass lifting.

[0027] The motor operating status, current size and ripple quantity collected by each pin of the acquisition module are transmitted to the logic module for analysis to determine whether anti-pinch reversal occurs.

[0028] The logic module is designed to generate the ripple number interval of the anti-pinch area, that is, when the glass lift motor is in the positive rotation and rising process, when the ripple number N of the glass lift motor is s When the ripple number is within the range of N0±n, anti-pinch reversal will occur. s The travel that exceeds the ripple quantity interval N0±n indicates that the window glass has entered the top of the door frame and will not clamp objects. In this embodiment, the specific value of the ripple quantity interval N0±n can be determined by calibration.

[0029] The logic module designs the instantaneous change quantity of ripple ΔN, which is the quantity of ripple collected by the glass lifting motor within unit time (ΔT).

[0030] The logic module is designed with a current threshold I0 (i.e., a second preset current) for generating anti-pinch, that is, the current of the window lift motor during the smooth rising process.

[0031] The logic module is designed to calculate the stall current I of the glass lift motor. max , that is, the current when the window lift motor is blocked when it rises to the maximum stroke. The blocked current I of the window lift motor max It is used to judge whether the glass lifting motor has reached the maximum stroke and to judge whether the glass lifting motor should be stopped.

[0032] The instantaneous change threshold value K0 of the current of the glass lifting motor is designed in the logic module. The instantaneous change value of the operating current of the glass lifting motor is represented by K S Indicates. K S= ΔI / ΔT. ΔI represents I S2 -I S1 , ΔT represents T S2 -T S1 . That is, the change value of the current within a period of time before and after. ΔT can be adjusted through calibration.

[0033] When the logic module analyzes the positive rotation of the window lifter motor collected by PIN1, it indicates that the window glass is rising.

[0034] When the logic module analyzes the number of ripples collected by PIN3, when the number of ripples Ns of the window lifter motor is within the preset ripple number range N0 ± n, it indicates that the window glass is in the anti-pinch area. The instantaneous change number of ripples ΔN S < the number of ripples ΔN collected within the unit time (ΔT) indicates that there is an obstruction during the operation of the window lifter motor at this time and it is decelerating. The number of ripples ΔN collected within the unit time (ΔT) can be confirmed and changed through calibration.

[0035] The logic module analyzes the operating current I of the window lifter motor collected by PIN2 S , when I S > the second preset current (i.e., the threshold current for anti-pinch) I0, it indicates that the instantaneous current increases and exceeds the anti-pinch threshold.

[0036] At the same time, the logic module continuously analyzes the instantaneous change value K of the operating current of the current S , when the instantaneous change value K of the operating current S > the second preset instantaneous change value of the current (i.e., the instantaneous change threshold of the current) K0, it indicates that the current has a sudden increase change.

[0037] The logic module continuously analyzes the current change value ΔI of the window lifter motor within a period of time. If ΔI continuously increases, it indicates that the window glass is continuously blocked during the rising process, and the current continuously increases, indicating that the window glass encounters an obstacle during the rising process. At this time, the logic module outputs a signal value of anti-pinch reverse to the output module. The output module outputs through PIN4 and PIN5 to control the window lifter motor to reverse, realizing that the window glass triggers anti-pinch reverse due to clamping an object during the rising process of the window glass, ensuring that the object is not damaged by the window glass.

[0038] During the actual operation, due to the influence of the consistency of the door system and the environment, there may be a situation where the window glass does not clamp an object during the rising process, but due to the mutation of the door system, a surge in current occurs, mistakenly triggering the anti-pinch reversal of the window switch. In the embodiment of the present invention, a storage module is also designed. During the development process, the logic module can mark one or more mutation positions of the door system, perform compensation for the current threshold, and then store them in the storage module. Only when the relevant instantaneous values exceed their respective design thresholds, will the anti-pinch reversal be triggered.

[0039] For example, the mutation position L1 of the door system, the position with the ripple number of N1±10, the instantaneous current threshold is I0+I1 (i.e., the first current threshold in this embodiment), and the threshold of the current change is K0+K1 (i.e., the first preset instantaneous current change value in this embodiment).

[0040] Among them, it is determined whether the window glass is in the rising state according to the rotation state of the glass lifting motor; for example, when the glass lifting motor rotates forward, it is determined that the window glass is in the rising state; when the glass lifting motor rotates reversely, it is determined that the window glass is in the descending state.

[0041] In this embodiment, the steps of determining whether the vehicle glass is at a preset mutation position of the door system according to the ripple number of the glass lifting motor include: Determine whether the vehicle glass is in a preset anti-pinch area according to the ripple number of the glass lifting motor; If the vehicle glass is in the preset anti-pinch area, determine whether there is a decreasing trend in the instantaneous change number of the ripples; If there is a decreasing trend in the instantaneous change number of the ripples, determine whether the window glass is at a preset mutation position of the door system according to the ripple number of the glass lifting motor.

[0042] In this embodiment, the steps of determining whether the vehicle glass is in a preset anti-pinch area according to the ripple number of the glass lifting motor include: If the ripple number of the glass lifting motor is within the preset ripple number interval, it is determined that the window glass is in the preset anti-pinch area; The preset ripple number interval is an interval obtained through pre-tests, indicating that the window glass is in the preset anti-pinch area.

[0043] The steps of determining whether there is a decreasing trend in the instantaneous change number of the ripples include: If the instantaneous change number of the ripples is less than or equal to the ripple number collected within the preset unit time, it is determined that there is a decreasing trend in the instantaneous change number of the ripples.

[0044] The steps of determining whether the window glass is at a preset mutation position of the door system according to the ripple number of the glass lifting motor include: If the ripple number of the window lifter motor is equal to the preset number, it is determined that the window glass is at the preset mutation position of the door system; The preset number is the ripple number obtained through prior experiments, indicating the occurrence of a mutation in the door system.

[0045] In this embodiment, if it is determined that the window glass is at the preset mutation position of the door system, the steps of determining whether an obstacle is encountered during the upward movement of the window glass according to the operating current of the window lifter motor include: If the operating current of the window lifter motor is greater than the first preset current, the instantaneous change value of the operating current of the window lifter motor is greater than the first preset instantaneous change value, and the current change value of the window lifter motor continuously increases within a period of time, it is determined that an obstacle is encountered during the upward movement of the window glass.

[0046] In this embodiment, if it is determined that the window glass is not at the preset mutation position of the door system, the steps of determining whether an obstacle is encountered during the upward movement of the window glass according to the operating current of the window lifter motor include: If the operating current of the window lifter motor is greater than the second preset current, the instantaneous change value of the operating current of the window lifter motor is greater than the second preset instantaneous change value, and the current change value of the window lifter motor continuously increases within a period of time, it is determined that an obstacle is encountered during the upward movement of the window glass; The first preset current is greater than the second preset current, and the first preset instantaneous change value of the operating current is greater than the second preset instantaneous change value.

[0047] In the above method of this embodiment, through comprehensive judgment of multiple parameters such as the operating condition of the window lifter motor, the ripple number of the window lifter motor, the instantaneous change number of the ripple, the operating current of the window lifter motor, and the instantaneous change value of the operating current, it can be determined whether an obstacle is encountered during the upward movement of the window glass. When it is determined that each parameter value exceeds the corresponding set parameter threshold, it is determined that an obstacle is encountered, and the anti-pinch reverse of the motor is executed; the condition during the window lifting process can be accurately judged, and the problem of false anti-pinch reverse of the window glass caused by current fluctuations due to door system and environmental factors can be solved.

[0048] Refer to Figure 5 In addition, an anti-pinch control device for a window glass is provided in an embodiment of the present application, including: A mutation position recognition module 201 of the door system, configured to determine that the window glass is in an upward state and determine whether the window glass is at the preset mutation position of the door system according to the ripple number of the window lifter motor; An obstacle recognition module 202, configured to determine whether an obstacle is encountered during the upward movement of the window glass according to the operating current of the window lifter motor if it is determined that the window glass is at or not at the preset mutation position of the door system; The anti-pinch reverse control module 203 is configured to perform anti-pinch reverse control if it is determined that an obstacle is encountered during the upward movement of the window glass.

[0049] On the other hand, the present application also provides a vehicle, including the above-mentioned window glass anti-pinch control device.

[0050] On the other hand, the present application also provides a control device, including a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the window glass anti-pinch control method as described above are implemented.

[0051] On the other hand, the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the window glass anti-pinch control method as described above are implemented.

[0052] Through the above control strategy, the situation during the window lifting and lowering process can be accurately judged, and the problem of false anti-pinch reverse of the window glass caused by current fluctuations due to door system and environmental factors can be solved.

[0053] As Figure 4 shown, when the window switch knob is toggled to control the upward movement of the window glass, the MCU of the window switch collects the ripple, the motor operating state, and the magnitude of the current to control whether the window glass performs anti-pinch reverse. Among them, the MCU of the window switch executes the following safety logic: S201. Determine whether the glass lifting motor rotates forward and backward. If it rotates forward, it is determined that the window glass is in the upward state, and step S202 is entered; if it rotates backward, continue to judge.

[0054] S202. Judge the number of ripples of the glass lifting motor collected. When the number of ripples N s of the glass lifting motor is within the preset number range N0 ± n, it is determined that the window glass is in the preset anti-pinch area, and step S203 is entered.

[0055] The preset number range is an interval obtained through prior experiments and representing the window glass in the preset anti-pinch area.

[0056] S203. Continue to judge whether the instantaneous change number ΔN S of the ripple is less than or equal to the number of ripples ΔN collected within the unit time (ΔT); if the instantaneous change number ΔN S of the ripple is less than or equal to the number of ripples ΔN collected within the unit time (ΔT), step S204 is entered; S204. Determine whether the window glass is at the preset sudden change position Lx of the door system according to the number of ripples. If the window glass is at the preset sudden change position Lx of the door system, step S205 is entered; otherwise, step S206 is entered.

[0057] Due to the difference consistency of the door system, there are multiple mutation points. Therefore, through calibration, different mutation positions Lx can be determined and stored in the storage module, such as: position L2, position L3... position Ln.

[0058] Ripple instantaneous change quantity ΔN S It refers to the number of ripples collected within a unit time (ΔT).

[0059] S205. If the operating current I of the window lifter motor S > the first preset current (I0 + I1), the instantaneous change value K of the operating current of the window lifter motor S > the first preset instantaneous change value of the current (K0 + K1), and the current change value ΔI of the window lifter motor continuously increases within a period of time, it indicates that an object is clamped during the upward movement of the window glass, and enter S207. Wherein, I1 is the compensation value of the pre-calibrated current threshold, and K1 is the compensation value of the pre-calibrated instantaneous change value of the current.

[0060] S206. If the operating current I of the window lifter motor S > the second preset current I0, the instantaneous change value K of the operating current of the window lifter motor S > the second preset instantaneous change value of the current K0, and the current change value ΔI of the window lifter motor continuously increases within a period of time, it indicates that an object is clamped during the upward movement of the window glass, and enter S207.

[0061] Wherein, the first preset current is greater than the second preset current, and the first preset instantaneous change value of the current is greater than the second preset instantaneous change value of the current.

[0062] S207, trigger the anti-pinch reverse function.

[0063] It should be noted that the various embodiments in this specification are all described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same and similar parts among the various embodiments, reference can be made to each other.

[0064] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted to include the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

[0065] It should also be noted that in this text, the orientation or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. This is for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the present invention. In addition, relative terms such as "first" and "second" are used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations, nor can they be construed as indicating or implying relative importance. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements does not include those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or terminal device comprising the element.

[0066] The technical solutions provided by the present invention have been introduced in detail above. Specific examples are used in this text to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only for helping to understand the present invention, and the content of this specification should not be construed as a limitation on the present invention. At the same time, for those of ordinary skill in the art, based on the present invention, there will be various forms of changes in the specific implementation manners and application scopes. It is not necessary and impossible to enumerate all the implementation manners here, and the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. A vehicle window glass anti-pinch control method, characterized in that: include: If it is determined that the vehicle window glass is in the raised state, determine whether the vehicle window glass is in a preset door system mutation position according to the ripple quantity of the glass lifting motor; If it is determined that the vehicle window glass is at or not at the preset door system sudden change position, then determining whether the vehicle window glass encounters an obstacle during the rising process according to the operating current of the window lifting motor; If it is determined that the window glass encounters an obstacle during the rising process, anti-pinch reversal control will be performed.

2. The vehicle window glass anti-pinch control method according to claim 1, characterized in that: The step of determining whether the vehicle window glass is in a preset door system mutation position according to the ripple quantity of the window lift motor includes: Determine whether the vehicle glass is in the preset anti-pinch area based on the ripple quantity of the glass lift motor; If the vehicle glass is in the preset anti-pinch area, determine whether there is a decreasing trend in the instantaneous change amount of the ripple; If there is a decreasing trend in the number of instantaneous changes in the ripples, it is determined whether the window glass is in a preset door system mutation position based on the number of ripples in the glass lift motor.

3. The vehicle window glass anti-pinch control method according to claim 2, characterized in that: The step of determining whether the vehicle glass is in a preset anti-pinch area according to the ripple amount of the glass lift motor includes: If the ripple quantity of the glass lifting motor is within the preset ripple quantity range, it is determined that the vehicle window glass is in the preset anti-pinch area; The preset ripple quantity interval is an interval obtained in advance from a test, indicating that the vehicle window glass is in a preset anti-pinch area.

4. The vehicle window glass anti-pinch control method according to claim 2, characterized in that: The steps to determine whether there is a decreasing trend in the amount of instantaneous change in ripple include: If the number of instantaneous changes in the ripples is less than or equal to the number of ripples collected within a preset unit time, it is determined that the number of instantaneous changes in the ripples has a decreasing trend.

5. The vehicle window glass anti-pinch control method according to claim 2, characterized in that: The step of determining whether the vehicle window glass is in a preset door system mutation position according to the ripple quantity of the window lift motor includes: If the number of ripples of the window lift motor is equal to a preset number, it is determined that the window glass is in a preset door system mutation position; The preset number is the number of ripples obtained in advance from experiments, indicating a sudden change in the door system.

6. The vehicle window glass anti-pinch control method according to claim 1, characterized in that: If it is determined that the vehicle window glass is at a preset door system sudden change position, the steps of determining whether the vehicle window glass encounters an obstacle during the rising process according to the operating current of the window lifting motor include: If the operating current of the glass lifting motor is greater than the first preset current, the instantaneous change value of the operating current of the glass lifting motor is greater than the first preset current instantaneous change value, and the current change value of the glass lifting motor within a period of time continues to increase, it is determined that the vehicle window glass encounters an obstacle during the rising process.

7. The vehicle window glass anti-pinch control method according to claim 1, characterized in that: If it is determined that the vehicle window glass is not in the preset door system sudden change position, the steps of determining whether the vehicle window glass encounters an obstacle during the rising process according to the operating current of the window lifting motor include: If the operating current of the glass lifting motor is greater than the second preset current, the instantaneous change value of the operating current of the glass lifting motor is greater than the second preset instantaneous change value of the current, and the current change value of the glass lifting motor within a period of time continues to increase, it is determined that the vehicle window glass encounters an obstacle during the rising process; The first preset current is greater than the second preset current, and the instantaneous change value of the first preset current is greater than the instantaneous change value of the second preset current.

8. A vehicle window glass anti-pinch control device, characterized in that: include: A door system sudden change position recognition module is used to determine whether the window glass is in a preset door system sudden change position according to the ripple quantity of the glass lifting motor if it is determined that the window glass is in an upward state; The obstacle recognition module is used to determine whether the window glass encounters an obstacle during the rising process according to the operating current of the window lifting motor if it is determined that the window glass is in or not in the preset door system sudden change position; The anti-pinch reversal control module is used to perform anti-pinch reversal control if it is determined that the vehicle window glass encounters an obstacle during the rising process.

9. A vehicle, characterized in that: It includes the vehicle window glass anti-pinch control device as described in claim 8.

10. A control device, characterized in that: It comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the vehicle window glass anti-pinch control method as claimed in any one of claims 1 to 7.

Images