A tail gate closing anti-pinch control method, device, equipment and storage medium

Abstract

The application provides a tail gate closing anti-pinch control method, device, equipment and storage medium. When the tail gate driving motor is closed, an initial current parameter set, a voltage parameter set and an opening degree parameter set are obtained based on a preset determination period. An effective current value is obtained by average value calculation based on the initial current parameter set. An opening degree correction coefficient corresponding to each time is determined based on the opening degree parameter set, so as to correct the effective current values at different times respectively to obtain a corrected current parameter set. An integral operation is performed according to the corrected current parameter set and the voltage parameter set to obtain a cumulative energy parameter. If the cumulative energy parameter is greater than or equal to a preset energy accumulation threshold, it is determined that an anti-pinch event occurs and reverse rotation in the tail gate opening direction is controlled. The application can distinguish normal resistance from abnormal pinch resistance by calculating the cumulative energy parameter and determining based on the opening degree, and solves the problems of current detection being easily disturbed, high misjudgment rate and poor adaptability to special working conditions.

Description

Technical Field

[0001] This application relates to the field of vehicle safety control, and in particular to a tailgate closing anti-pinch control method, device, equipment and storage medium. Background Technology

[0002] The trend of vehicle electrification has driven the widespread application of vehicle electronic control systems. Electric tailgates, as a typical example, equipped with one-button automatic opening and closing and remote control functions, have become a mainstream feature in the market. However, the risk of pinching injuries during tailgate closing has become a key area for improvement, making the design of high-performance anti-pinch algorithms increasingly important. The performance of typical anti-pinch algorithms can be evaluated from dimensions such as sensitivity, comfort, anti-pinch force, and robustness: sensitivity requires the tailgate to respond quickly and reverse when encountering an obstacle; comfort requires the algorithm to distinguish between normal resistance and obstacles, avoiding unnecessary reversals; anti-pinch force is the threshold that triggers reversal and is also an indicator related to user safety; robustness requires stable operation under various working conditions and long-term use.

[0003] Currently, common anti-pinch solutions mainly rely on motor current detection combined with Hall sensors. By monitoring the rate of change of the Hall signal, the system determines whether the movement is obstructed. This is supplemented by detecting the stall state using the motor current signal. However, on the one hand, the motor current is easily affected by factors such as fluctuations in the vehicle's power supply, sampling circuit errors, and component aging, leading to inaccurate detection values. This can result in false anti-pinch or anti-pinch failure, affecting the robustness of the system. On the other hand, the tailgate is driven by two motors working together. If the states of the two motors are inconsistent, it can easily cause the tailgate to deviate, increasing the control complexity. Furthermore, the current peaks generated at the moment of motor start-up and when opening at a large angle can cause the judgment logic based on a fixed current threshold to make misjudgments, thus compromising the user's comfort. Summary of the Invention

[0004] The purpose of this application is to provide a tailgate closing anti-pinch control method, device, equipment, and storage medium to solve the above-mentioned technical problems.

[0005] This application provides a tailgate closing anti-pinch control method, which includes: when the tailgate drive motor of the vehicle is in operation after responding to a tailgate closing request; acquiring an initial current parameter set, a voltage parameter set, and a tailgate opening parameter set (characterizing the degree of tailgate opening) based on a preset judgment period; calculating an effective current value based on the average value of the initial current parameter set; determining an opening correction coefficient corresponding to each moment based on the tailgate opening parameter set; correcting the effective current value at different moments based on the opening correction coefficient to obtain a corrected current parameter set; obtaining a cumulative energy parameter for the current judgment period by integrating the corrected current parameter set and the voltage parameter set; determining a corresponding preset energy accumulation threshold based on the minimum value of the tailgate opening parameter set; if the cumulative energy parameter is greater than or equal to the preset energy accumulation threshold, determining that an anti-pinch event has occurred, and controlling the tailgate drive motor to reverse along the tailgate opening direction.

[0006] In one embodiment of this application, determining the opening correction coefficient corresponding to each moment based on the tailgate opening parameter set includes: taking the tailgate opening value corresponding to each moment in the tailgate opening parameter set as input, calculating based on a preset correction coefficient function to obtain the opening correction coefficient corresponding to each moment.

[0007] In one embodiment of this application, the cumulative energy parameter of the current determination period is obtained by performing an integral operation based on the set of corrected current parameters and the set of voltage parameters, including: multiplying the corrected current parameter and the voltage parameter at each moment to obtain the instantaneous power at each moment; obtaining the sampling time interval between adjacent moments, and multiplying the instantaneous power at each moment by the sampling time interval to obtain the micro-element energy corresponding to each sampling time interval; and summing the micro-element energy corresponding to each sampling time interval within the current determination period to obtain the cumulative energy parameter of the current determination period.

[0008] In one embodiment of this application, before determining the corresponding preset energy accumulation threshold based on the minimum value of the tailgate opening parameter set, the tailgate closing anti-pinch control method further includes: dividing the entire closing stroke of the tailgate into multiple continuous stroke segments according to the tailgate opening, wherein the stroke segments do not overlap; preset an energy accumulation threshold for each stroke segment, and storing the energy accumulation threshold in association with the corresponding stroke segment; and determining the corresponding preset energy accumulation threshold within the current determination period based on the stroke segment into which the minimum value of the tailgate opening parameter set falls within the current determination period.

[0009] In one embodiment of this application, the tailgate closing anti-pinch control method further includes: when the tailgate closing process is detected to be over and no anti-pinch event has occurred, obtaining the cumulative energy parameters calculated when the tailgate passes through each travel segment during the tailgate closing process; and updating the preset energy accumulation threshold of the corresponding travel segment based on the cumulative energy parameters calculated for each travel segment and the preset offset.

[0010] In one embodiment of this application, after performing integral calculations based on the set of corrected current parameters and the set of voltage parameters, the tailgate closing anti-pinch control method further includes: obtaining a first angle, the vehicle's balance angle relative to the horizontal plane, the equivalent mass of the tailgate, and the current tailgate closing speed, wherein the first angle is the vehicle's balance angle relative to the horizontal plane, the balance angle includes a top-down angle or a bottom-up angle, and the equivalent mass of the tailgate is calculated based on the tailgate's calibrated mass and the current tailgate opening; when the first balance angle is greater than a second angle, a preset gravity compensation angle threshold is established; a gravity compensation energy term is calculated based on the first balance angle, the pre-stored equivalent mass of the tailgate, and the current tailgate closing speed; and the accumulated energy parameter of the current cycle is compensated based on the gravity compensation energy term, wherein the second angle is the preset gravity compensation angle threshold.

[0011] In one embodiment of this application, after obtaining the cumulative energy parameter of the current judgment period, the tailgate closing anti-pinch control method further includes: obtaining the cumulative energy parameter of a preset number of consecutive judgment periods before the current judgment period, and determining the growth rate of the cumulative energy parameter based on the preset number of the cumulative energy parameters of the multiple consecutive judgment periods; if the growth rate is greater than a preset danger rate threshold, controlling the tailgate drive motor to reverse along the tailgate opening direction based on a preset safety angle to release the accumulated mechanical potential energy; when the tailgate drive motor completes the reversal along the tailgate opening direction based on the preset safety angle, resetting the calculation of the cumulative energy parameter, and controlling the tailgate drive motor to close again at a preset safe closing speed.

[0012] This application embodiment also provides a tailgate closing anti-pinch control device, including: a judgment parameter acquisition module, used to acquire, based on a preset judgment period, an initial current parameter set, a voltage parameter set, and a tailgate opening parameter set representing the degree of tailgate opening, after the tailgate drive motor of the vehicle is in operation in response to a tailgate closing request; an accumulated energy calculation module, used to calculate the average value based on the initial current parameter set to obtain an effective current value, and to determine the opening correction coefficient corresponding to each moment based on the tailgate opening parameter set, so as to correct the effective current value at different moments based on the opening correction coefficient to obtain a corrected current parameter set; to perform an integral operation based on the corrected current parameter set and the voltage parameter set to obtain the accumulated energy parameter of the current judgment period, and to determine the corresponding preset energy accumulation threshold based on the minimum value of the tailgate opening parameter set; and an anti-pinch event judgment module, used to judge an anti-pinch event; if the accumulated energy parameter is greater than or equal to the preset energy accumulation threshold, an anti-pinch event is judged to have occurred, and the tailgate drive motor is controlled to reverse along the tailgate opening direction.

[0013] This application also provides an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the tailgate closing anti-pinch control method as described in any of the above embodiments.

[0014] This application also provides a computer-readable storage medium storing computer-readable instructions, which, when executed by a computer's processor, cause the computer to perform the tailgate closing anti-pinch control method as described in any of the above embodiments.

[0015] The beneficial effects of this invention are as follows: This application provides a tailgate closing anti-pinch control method, device, equipment, and storage medium. When the tailgate drive motor of a vehicle is in operation in response to a tailgate closing request, it acquires an initial current parameter set, voltage parameter set, and opening parameter set for the tailgate drive motor at multiple moments based on a preset judgment period. An effective current value is obtained by averaging the initial current parameter set, and an opening correction coefficient is determined for each moment based on the opening parameter set to correct the effective current value, resulting in a corrected current parameter set. An integrated operation is performed on the corrected current parameter set and voltage parameter set to obtain a cumulative energy parameter. A preset energy accumulation threshold is determined based on the minimum value of the opening parameter set. If the cumulative energy parameter is greater than or equal to the preset energy accumulation threshold, an anti-pinch event is determined, and the tailgate drive motor is controlled to reverse along the tailgate opening direction. This application effectively distinguishes between normal resistance and abnormal clamping resistance by dynamically calculating the cumulative energy parameter and adaptively adjusting the energy threshold in the opening segment. This solves the problems of current detection being easily interfered with, high misjudgment rate, and poor adaptability to special working conditions in the prior art, enabling it to adapt to different opening states and reduce the misjudgment rate.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 This is a schematic diagram illustrating an exemplary system architecture as shown in an exemplary embodiment of this application; Figure 2 This is a flowchart illustrating an exemplary embodiment of the present application of a tailgate closing anti-pinch control method; Figure 3 This is a schematic diagram of an exemplary embodiment of the present application illustrating a tailgate closing anti-pinch control device; Figure 4 This is a schematic diagram of the structure of a computer system for an electronic device, as illustrated in an exemplary embodiment of this application. Detailed Implementation

[0018] The embodiments of this application will be described below with reference to the accompanying drawings and specific examples. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0019] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the illustrations only show the components related to this application and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0020] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0021] The term "and / or" used in this application describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the related objects before and after it are in an "or" relationship.

[0022] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating an exemplary system architecture as shown in an exemplary embodiment of this application.

[0023] Reference Figure 1 As shown, refer to Figure 1As shown, the system architecture may include a vehicle 110 and a computer device 120. After the tailgate drive motor of the vehicle 110 is in operation in response to a tailgate closing request, the computer device 120 acquires initial current parameter sets, voltage parameter sets, and opening parameter sets for the tailgate drive motor at multiple moments based on a preset judgment period. It calculates the effective current value by averaging the initial current parameter sets and determines the opening correction coefficient for each moment based on the opening parameter set, thereby correcting the effective current value at different moments to obtain a corrected current parameter set. It then performs integration calculations based on the corrected current parameter set and voltage parameter set to obtain the cumulative energy parameter for the current judgment period. Based on the minimum value of the opening parameter set, it determines the corresponding preset energy accumulation threshold. If the cumulative energy parameter is greater than or equal to the preset energy accumulation threshold, an anti-pinch event is determined, and the tailgate drive motor is controlled to reverse in the tailgate opening direction. The computer device 120 may be at least one of a microcomputer, embedded computer, network computer, or single-chip microcomputer. The vehicle 110 includes at least an electronically controlled tailgate, a current sensor, a voltage sensor, a gyroscope, a strut angle sensor, and a tailgate speed sensor.

[0024] This application effectively distinguishes between normal resistance and abnormal clamping resistance by dynamically calculating the cumulative energy parameters and adaptively adjusting the energy threshold in combination with the opening section. It solves the problems of current detection being easily interfered with, high misjudgment rate and poor adaptability to special working conditions in the prior art, and can adapt to different opening states and reduce the misjudgment rate.

[0025] Figure 2 This is a flowchart illustrating an exemplary embodiment of the present application of a tailgate closing anti-pinch control method, which can... Figure 1 It can be executed in the implementation environment described above, but it can also be implemented in other implementation environments. No specific limitations are imposed on the aforementioned implementation environments here. (See also...) Figure 2 As shown in the flowchart, the tailgate closing anti-pinch control method includes at least steps S210 to S240, which are described in detail below: In step S210, when the tailgate drive motor of the vehicle is in operation in response to the tailgate closing request, the initial current parameter set, voltage parameter set and opening parameter set of the tailgate drive motor at multiple moments are obtained based on a preset determination period.

[0026] In one embodiment of this application, the initial current parameter set and voltage parameter set refer to the original data set of motor current and voltage at multiple consecutive sampling times, which are obtained by sampling based on current and voltage sensors at fixed frequencies in some implementation environments; the opening parameter set is obtained by calling the data collected by the tailgate strut angle sensor to obtain the tailgate opening at each moment in the current judgment period.

[0027] In the embodiments of this application, only the anti-pinch algorithm control logic of the tailgate during the closing process is analyzed. The anti-pinch algorithm logic during the tailgate opening process remains unchanged and is still based on the detection current and Hall effect to support the anti-pinch algorithm.

[0028] In step S220, the average value is calculated based on the initial current parameter set to obtain the effective current value, and the opening correction coefficient corresponding to each time moment is determined based on the opening parameter set. The effective current value at different times is then corrected based on the opening correction coefficient to obtain the corrected current parameter set.

[0029] In one embodiment of this application, when determining the opening correction coefficient for each moment based on the opening parameter set, the tailgate opening value for each moment in the opening parameter set is used as input, and the opening correction coefficient for each moment is calculated based on a preset correction coefficient function. The preset correction coefficient function refers to a mathematical mapping relationship established based on the relationship between tailgate opening and resistance change. Specifically, it can be implemented using a piecewise linear function or a nonlinear curve function, used to convert the resistance difference under different opening degrees into a current correction coefficient, thereby eliminating the influence of tailgate position on the current parameters.

[0030] Specifically, the aforementioned preset correction coefficient function can be characterized as follows: K=3.17e-9*D 5 -7.89e-7*D 4 +6.72e-5*D 3 -2.31e-3*D 2 +0.03*D+0.87 (1) Where K is the opening correction coefficient, and D is the tailgate opening value at each time moment.

[0031] In one embodiment of this application, the average value calculation based on the initial current parameter set is performed using a sliding window method. Recording begins from the issuance of the tailgate closing command. Assuming the current value of the tailgate is Xt, the effective value of the tailgate current is represented as follows: X=(X t-B + …… + X t-3 + X t-2 + X t-1 + X t Equation (2) / (B+1) Where X is the effective current value, t is the time, and B is the calibration value. If the start-up time is too small and the dimension does not exceed the delay period of B, then all values ​​starting from the starting point are used for supplementary calculation.

[0032] In one embodiment of this application, during the tailgate closing process, each opening value in the opening parameter set is input into a preset correction coefficient function. This function dynamically adjusts the correction coefficient according to the tailgate's position. For example, when the tailgate is in a low-opening region, the resistance change is gradual due to the smaller effect of gravity, and the correction coefficient function can output a lower coefficient to reduce the current correction amplitude. By multiplying the correction coefficient at each moment with the effective current value, a corrected current parameter set is formed, enabling subsequent energy accumulation calculations to accurately reflect actual resistance changes and avoiding misjudgments caused by different tailgate positions.

[0033] In one embodiment of this application, by dynamically adjusting the correction coefficient, it is possible to adapt to the differences in resistance characteristics under different opening degrees, avoid false triggering or missed detection caused by fixed threshold, thereby improving the user experience comfort while ensuring anti-pinch sensitivity.

[0034] In step S230, the cumulative energy parameters of the current determination period are obtained by integral calculation based on the modified current parameter set and voltage parameter set, and the corresponding preset energy accumulation threshold is determined based on the minimum value of the opening parameter set.

[0035] In one embodiment of this application, the cumulative energy parameter for the current determination period is obtained by performing an integral operation based on the set of corrected current parameters and the set of voltage parameters. This includes multiplying the corrected current parameter and voltage parameter at each moment to obtain the instantaneous power at each moment, obtaining the sampling time interval between adjacent moments, multiplying the instantaneous power at each moment by the sampling time interval to obtain the infinitesimal energy corresponding to each sampling time interval, and summing the infinitesimal energies corresponding to each sampling time interval within the current determination period to obtain the cumulative energy parameter for the current determination period. Here, the integral operation refers to the cumulative calculation of the power parameter over time, which accurately reflects the energy accumulation process.

[0036] In one embodiment of this application, the integral operation based on the modified current parameter set and the voltage parameter set can be characterized as follows: Equation (3) Where W is the cumulative energy parameter and V is the voltage. It is the correction current at time i, t is the time, and Δt is the duration of the current judgment period.

[0037] In one embodiment of this application, after performing integral calculations based on the corrected current parameter set and voltage parameter set, the vehicle's balance angle relative to the horizontal plane, the equivalent mass of the tailgate, and the current tailgate closing speed are obtained. The balance angle includes a top-down angle or a bottom-up angle, and the equivalent mass of the tailgate is calculated based on the tailgate's calibrated mass and the current tailgate opening. When the balance angle is greater than a preset gravity compensation angle threshold, a gravity compensation energy term is calculated based on the balance angle, the pre-stored equivalent mass of the tailgate, and the current tailgate closing speed, and the accumulated energy parameters of the current judgment period are compensated based on the gravity compensation energy term. The balance angle refers to the tilt angle of the vehicle body relative to the horizontal plane when the vehicle is parked, which can be measured in real time using a gyroscope. When the vehicle is parked on a slope, the top-down or bottom-up angle reflects the height difference between the front and rear of the vehicle. The current tailgate closing speed refers to the real-time linear velocity of the tailgate drive motor driving the tailgate movement, which can be obtained by collecting the motor speed using a Hall sensor and converting it using the transmission ratio. The gravity compensation angle threshold refers to the critical tilt angle that triggers the gravity compensation mechanism; for example, compensation calculation is initiated when the vehicle tilts more than 5 degrees. The aforementioned equivalent mass of the tailgate refers to the dynamic equivalent mass of the tailgate due to changes in the center of gravity at different opening degrees. The calculation process can be characterized as follows: m = m0 + K_m * D (4) Where m0 is the tailgate calibration mass; K_m is the mass coefficient per unit opening, which varies with the current tailgate opening.

[0038] Specifically, a 6-axis IMU module is added to monitor the vehicle's balance angle relative to the horizontal plane. Gravity interference in slope scenarios is corrected by adding a gravitational potential energy compensation term to the energy calculation, where the sampling frequency matches the current sampling period. The compensation calculation is performed after adding the gravity compensation energy term. W_{total} = W_{motor} + W_{gravity} Formula (5) Where W_{total} is the corrected cumulative energy parameter, W_{motor} is the cumulative energy parameter of the motor, and W_{gravity} is the gravity compensation energy term.

[0039] The calculation of the gravity compensation energy term includes: W_{gravity} = F_g·Δh = m·g·sin(θ)·v·Δt Formula (6) Where F_g is the slope gravity component, which can be characterized as F_g = m·g·sin(θ), θ is the equilibrium angle of the vehicle relative to the horizontal plane measured by the IMU, m is the equivalent mass of the tailgate, v is the current tailgate closing speed, Δh is the tailgate travel in the current decision cycle, and Δt is the duration of the current decision cycle.

[0040] In one embodiment of this application, when the vehicle is on an inclined road surface, the gravitational component during tailgate closing alters the actual load on the drive motor. Specifically, when closing the tailgate on a downhill slope, gravity accelerates the tailgate's movement, leading to an underestimation of the accumulated energy parameter; conversely, on an uphill slope, gravity hinders tailgate closing, resulting in an overestimation of the accumulated energy parameter. By introducing parameters such as balance angle, tailgate equivalent mass, and closing speed, the system can dynamically calculate the impact of gravity on energy accumulation, eliminating misjudgments caused by gravity interference.

[0041] In one embodiment of this application, before determining the corresponding preset energy accumulation threshold based on the minimum value of the opening parameter set, the entire closing stroke of the tailgate is divided into multiple continuous stroke segments according to the tailgate opening. The stroke segments do not overlap, and an energy accumulation threshold is preset for each stroke segment and stored in association. In order to determine the corresponding preset energy accumulation threshold in the current determination period based on the stroke segment into which the minimum value of the opening parameter set falls.

[0042] In one embodiment of this application, the travel segment refers to dividing the entire movement trajectory of the tailgate from fully open to fully closed into multiple continuous and non-overlapping intervals according to the opening value. Specifically, the intervals are equally spaced, for example, the opening range is divided into 20 small segments, each of which accounts for 5% of the opening ratio. The aforementioned associated storage refers to pre-allocating an energy accumulation threshold for each travel segment and establishing a mapping relationship between the segment range and the corresponding threshold. Specifically, this can be stored in the control unit in the form of a lookup table or a piecewise function.

[0043] In one embodiment of this application, as the tailgate is used in actual operation, the vehicle is subject to various interferences, such as assembly errors and aging, which cause the tailgate's movement speed and current value to be uncertain. Therefore, it is impossible to directly determine the threshold value as the basis for anti-pinch judgment from an energy perspective alone. Based on this, a dynamic threshold strategy is introduced to avoid such uncertain interference factors. During the tailgate closing process, by collecting the set of opening parameters in real time and extracting their minimum value, the current travel segment of the tailgate can be determined. Since the mechanical resistance characteristics of different travel segments are different, for example, the gravity effect of the tailgate is small at the beginning of closing and significantly increases at the end of closing, by setting differentiated thresholds for different segments, the problem of misjudgment or missed judgment caused by using a single threshold can be avoided.

[0044] In one embodiment of this application, when the tailgate closing process is detected to have ended without an anti-pinch event, the accumulated energy parameters calculated as the tailgate passes through each travel segment during the closing process are obtained. Based on the accumulated energy parameters calculated for each travel segment and a preset offset, the preset energy accumulation threshold for the corresponding travel segment is updated. The aforementioned preset offset refers to a fixed compensation value used to adjust the energy accumulation threshold, which can be set based on experimental data or historical operation records.

[0045] In one embodiment of this application, when the tailgate is closed normally and the anti-pinch function is not triggered, the system automatically records the actual energy consumption data corresponding to each travel segment. By superimposing the measured cumulative energy parameter of each segment with a preset offset, a new energy accumulation threshold for that segment is generated. This allows the energy threshold to be dynamically adjusted according to the actual working conditions, thus avoiding the failure of the anti-pinch function due to an excessively high threshold and preventing false triggering due to an excessively low threshold.

[0046] In step S240, if the accumulated energy parameter is greater than or equal to the preset energy accumulation threshold, an anti-pinch event is determined to have occurred, and the tailgate drive motor is controlled to reverse along the tailgate opening direction.

[0047] In one embodiment of this application, if the accumulated energy parameter is less than a preset energy accumulation threshold, the tailgate drive motor is controlled to continue closing along the tailgate closing direction.

[0048] In one embodiment of this application, the control of the tailgate drive motor to reverse along the tailgate opening direction can be set to fully open or open a partial angle based on actual application requirements. The specific range of motor reversal after an anti-pinch event is not limited here.

[0049] In one embodiment of this application, the method further includes obtaining the cumulative energy parameters of multiple consecutive judgment periods prior to the current judgment period, and determining the growth rate of the cumulative energy parameters based on the cumulative energy parameters of the multiple consecutive judgment periods. If the growth rate is greater than a preset dangerous rate threshold, the tailgate drive motor is controlled to reverse along the tailgate opening direction based on a preset safety angle to release the accumulated mechanical potential energy. When the tailgate drive motor completes the reversal along the tailgate opening direction based on the preset safety angle, the calculation of the cumulative energy parameters is reset, and the tailgate drive motor is controlled to close again at a preset safe closing speed.

[0050] Among them, multiple continuous judgment cycles can be set to 3 to 5 cycles to balance real-time performance and data stability. The above growth rate refers to the amount of change in the cumulative energy parameter per unit time, while the preset safety angle refers to the range of travel when the tailgate is reversed, which is used to release mechanical potential energy while preventing the tailgate from being fully opened. The above preset safety closing speed refers to the speed of the drive motor when the tailgate is closed again, which can be set to 60% to 80% of the standard closing speed to reduce the risk of secondary pinching injury.

[0051] The determination of the preset danger rate threshold involves multiplying a preset energy accumulation threshold by 2, dividing by a preset system response time window to obtain an initial danger rate benchmark, and then multiplying the initial danger rate benchmark by an emergency coefficient related to the current operating condition to obtain an adjusted danger rate threshold, which is then determined as the preset danger rate threshold. The emergency coefficient is increased under slope conditions and decreased under conditions where there is additional load on the tailgate.

[0052] In actual implementation, while monitoring the accumulated energy parameters in real time during the tailgate closing process, the system analyzes the historical trends to determine if there is any abnormal acceleration in energy accumulation. When the growth rate exceeds a preset threshold, a short-distance reversal action is immediately triggered to release mechanical potential energy. Subsequently, the closing process resumes at a lower speed. After completing the reversal at a preset safety angle, the system reinitializes the energy accumulation parameters and reduces the closing speed. In this application, by dynamically calculating the accumulated energy parameters and adaptively adjusting the energy threshold in conjunction with the opening segment, normal resistance and abnormal clamping resistance are effectively distinguished. This solves the problems of current detection being easily interfered with, having a high false alarm rate, and poor adaptability to special working conditions in existing technologies. It can adapt to different opening states and reduce the false alarm rate.

[0053] The following describes an embodiment of the apparatus described in this application, which can be used to execute the tailgate closing anti-pinch control method in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the tailgate closing anti-pinch control method described above in this application.

[0054] Figure 3 This is a schematic diagram illustrating an exemplary embodiment of a tailgate closing anti-pinch control device. This device can be applied to... Figure 2 The method implementation process shown can be based on the device Figure 1 The implementation environment shown can be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0055] like Figure 3 As shown, the exemplary tailgate closing anti-pinch control device includes: a parameter acquisition module 301, an accumulated energy calculation module 302, and an anti-pinch determination module 303.

[0056] The parameter acquisition module 301 is used to acquire initial current parameter sets, voltage parameter sets, and opening parameter sets of the tailgate drive motor at multiple moments based on a preset judgment period when the tailgate drive motor is in operation in response to a tailgate closing request. The cumulative energy calculation module 302 is used to calculate the effective current value based on the average value of the initial current parameter set, and determine the opening correction coefficient corresponding to each moment based on the opening parameter set to correct the effective current value at different moments, thereby obtaining a corrected current parameter set. The module performs integral calculation based on the corrected current parameter set and voltage parameter set to obtain the cumulative energy parameter of the current judgment period, and determines the corresponding preset energy accumulation threshold based on the minimum value of the opening parameter set. The anti-pinch judgment module 303 is used to judge the anti-pinch event. If the cumulative energy parameter is greater than or equal to the preset energy accumulation threshold, the anti-pinch event is judged to have occurred, and the tailgate drive motor is controlled to reverse along the tailgate opening direction.

[0057] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the tailgate closing anti-pinch control method provided in the above embodiments.

[0058] Figure 4 This is a schematic diagram illustrating the structure of a computer system for an electronic device, as shown in an exemplary embodiment of this application. It should be noted that... Figure 4 The computer system 400 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0059] like Figure 4 As shown, the computer system 400 includes a Central Processing Unit (CPU) 401, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 402 or programs loaded from storage into Random Access Memory (RAM) 403. The RAM 403 also stores various programs and data required for system operation. The CPU 401, ROM 402, and RAM 403 are interconnected via a bus. An I / O interface 405 is also connected to the bus 404, where the I / O interface 405 refers to an input / output interface.

[0060] The following components are connected to I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section performs communication processing via a network such as the Internet. A drive is also connected to I / O interface 405 as needed. Removable media 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 410 as needed so that computer programs read from them can be installed into storage section 408 as needed.

[0061] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411. When the computer program is executed by central processing unit (CPU) 401, it performs various functions defined in the system of this application.

[0062] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0063] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0064] In the corresponding figures of the above embodiments, connecting lines can represent the connection relationship between various components, indicating more constitutive signal paths and / or one or more ends of some lines having arrows to indicate the main information flow direction. Connecting lines are an identifier and are not a limitation on the scheme itself, but rather, using these lines in conjunction with one or more exemplary embodiments helps to more easily connect circuits or logic units. Any signal represented (determined by design requirements or preferences) can actually include one or more signals that can be transmitted in any direction and can be implemented in any suitable type of signal scheme.

[0065] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0066] Another aspect of this application provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0067] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the tailgate closing anti-pinch control method as described in any of the above embodiments.

[0068] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0069] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the method according to the embodiments of this application.

[0070] This application can be used in a wide range of general-purpose or special-purpose computing system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0071] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0072] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A tailgate closing anti-pinch control method, characterized in that, The tailgate closing anti-pinch control method includes: When the tailgate drive motor of the vehicle responds to the tailgate closing request, it acquires the initial current parameter set, voltage parameter set, and opening degree parameter set of the tailgate drive motor at multiple moments based on a preset determination period. The effective current value is obtained by averaging the initial current parameter set, and the opening correction coefficient corresponding to each time moment is determined based on the opening parameter set, so as to correct the effective current value at different times and obtain the corrected current parameter set. The cumulative energy parameter of the current determination period is obtained by performing an integral operation on the set of corrected current parameters and the set of voltage parameters, and the corresponding preset energy accumulation threshold is determined based on the minimum value of the set of opening parameters. If the accumulated energy parameter is greater than or equal to the preset energy accumulation threshold, an anti-pinch event is determined to have occurred, and the tailgate drive motor is controlled to reverse along the tailgate opening direction.

2. The tailgate closing anti-pinch control method according to claim 1, characterized in that, The opening correction coefficient for each time moment is determined based on the set of opening parameters, including: The tailgate opening value corresponding to each moment in the opening parameter set is taken as input, and the opening correction coefficient corresponding to each moment is calculated based on the preset correction coefficient function.

3. The tailgate closing anti-pinch control method according to claim 1, characterized in that, Based on the set of corrected current parameters and the set of voltage parameters, the cumulative energy parameters for the current determination period are obtained by performing integration calculations, including: Multiply the corrected current parameter and voltage parameter at each moment to obtain the instantaneous power at each moment; The sampling time interval between adjacent time points is obtained, and the instantaneous power at each time point is multiplied by the sampling time interval to obtain the infinitesimal energy corresponding to each sampling time interval. The cumulative energy parameter for the current judgment period is obtained by summing the energy of the infinitesimal elements corresponding to each sampling time interval within the current judgment period.

4. The tailgate closing anti-pinch control method according to claim 1, characterized in that, Before determining the corresponding preset energy accumulation threshold based on the minimum value of the set of opening parameters, the tailgate closing anti-pinch control method further includes: The entire closing stroke of the tailgate is divided into multiple consecutive stroke segments according to the tailgate opening degree, and the stroke segments do not overlap; An energy accumulation threshold is preset for each travel segment, and the energy accumulation threshold is associated with the corresponding travel segment; The preset energy accumulation threshold within the current determination period is determined based on the travel segment into which the minimum value of the set of opening parameters falls.

5. The tailgate closing anti-pinch control method according to claim 4, characterized in that, The tailgate closing anti-pinch control method also includes: When the tailgate closing process is detected to be complete and no anti-pinch event occurs, the cumulative energy parameters of the tailgate as it passes through each travel segment during the tailgate closing process are obtained. The preset energy accumulation threshold for the corresponding travel segment is updated based on the cumulative energy parameters and preset offset for each travel segment.

6. The tailgate closing anti-pinch control method according to any one of claims 1-5, characterized in that, After performing integration calculations based on the corrected current parameter set and the voltage parameter set, the tailgate closing anti-pinch control method further includes: The first angle, the equivalent mass of the tailgate, and the current tailgate closing speed are obtained. The first angle is the balance angle of the vehicle relative to the horizontal plane, including the top angle or the bottom angle. The equivalent mass of the tailgate is calculated based on the tailgate calibration mass and the current tailgate opening. When the first angle is greater than the second angle, a gravity compensation energy term is calculated based on the first angle, the equivalent mass of the tailgate, and the current tailgate closing speed to compensate for the accumulated energy parameters of the current cycle. The second angle is a preset gravity compensation angle threshold.

7. The tailgate closing anti-pinch control method according to any one of claims 1-5, characterized in that, After obtaining the cumulative energy parameters for the current judgment period, the tailgate closing anti-pinch control method further includes: Obtain the cumulative energy parameters of multiple consecutive judgment periods prior to the current judgment period, and determine the growth rate of the cumulative energy parameters based on the cumulative energy parameters of the multiple consecutive judgment periods; If the growth rate is greater than a preset danger rate threshold, the tailgate drive motor is controlled to reverse along the tailgate opening direction based on a preset safety angle. When the tailgate drive motor reverses along the tailgate opening direction based on a preset safety angle, the calculation of the accumulated energy parameters is reset, and the tailgate drive motor is controlled to close again at a preset safe closing speed.

8. A tailgate closing anti-pinch control device, characterized in that, The tailgate closing anti-pinch control device includes: The parameter acquisition module is used to acquire, based on a preset determination period, the initial current parameter set, voltage parameter set, and opening degree parameter set of the tailgate drive motor at multiple moments after the tailgate drive motor responds to the tailgate closing request. The cumulative energy calculation module is used to calculate the average value based on the initial current parameter set to obtain the effective current value, and to determine the opening correction coefficient corresponding to each moment based on the opening parameter set, so as to correct the effective current value at different moments to obtain the corrected current parameter set; to perform integral calculation based on the corrected current parameter set and the voltage parameter set to obtain the cumulative energy parameter of the current judgment period, and to determine the corresponding preset energy accumulation threshold based on the minimum value of the opening parameter set; The anti-pinch determination module is used to determine the anti-pinch event; if the accumulated energy parameter is greater than or equal to the preset energy accumulation threshold, the anti-pinch event is determined to have occurred, and the tailgate drive motor is controlled to reverse along the tailgate opening direction.

9. An electronic device, characterized in that, It includes a processor, a memory, and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement the tailgate closing anti-pinch control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that enables the computer to execute the tailgate closing anti-pinch control method as described in any one of claims 1-7.

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