A method, system and device for calculating a pinch current threshold, and a storage medium

Abstract

The application discloses a pinch-proof current threshold calculation method, system and device, and a storage medium. The pinch-proof current threshold calculation method comprises the following steps: dividing the whole Hall stroke into multiple Hall regions according to current characteristics; collecting current data in a complete motor motion process multiple times in each Hall region to obtain multiple sets of current data of each Hall region; setting a pinch-proof current threshold of each Hall region according to the multiple sets of current data of each Hall region; in each motor motion process, calculating a current average current value of each motor motion through a corresponding Hall region, and judging whether the current average current value changes relative to the last average current value; if the current average current value changes, the pinch-proof current threshold of the Hall region is recalculated and updated; otherwise, the pinch-proof current threshold does not change. The application can dynamically adjust the pinch-proof current threshold, and solves the problem that the motor current characteristics change with the use time, resulting in the failure of the pinch-proof function.

Description

Technical Field

[0001] This application relates to the field of anti-pinch technology, and more specifically, to an anti-pinch current threshold calculation method, system, device, and storage medium. Background Technology

[0002] In motor-driven anti-pinch systems, traditional methods typically rely on pre-calibrated current thresholds to detect clamping. When anti-pinch occurs, the current rises rapidly, and if it reaches the set current threshold, an anti-pinch event is triggered. However, with increased usage, the motor's current characteristics may change. When the rate of change of current decreases, the previously calibrated threshold may become invalid, leading to a decrease in the reliability of the anti-pinch function. Summary of the Invention

[0003] This application provides a method, system, device, and storage medium for calculating the anti-pinch current threshold, which can adapt to changes in motor current characteristics and solves the problem of decreased reliability of the anti-pinch function caused by changes in the current characteristics of the motor in the prior art.

[0004] The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a method for calculating the anti-pinch current threshold, including:

[0006] The entire Hall effect travel is divided into multiple Hall regions based on the current characteristics.

[0007] Multiple current acquisitions are performed within each Hall region to complete the entire motor motion process, resulting in multiple sets of current data for each Hall region.

[0008] Based on multiple sets of current data for each Hall region, an anti-pinch current threshold is set for each Hall region.

[0009] During each movement of the motor, the current average current value of the corresponding Hall region is calculated for each movement of the motor, and it is determined whether the current average current value has changed relative to the previous average current value. If it has changed, the anti-pinch current threshold of the Hall region is recalculated and updated.

[0010] In some embodiments of this application, setting the anti-pinch current threshold for each Hall region based on multiple sets of current data for each Hall region specifically includes:

[0011] Based on multiple sets of current data for each Hall region, the average current value of each Hall region is calculated, and the maximum current value and incremental threshold of each Hall region are obtained.

[0012] The sum of the maximum current value and the incremental threshold for each Hall region is calculated and used as the anti-pinch current threshold for each Hall region.

[0013] In some embodiments of this application, obtaining the incremental threshold for each Hall region specifically includes:

[0014] The incremental threshold for each Hall region is set according to the preset anti-pinch force.

[0015] In some embodiments of this application, if a change occurs, the anti-pinch current threshold of the Hall region is recalculated and updated, specifically including:

[0016] If the current average current value decreases relative to the previous average current value, the maximum current value of the Hall region is recalculated, and the sum of the recalculated maximum current value and the incremental threshold is used as the new anti-pinch current threshold of the Hall region.

[0017] If the current average current value increases relative to the previous average current value, then the average current difference between the current average current value and the previous average current value is calculated, and the sum of the current anti-pinch current threshold and the average current difference is used as the new anti-pinch current threshold for the Hall region.

[0018] Secondly, embodiments of this application provide an anti-pinch current threshold calculation system, including:

[0019] The region division module is used to divide the entire Hall travel into multiple Hall regions based on the current characteristics.

[0020] The current acquisition module is used to acquire the current of the motor during multiple complete motion processes in each Hall region, and obtain multiple sets of current data for each Hall region.

[0021] The threshold calculation module is used to set the anti-pinch current threshold for each Hall region based on multiple sets of current data for each Hall region.

[0022] The threshold dynamic update module is used to calculate the current average current value of each motor movement through the corresponding Hall area during each motor movement process, and to determine whether the current average current value has changed relative to the previous average current value. If it has changed, the anti-pinch current threshold of the Hall area is recalculated and updated.

[0023] In some embodiments of this application, the threshold calculation module sets an anti-pinch current threshold for each Hall region based on multiple sets of current data for each Hall region, specifically for:

[0024] Based on multiple sets of current data for each Hall region, the average current value of each Hall region is calculated, and the maximum current value and incremental threshold of each Hall region are obtained.

[0025] The sum of the maximum current value and the incremental threshold for each Hall region is calculated and used as the anti-pinch current threshold for each Hall region.

[0026] In some embodiments of this application, the threshold calculation module obtains an incremental threshold for each Hall region, specifically for:

[0027] The incremental threshold for each Hall region is set according to the preset anti-pinch force.

[0028] In some embodiments of this application, the threshold dynamic update module determines whether the current average current value has changed relative to the previous average current value. If it has changed, the anti-pinch current threshold of the Hall region is recalculated and updated. Specifically, it is used for:

[0029] Determine whether the current average current value has changed compared to the previous average current value;

[0030] If the current average current value decreases relative to the previous average current value, the maximum current value of the Hall region is recalculated, and the sum of the recalculated maximum current value and the incremental threshold is used as the new anti-pinch current threshold of the Hall region.

[0031] If the current average current value increases relative to the previous average current value, then the average current difference between the current average current value and the previous average current value is calculated, and the sum of the current anti-pinch current threshold and the average current difference is used as the new anti-pinch current threshold for the Hall region.

[0032] Thirdly, embodiments of this application provide an anti-pinch current threshold calculation device, including: a processor, a memory, and a computer program stored in the memory. When the processor executes the computer program, it performs the anti-pinch current threshold calculation method as described in the first aspect.

[0033] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that can be executed by a processor to perform the anti-pinch current threshold calculation method as described in the first aspect.

[0034] Fifthly, embodiments of this application provide a computer program product containing instructions that, when executed on a computer or processor, cause the computer or processor to perform the anti-pinch current threshold calculation method as described in the first aspect.

[0035] The beneficial effects of the embodiments of this application are as follows:

[0036] This method for calculating the anti-pinch current threshold can dynamically adjust the anti-pinch current threshold, solving the problem of anti-pinch failure caused by changes in the motor's current characteristics over time in the existing technology. Furthermore, the use of Hall effect travel area division can further improve the reliability of the anti-pinch function. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A flowchart illustrating a method for calculating the anti-pinch current threshold provided in an embodiment of this application;

[0039] Figure 2 A schematic diagram of Hall effect travel provided for an embodiment of this application;

[0040] Figure 3 This is a block diagram of an anti-pinch current threshold calculation system provided in an embodiment of this application. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0043] This application discloses a method for calculating the anti-pinch current threshold, which can dynamically adjust the anti-pinch current threshold and solve the problem of anti-pinch failure caused by changes in motor current characteristics over time. This application is mainly applicable to systems with insufficient rigidity of the anti-pinch structure, slow current rise, and limited rise height. It can also be applied to systems where current characteristics change with increasing operating time, such as anti-pinch systems for car windows and automatic doors. Detailed descriptions follow.

[0044] Figure 1 A method for calculating the anti-pinch current threshold according to an embodiment of this application is shown. Figure 1 As shown, the method for calculating the anti-pinch current threshold includes the following steps:

[0045] Step S110: Divide the entire Hall travel into multiple Hall regions according to the current characteristics.

[0046] In this embodiment of the application, the Hall effect travel region is first divided. For example... Figure 2 As shown, during motor operation, different Hall effect positions may correspond to different mechanical structures, resulting in different current characteristics. For example, in an electric tailgate mechanism, there is a sealing strip near the closing structure, which generates a certain sealing reaction force. When the tailgate moves near this structure, the current exhibits a significant upward trend, while at other positions, it fluctuates more steadily. This application addresses the problem of unreliable anti-pinch function caused by using the same anti-pinch current threshold at different Hall effect positions due to the different current characteristics resulting from the different mechanical structures corresponding to different Hall effect positions. This is achieved by dividing the entire Hall effect travel of the motor into multiple Hall effect regions based on different current characteristics and calculating the anti-pinch current threshold for each Hall effect region separately.

[0047] Step S120: Perform multiple current acquisitions during the complete motor motion process in each Hall region to obtain multiple sets of current data for each Hall region.

[0048] In this embodiment, after the Hall travel region is divided, current acquisition and data processing are performed. During each complete motor movement, current data of each Hall region is acquired, and current data of multiple complete motor movements are acquired, so that each Hall region will obtain multiple sets of current data, which are used to calculate the anti-pinch current threshold.

[0049] Step S130: Based on multiple sets of current data for each Hall region, set the anti-pinch current threshold for each Hall region.

[0050] Specifically, based on multiple sets of current data for each Hall region, the average current value of each Hall region is calculated, and the maximum current value and incremental threshold of each Hall region are obtained. The sum of the maximum current value and the incremental threshold of each Hall region is calculated and used as the anti-pinch current threshold for each Hall region. Furthermore, this application sets the incremental threshold for each Hall region based on a preset anti-pinch force.

[0051] Suppose that each Hall region obtains n sets of current data through step S120, namely i1, i2, ..., i n Then the average current value of each Hall region is (i1+i2+…+i n ) / n, where the maximum current value of each Hall region is max(i1, i2, ..., i n ).

[0052] The incremental threshold for each Hall effect zone is set by calibrating the anti-pinch force. For example, if the required anti-pinch force is 100N, the current rises to 10A when the anti-pinch force reaches 100N, while the maximum current (i.e., the base current) during normal shutdown is only 5A, then the incremental threshold delta is 10 - 5 = 5A.

[0053] The maximum current value of each Hall region is used as the base current. The anti-pinch current threshold of each Hall region is the sum of the base current and the preset incremental threshold. That is, the sum of the maximum current value and the incremental threshold of each Hall region is the anti-pinch current threshold of that Hall region.

[0054] Step S140: During each movement of the motor, calculate the current average current value of each motor movement through the corresponding Hall area, and determine whether the current average current value has changed relative to the previous average current value.

[0055] In this embodiment, each time the motor moves through the corresponding Hall region, the average current is recalculated, and it is detected whether the recalculated current average current value has changed relative to the existing average current value (i.e., the previous average current value). If the average current value of the Hall region has changed, the process proceeds from step S140 to step S150 to recalculate and update the anti-pinch current threshold of the Hall region; otherwise, the process proceeds from step S140 to step S160, and the anti-pinch current threshold of the Hall region remains unchanged.

[0056] Step S150: Recalculate and update the anti-pinch current threshold of the Hall region.

[0057] This application dynamically adjusts the anti-pinch current threshold of the Hall region based on changes in the average current.

[0058] In some embodiments, if the current average current value decreases relative to the previous average current value, the maximum current value of the Hall region is recalculated, and the sum of the recalculated maximum current value and the incremental threshold is used as the new anti-pinch current threshold for the Hall region. If the current average current value increases relative to the previous average current value, the average current difference between the current and previous average current values ​​is calculated, and the sum of the current anti-pinch current threshold (the existing anti-pinch current threshold) and the average current difference is used as the new anti-pinch current threshold for the Hall region. In other words, when the average current of the Hall region changes downwards, the base current is recalculated, and the recalculated base current is added to a preset incremental threshold to set as the new anti-pinch current threshold. When the average current of the Hall region changes upwards, the change in average current (i.e., the average current difference) is added to the existing anti-pinch current threshold to prevent a one-time update that could cause normal anti-pinch protection to fail.

[0059] In step S160, the anti-pinch current threshold of the Hall region does not change.

[0060] The above describes the steps of the anti-pinch current threshold calculation method provided in this embodiment. The following describes the complete process of the anti-pinch current threshold calculation method by taking the entire Hall stroke as divided into three Hall regions A, B and C as an example.

[0061] During each complete motor movement, current data in Hall regions A, B, and C are collected respectively. This process is repeated n times to obtain n sets of current data.

[0062] Calculate the maximum and average current values ​​for each Hall region A, B, and C, and denote the maximum current value of Hall region A as Ia_max and the average current value as Ia_avg, the maximum current value of Hall region B as Ib_max and the average current value as Ib_avg, and the maximum current value of Hall region C as Ic_max and the average current value as Ic_avg.

[0063] Set the incremental threshold for Hall regions A, B, and C to deltaI.

[0064] The anti-pinch current threshold of Hall region A is calculated as Ia_max + deltaI;

[0065] The anti-pinch current threshold of Hall region B is calculated as Ib_max + deltaI;

[0066] The anti-pinch current threshold of the Hall region C is calculated as Ic_max + deltaI.

[0067] When a change in the average current value of Hall region A is detected: if Ia_avg decreases, Ia_max is recalculated, and the recalculated Ia_max is denoted as Ia_max′, and the anti-pinch current threshold of Hall region A is updated to Ia_max′+deltaI; if Ia_avg increases, the change in Ia_avg is added to the existing anti-pinch current threshold (Ia_max+deltaI).

[0068] Similarly, when a change in the average current value of Hall region B is detected: if Ib_avg decreases, Ib_max is recalculated, and the recalculated Ib_max is denoted as Ib_max′, and the anti-pinch current threshold of Hall region B is updated to Ib_max′+deltaI; if Ib_avg increases, the change in Ib_avg is added to the existing anti-pinch current threshold (Ib_max+deltaI).

[0069] When a change in the average current value of Hall region C is detected: if Ic_avg decreases, Ic_max is recalculated, and the recalculated Ic_max is denoted as Ic_max′, and the anti-pinch current threshold of Hall region C is updated to Ic_max′+deltaI; if Ic_avg increases, the change in Ic_avg is added to the existing anti-pinch current threshold (Ic_max+deltaI).

[0070] Corresponding to the above method embodiments, this application also provides an anti-pinch current threshold calculation system for executing the anti-pinch current threshold calculation method steps in the above embodiments. For example... Figure 3 As shown, the anti-pinch current threshold calculation system 200 includes: a region division module 210, a current acquisition module 220, a threshold calculation module 230, and a threshold dynamic update module 240.

[0071] Specifically, the region division module 210 is used to divide the entire Hall travel into multiple Hall regions based on the current characteristics.

[0072] The current acquisition module 220 is used to acquire the current during the complete motor motion process multiple times in each Hall area, and obtain multiple sets of current data for each Hall area.

[0073] The threshold calculation module 230 is used to set the anti-pinch current threshold for each Hall region based on multiple sets of current data for each Hall region. Specifically, the threshold calculation module 230 calculates the average current value of each Hall region based on the multiple sets of current data, obtains the maximum current value and incremental threshold for each Hall region, and then calculates the sum of the maximum current value and incremental threshold for each Hall region, using this sum as the anti-pinch current threshold for each Hall region. Further, the threshold calculation module 230 is used to set the incremental threshold for each Hall region based on a preset anti-pinch force.

[0074] The threshold dynamic update module 240 is used to calculate the current average current value of each motor movement through the corresponding Hall region during each motor movement, and to determine whether the current average current value has changed compared to the previous average current value. If it has changed, the anti-pinch current threshold of the Hall region is recalculated and updated. Specifically, the threshold dynamic update module 240 is used to: determine whether the current average current value has changed compared to the previous average current value; if the current average current value has decreased compared to the previous average current value, the maximum current value of the Hall region is recalculated, and the sum of the recalculated maximum current value and the incremental threshold is used as the new anti-pinch current threshold of the Hall region; if the current average current value has increased compared to the previous average current value, the average current difference between the current average current value and the previous average current value is calculated, and the sum of the current anti-pinch current threshold and the average current difference is used as the new anti-pinch current threshold of the Hall region.

[0075] It should be noted that the anti-pinch current threshold calculation system provided in this application is based on the same concept as the anti-pinch current threshold calculation method embodiment in this application, and its technical effects are the same as those in the anti-pinch current threshold calculation method embodiment in this application. For details, please refer to the description in the anti-pinch current threshold calculation method embodiment in this application, which will not be repeated here.

[0076] This application also provides an anti-pinch current threshold calculation device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the anti-pinch current threshold calculation method embodiments described above. Alternatively, when the processor executes the computer program, it implements the functions of each module in the anti-pinch current threshold calculation system embodiments described above.

[0077] In one specific embodiment, the computer program can be divided into one or more modules, which are stored in memory and executed by a processor to complete the embodiments of this application. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the anti-pinch current threshold calculation device. For example, the computer program can be divided into a region division module, a current acquisition module, a threshold calculation module, and a threshold dynamic update module, with the specific functions of each module as follows:

[0078] The region division module is used to divide the entire Hall travel into multiple Hall regions based on the current characteristics.

[0079] The current acquisition module is used to acquire the current of the motor during multiple complete motion processes in each Hall area, and obtain multiple sets of current data for each Hall area;

[0080] The threshold calculation module is used to set the anti-pinch current threshold for each Hall area based on multiple sets of current data for each Hall area.

[0081] The threshold dynamic update module is used to calculate the current average current value of each motor movement through the corresponding Hall area during each motor movement process, and to determine whether the current average current value has changed relative to the previous average current value. If it has changed, the anti-pinch current threshold of the Hall area is recalculated and updated.

[0082] The anti-pinch current threshold calculation device can be a computing device such as a desktop computer, laptop, handheld computer, or cloud management server. Those skilled in the art will understand that the anti-pinch current threshold calculation device may include, but is not limited to, a processor and memory, and may also include more or fewer components, or combinations of certain components, or different components. For example, the anti-pinch current threshold calculation device may also include input / output devices, network access devices, buses, etc.

[0083] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor, or it can be any conventional processor.

[0084] The memory can be an internal storage unit of the anti-pinch current threshold calculation device, such as the hard disk or RAM of the device. Alternatively, the memory can be an external storage device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital Card (SD card), or Flash Card. Furthermore, the memory can include both internal and external storage units. The memory is used to store computer programs and other programs or data required by the anti-pinch current threshold calculation device. The memory can also be used to temporarily store data that has been output or will be output.

[0085] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0086] Those skilled in the art will recognize that the modules and algorithm steps of the various embodiments described in conjunction with the embodiments disclosed in this specification can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the invention.

[0087] Furthermore, this application embodiment also provides a computer-readable storage medium storing a computer program that can be executed by a processor to perform the anti-pinch current threshold calculation method as described in the above embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), etc.

[0088] In summary, this application discloses a method, system, device, and storage medium for calculating the anti-pinch current threshold, which can dynamically adjust the anti-pinch current threshold and solve the problem of anti-pinch failure caused by changes in the current characteristics of the motor over time in the prior art. Furthermore, the use of Hall effect travel area division can further improve the reliability of the anti-pinch function.

[0089] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention.

[0090] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calculating the anti-pinch current threshold, characterized in that, include: The entire Hall effect travel is divided into multiple Hall regions based on the current characteristics. Multiple current acquisitions are performed within each Hall region to complete the entire motor motion process, resulting in multiple sets of current data for each Hall region. Based on multiple sets of current data for each Hall region, an anti-pinch current threshold is set for each Hall region. Specifically, this includes: calculating the average current value of each Hall region based on multiple sets of current data for each Hall region, and obtaining the maximum current value and incremental threshold of each Hall region; Calculate the sum of the maximum current value and the incremental threshold for each Hall region, and use it as the anti-pinch current threshold for each Hall region; During each movement of the motor, the current average current value of the corresponding Hall region is calculated for each movement of the motor, and it is determined whether the current average current value has changed relative to the previous average current value. If it has changed, the anti-pinch current threshold of the Hall region is recalculated and updated.

2. The method for calculating the anti-pinch current threshold according to claim 1, characterized in that, Obtaining the incremental threshold for each of the Hall regions specifically includes: The incremental threshold for each Hall region is set according to the preset anti-pinch force.

3. The method for calculating the anti-pinch current threshold according to claim 1, characterized in that, If a change occurs, the anti-pinch current threshold of the Hall region is recalculated and updated, specifically including: If the current average current value decreases relative to the previous average current value, the maximum current value of the Hall region is recalculated, and the sum of the recalculated maximum current value and the incremental threshold is used as the new anti-pinch current threshold of the Hall region. If the current average current value increases relative to the previous average current value, then the average current difference between the current average current value and the previous average current value is calculated, and the sum of the current anti-pinch current threshold and the average current difference is used as the new anti-pinch current threshold for the Hall region.

4. A system for calculating the anti-pinch current threshold, characterized in that, include: The region division module is used to divide the entire Hall travel into multiple Hall regions based on the current characteristics. The current acquisition module is used to acquire the current of the motor during multiple complete motion processes in each Hall region, and obtain multiple sets of current data for each Hall region. The threshold calculation module is used to set the anti-pinch current threshold for each Hall region based on multiple sets of current data for each Hall region. The threshold calculation module is specifically used to: calculate the average current value of each Hall region based on multiple sets of current data for each Hall region, and obtain the maximum current value and incremental threshold of each Hall region; Calculate the sum of the maximum current value and the incremental threshold for each Hall region, and use it as the anti-pinch current threshold for each Hall region; The threshold dynamic update module is used to calculate the current average current value of each motor movement through the corresponding Hall area during each motor movement process, and to determine whether the current average current value has changed relative to the previous average current value. If it has changed, the anti-pinch current threshold of the Hall area is recalculated and updated.

5. The anti-pinch current threshold calculation system according to claim 4, characterized in that, The threshold calculation module obtains the incremental threshold for each Hall region, specifically for: The incremental threshold for each Hall region is set according to the preset anti-pinch force.

6. The anti-pinch current threshold calculation system according to claim 4, characterized in that, The threshold dynamic update module determines whether the current average current value has changed compared to the previous average current value. If it has changed, it recalculates and updates the anti-pinch current threshold of the Hall region. Specifically, it is used for: Determine whether the current average current value has changed compared to the previous average current value; If the current average current value decreases relative to the previous average current value, the maximum current value of the Hall region is recalculated, and the sum of the recalculated maximum current value and the incremental threshold is used as the new anti-pinch current threshold of the Hall region. If the current average current value increases relative to the previous average current value, then the average current difference between the current average current value and the previous average current value is calculated, and the sum of the current anti-pinch current threshold and the average current difference is used as the new anti-pinch current threshold for the Hall region.

7. A device for calculating the anti-pinch current threshold, characterized in that, include: The processor, the memory, and the computer program stored in the memory, wherein when the processor executes the computer program, it performs the anti-pinch current threshold calculation method as described in any one of claims 1–3.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that can be executed by a processor to perform the anti-pinch current threshold calculation method as described in any one of claims 1–3.

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