Car window anti-pinch method and device, electronic equipment, storage medium and program product
By dynamically adjusting the anti-pinch monitoring response time by collecting motor speed data, the problem of window anti-pinch force deviation and false anti-pinch caused by mechanical structure aging is solved, thus improving the safety and reliability of the system.
Patent Information
- Application Number
- CN202511140182.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-14
- Publication Date
- 2025-11-18
AI Technical Summary
Aging of the mechanical structure can cause the actual anti-pinch force of the window anti-pinch system to deviate from the target, resulting in false anti-pinch or failure to prevent pinching, which affects the safety and reliability of the system.
The system collects the motor speed when the car window is raised, determines the target speed based on the motor speed, matches the anti-pinch monitoring data window and current filtering time, performs anti-pinch control based on the preset anti-pinch force, and dynamically adjusts the anti-pinch monitoring response time through an adaptive learning algorithm.
It improves the safety and reliability of the anti-pinch system for car windows and solves the problems of anti-pinch force deviation and false anti-pinch caused by the aging of the mechanical structure.
Smart Images
Figure CN120968362A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and in particular to a method, device, electronic device, storage medium, and program product for preventing window pinching. Background Technology
[0002] The general anti-pinch algorithm for car windows (current method) is based on the working principle of the motor. The torque output by the window is positively correlated with the operating current of the motor. The specific formula is: M=c2·Φ·i A Where M is torque, C2 is a constant, and i A Let Φ be the current flowing through the motor and Φ be the magnetic flux. Therefore, the anti-pinch algorithm for the car window can be implemented by monitoring the operating current of the window motor. When the window is operating within the anti-pinch zone, the algorithm monitors whether the current change exceeds a threshold; if the current change threshold ΔI ≥ I... limit When the anti-pinch function is triggered, the threshold I for determining the change in current triggering the anti-pinch function is used. limit The calibration needs to be obtained by calibrating on the actual vehicle window; and the corresponding correction coefficient needs to be obtained by adjusting external environmental conditions such as power supply voltage and ambient temperature.
[0003] In related technologies, the current sampling filtering method adopts the recursive average filtering method, also known as the moving average filtering method. It treats N consecutive sampled values as a queue with a fixed length of N. Each time a new data is sampled, it is placed at the tail of the queue, and the previous data at the head of the queue is discarded (first-in, first-out principle). The average of the N data in the queue is then calculated to obtain the new filtering result. This filtering algorithm has a good suppression effect on periodic interference, high smoothness, and is suitable for general car window operating conditions (current ripple generated by carbon brushes and commutators).
[0004] However, as the window motor and its transmission mechanism age, the relationship between the motor's operating current and output torque will shift. Using the original judgment threshold at this point will cause the actual anti-pinch force to deviate from the design target. In severe cases, the combined effects of multiple external factors such as aging, power supply voltage, ambient temperature, and motor performance deviations may lead to serious functional failures, such as the window falsely triggering anti-pinch protection or failing to prevent pinching altogether. This issue urgently needs to be addressed. Summary of the Invention
[0005] This application provides a method, device, electronic device, storage medium, and program product for preventing vehicle window pinching, in order to solve the problems in related technologies such as mechanical structure aging causing the actual anti-pinch force to deviate from the target, false pinching, or failure to prevent pinching, thereby improving the safety and reliability of the vehicle window anti-pinch system.
[0006] The first aspect of this application provides a method for preventing vehicle windows from being pinched, including the following steps:
[0007] Collect the motor speed when the car window is raised;
[0008] The target speed is determined based on the motor speed, and the anti-pinch monitoring data window and current filtering time are matched based on the target speed.
[0009] Based on the preset anti-pinch force, anti-pinch control is performed according to the target rotation speed, the anti-pinch monitoring data window, and the current filtering time.
[0010] Optionally, determining the target speed based on the motor speed includes:
[0011] Determine whether the motor speed is within a preset speed range;
[0012] If the motor speed is within the preset speed range, then the motor speed is taken as the target speed; otherwise, the preset speed is taken as the target speed.
[0013] Optionally, before collecting the motor speed when the window is raised, the following steps are also included:
[0014] Get the cumulative duration before data collection;
[0015] If the accumulated duration is greater than the preset duration, then the preset collection conditions are met.
[0016] Optionally, the preset anti-pinch force is:
[0017]
[0018] Where k is the elastic coefficient, x max The maximum compression is given by K, where J is the moment of inertia of the motor, and K is the maximum compression. t I is the motor torque coefficient. th The preset anti-pinch trigger current threshold is ω0, where ω0 is the motor speed and t is the motor speed. response This is the current filtering time.
[0019] A second aspect of this application provides a vehicle window anti-pinch device, comprising:
[0020] The data acquisition module is used to collect the motor speed when the car window is raised;
[0021] The matching module is used to determine the target speed based on the motor speed, and to match the anti-pinch monitoring data window and current filtering time based on the target speed;
[0022] The control module is used to perform anti-pinch control based on a preset anti-pinch force, the target rotation speed, the anti-pinch monitoring data window, and the current filtering time.
[0023] Optionally, the matching module is specifically used for:
[0024] Determine whether the motor speed is within a preset speed range;
[0025] If the motor speed is within the preset speed range, then the motor speed is taken as the target speed; otherwise, the preset speed is taken as the target speed.
[0026] Optionally, before collecting the motor speed when the window is raised, the data acquisition module is further configured to:
[0027] Get the cumulative duration before data collection;
[0028] If the accumulated duration is greater than the preset duration, then the preset collection conditions are met.
[0029] Optionally, the preset anti-pinch force is:
[0030]
[0031] Where k is the elastic coefficient, x max The maximum compression is given by K, where J is the moment of inertia of the motor, and K is the maximum compression. t I is the motor torque coefficient. th The preset anti-pinch trigger current threshold is ω0, where ω0 is the motor speed and t is the motor speed. response This is the current filtering time.
[0032] A third aspect of this application provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being configured to perform the anti-pinch method for car windows as described in the above embodiments.
[0033] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the anti-pinch method for car windows as described in the above embodiments.
[0034] A fifth aspect of this application provides a computer program product storing a computer program that, when executed by a processor, implements the anti-pinch method for car windows as described in the above embodiments.
[0035] Therefore, this embodiment of the application collects the motor speed when the window is raised, determines the target speed based on the motor speed, and matches the anti-pinch monitoring data window and current filtering time according to the target speed. Based on the preset anti-pinch force, anti-pinch control is performed according to the target speed, the anti-pinch monitoring data window, and the current filtering time. Thus, by adding a window adaptive learning algorithm, the current filtering window is corrected in real time based on the motor speed, and the anti-pinch monitoring response time is dynamically adjusted. This solves the problems in related technologies, such as the mechanical structure aging causing the actual anti-pinch force to deviate from the target, false anti-pinch, or no anti-pinch, thereby improving the safety and reliability of the window anti-pinch system.
[0036] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0037] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:
[0038] Figure 1 This is a flowchart of a method for preventing a car window from being pinched, according to an embodiment of this application.
[0039] Figure 2 This is a schematic diagram of an anti-pinch force testing device for a vehicle window anti-pinch method according to an embodiment of this application;
[0040] Figure 3 This is a schematic diagram of a window anti-pinch device provided according to an embodiment of this application;
[0041] Figure 4 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation
[0042] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.
[0043] The following describes a method, apparatus, electronic device, storage medium, and program product for preventing window pinching according to embodiments of this application, with reference to the accompanying drawings. Addressing the problem mentioned in the background art where aging of the mechanical structure leads to a deviation between the actual anti-pinch force and the target, resulting in false pinching or no pinching, this application provides a method for preventing window pinching. In this method, embodiments of this application collect the motor speed when the window is raised, determine the target speed based on the motor speed, and match the anti-pinch monitoring data window and current filtering time according to the target speed. Based on a preset anti-pinch force, anti-pinch control is performed according to the target speed, the anti-pinch monitoring data window, and the current filtering time. Therefore, by adding a window adaptive learning algorithm, the current filtering window is corrected in real time based on the motor speed, and the anti-pinch monitoring response time is dynamically adjusted, solving the problems of aging of the mechanical structure leading to a deviation between the actual anti-pinch force and the target, resulting in false pinching or no pinching, in the related art, thus improving the safety and reliability of the window anti-pinch system.
[0044] Specifically, Figure 1 This is a flowchart illustrating a method for preventing car windows from being pinched, as provided in an embodiment of this application.
[0045] like Figure 1 As shown, the method for preventing car windows from being pinched includes the following steps:
[0046] In step S101, the motor speed is collected when the car window is raised.
[0047] Specifically, when the window is raised, the motor speed is calculated using a Hall sensor or current ripple signal. The data is then validated for reasonableness, and the motor speed is judged to be reasonable. If the motor speed fails the reasonableness judgment, the dynamic correction algorithm is not triggered, and the default parameters are used instead.
[0048] It should be noted that the collected motor speed signal undergoes the same filtering process as the anti-pinch current monitoring (i.e., using the average value of the data window queue) to ensure data stability; that is, the average value of the data in the anti-pinch monitoring data window (queue) is used. This algorithm cannot be triggered when the motor is first started, as the motor speed is not stable at this time. Therefore, it is necessary to increase the algorithm enable delay time to ensure the stability of its function.
[0049] In step S102, the target speed is determined based on the motor speed, and the anti-pinch monitoring data window and current filtering time are matched according to the target speed.
[0050] Specifically, after determining the motor speed, the system will match the motor speed to the corresponding target speed range based on the target speed (obtained through physical calibration), and dynamically adjust the anti-pinch monitoring data window length (N) and current filtering time (t_response); by dynamically adjusting the current filtering time t responseThe algorithm can significantly reduce the risk of pinching force in high-speed scenarios, while avoiding oversensitivity at low speeds. In practical applications, it is necessary to combine hardware limitations (such as minimum filtering time) and system nonlinearities (such as friction and damping) for optimization, so as to achieve a balance between safety and reliability.
[0051] It should be noted that the length N of the anti-pinch monitoring data window (queue) is defined as a maximum value N based on the actual vehicle window calibration. max With minimum value N min Too short a filtering time will make the anti-pinch system susceptible to interference, and oversensitivity will lead to false triggering of the anti-pinch system; too long a filtering time will make it difficult for the anti-pinch system to trigger, and the sensitivity will be too low. The overall design should be calibrated based on the actual vehicle window mechanism.
[0052] Optionally, in some embodiments, determining the target speed based on the motor speed includes: determining whether the motor speed is within a preset speed range; if the motor speed is within the preset speed range, then the motor speed is taken as the target speed, otherwise the preset speed is taken as the target speed.
[0053] The preset speed range can be a threshold set by the user, a threshold obtained through a limited number of experiments, or a threshold obtained through a limited number of computer simulations; no specific limitation is made here.
[0054] Understandably, when determining the target speed, the system first checks whether the current motor speed falls within the preset speed range. If it is within this range (e.g., a reasonable speed range calibrated based on different temperatures and load conditions), the motor speed is directly used as the target speed. If it exceeds the range (e.g., due to abnormal interference or extreme conditions causing abnormal speed), the system switches to the preset speed (e.g., the calibrated safe median value). This dual-determination mechanism ensures the dynamic adjustment accuracy under normal operating conditions and maintains the stable operation of the anti-pinch system under abnormal conditions, avoiding the risk of false triggering or failure caused by speed distortion.
[0055] In step S103, anti-pinch control is performed based on the preset anti-pinch force, the target rotation speed, the anti-pinch monitoring data window, and the current filtering time.
[0056] Optionally, in some embodiments, the preset anti-pinch force is:
[0057]
[0058] Where k is the elastic coefficient, x max The maximum compression is given by K, where J is the moment of inertia of the motor, and K is the maximum compression. t I is the motor torque coefficient. th The preset anti-pinch trigger current threshold is ω0, where ω0 is the motor speed and t is the motor speed. response This is the current filtering time.
[0059] Specifically, the initial kinetic energy of the motor is:
[0060]
[0061] Where J is the moment of inertia of the motor, which is a fixed value for the completed window lifting mechanism, and ω0 is the motor speed (when an impact is triggered).
[0062] (After the impact) the motor output energy is:
[0063] W motor =T·θ response =K t I th ·ω0t response ;
[0064] Where T is the motor output torque, θ response K represents the motor rotation angle (within the anti-pinch monitoring response time). t I is the motor torque coefficient. th To prevent pinch trigger current threshold, a simplified model is used, but the actual value should be the integral value within the detection response time. ω0 is the motor speed (when the impact is triggered). The simplified model ignores the actual reduction in motor speed within the detection response time.
[0065] The elastic potential energy is:
[0066]
[0067] Based on the above derivation, the maximum compression amount is obtained. Finally, the anti-pinch force is obtained based on the preset anti-pinch force formula.
[0068] It should be noted that when the initial kinetic energy of the motor is high, its anti-pinch force is also high; when the anti-pinch current detection threshold is set high, its anti-pinch force is also high; when the anti-pinch monitoring response time is set high, its anti-pinch force is also high. The length N of the anti-pinch monitoring data window is dynamically corrected by the motor speed. The correction relationship is established by building a physical model of the motor kinetic energy, the mechanical characteristics of the window lifting mechanism, the elastic coefficient of the anti-pinch force gauge, and the anti-pinch response time; the correction relationship is perfected through physical calibration, and different correction relationships are used for different positions and regions of the window lifting mechanism when necessary. After physical calibration, the final monitoring response time is divided into 3-5 values, selected by referring to a table based on the motor speed.
[0069] Optionally, in some embodiments, before collecting the motor speed when the window is raised, the method further includes: acquiring the cumulative duration before the acquisition; if the cumulative duration is greater than a preset duration, it is determined that the preset acquisition conditions are met.
[0070] The preset duration can be a threshold set by the user, a threshold obtained through a limited number of experiments, or a threshold obtained through a limited number of computer simulations; no specific limitation is made here.
[0071] Understandably, if the cumulative duration exceeds the preset duration (e.g., the stabilization time after the motor starts), the preset acquisition conditions are deemed met, ensuring that the motor has entered a stable operating state when data is acquired, thus avoiding misjudgments due to initial speed fluctuations. This mechanism further improves the reliability and accuracy of the anti-pinch force adaptive adjustment algorithm.
[0072] To facilitate further verification of the anti-pinch method for vehicle windows in this application, the following detailed description is provided in conjunction with the embodiments.
[0073] Specifically, anti-pinch algorithms based solely on current monitoring generally exhibit significant differences in measured anti-pinch force due to the frictional resistance of the window mechanism under high and low temperature conditions. The maximum anti-pinch force can even reach 40N at high and low temperatures. Specifically, at high temperatures, the rubber strip is soft, resulting in low frictional resistance, high motor speed, and a large anti-pinch force; at low temperatures, the rubber strip is hard, resulting in high frictional resistance, low motor speed, and a small anti-pinch force. To ensure the maximum anti-pinch force does not exceed the regulatory requirement of 100N, the anti-pinch force at high temperatures should generally not exceed 90N; therefore, the anti-pinch force at low temperatures can be as low as around 50N, leading to an increased probability of false pinching and insufficient system stability. Related technologies that use ambient temperature for correction require the input of an ambient temperature sensor, increasing the overall system cost and failing to cover deviations caused by differences in motor performance and aging. Based on the anti-pinch force formula, to achieve a stable final anti-pinch force, this invention calculates the current motor speed and dynamically corrects the response time of the anti-pinch monitoring, thereby achieving an adaptive correction of the anti-pinch force.
[0074] It should be noted that this correction amount is increased or decreased only slightly to prevent sudden changes in the anti-pinch force; this correction amount is set with upper and lower limits to prevent abnormal system learning that could lead to abnormal correction of the anti-pinch force.
[0075] Furthermore, to verify whether this application can stabilize the anti-pinch force based on motor speed and overcome the effects of mechanical aging and temperature, an anti-pinch force test was conducted, such as... Figure 2 As shown, Figure 2 This is a schematic diagram of an anti-pinch force testing device for a vehicle window anti-pinch method according to one embodiment of this application. In this embodiment, the vehicle window is raised until the force gauge strikes the upper edge of the window, generating reverse resistance on the window mechanism. This causes the motor load current to increase and the motor speed to decrease. After a current filtering detection window (time), the controller detects that the motor current exceeds the anti-pinch monitoring current threshold, triggering the anti-pinch judgment and shutting off the motor output. The window mechanism continues to rise a short distance due to inertia before finally stopping, and the force gauge outputs the final test result.
[0076] Furthermore, the entire anti-pinch force test process can be described using a simplified energy conservation model; that is, the elastic potential energy obtained by the force gauge should be approximately equal to the motor kinetic energy at the time of triggering the impact, and the sum of the energy input to the motor from the time of triggering the impact until the motor is turned off; the elastic potential energy obtained by the force gauge is ultimately reflected in the anti-pinch force data output by the force gauge. Therefore, the value of the window anti-pinch force is related not only to the motor output torque (i.e., motor current) at the time of triggering the anti-pinch, but also to the current kinetic energy of the window mechanism and the response time of the anti-pinch monitoring; for a window mechanism that has already been designed, the change in the current kinetic energy of the window mechanism is only related to the motor speed; the response time of the anti-pinch monitoring is related to the set anti-pinch monitoring current threshold and the current filtering window (time).
[0077] In summary, when the current speed of the window motor is high, the mechanism has high kinetic energy, and if the same anti-pinch current threshold and current filtering parameters are used, its anti-pinch force will be correspondingly high, and vice versa.
[0078] Therefore, when setting the anti-pinch force range for car windows, the anti-pinch force should not be too small to prevent false alarms that could cause the window to automatically lower due to accidental pinching; conversely, the anti-pinch force should not be too large to prevent injury or pain to the user. Based on these principles, while ensuring that the upper limit of the anti-pinch force does not injure the user, the fluctuation range of the anti-pinch trigger should be minimized through the anti-pinch force algorithm to reduce the probability of false alarms. Related anti-pinch force algorithms only monitor changes in motor current or speed (i.e., changes in motor load), ignoring the influence of the motor's current kinetic energy. This invention optimizes the stability of the anti-pinch force by adding an adaptive algorithm, ultimately improving the overall anti-pinch effect of the window and covering the overall tolerances or aging of the window lifting system.
[0079] According to the anti-pinch method for car windows proposed in this application, the embodiment collects the motor speed when the car window is raised, determines the target speed based on the motor speed, and matches the anti-pinch monitoring data window and current filtering time based on the target speed. Based on the preset anti-pinch force, anti-pinch control is performed according to the target speed, the anti-pinch monitoring data window, and the current filtering time. Therefore, by adding a car window adaptive learning algorithm, the current filtering window is corrected in real time based on the motor speed, and the anti-pinch monitoring response time is dynamically adjusted. This solves the problems in related technologies, such as mechanical structure aging leading to deviation between the actual anti-pinch force and the target, false anti-pinch, or no anti-pinch, thus improving the safety and reliability of the car window anti-pinch system.
[0080] Next, the anti-pinch device for car windows proposed according to the embodiments of this application is described with reference to the accompanying drawings.
[0081] Figure 3 This is a block diagram of a window anti-pinch device according to an embodiment of this application.
[0082] like Figure 3 As shown, the anti-pinch device 10 for car windows includes: a data acquisition module 100, a matching module 200, and a control module 300.
[0083] Among them, the acquisition module 100 is used to acquire the motor speed when the car window is raised;
[0084] Matching module 200 is used to determine the target speed based on the motor speed, and match the anti-pinch monitoring data window and current filtering time based on the target speed;
[0085] The control module 300 is used to perform anti-pinch control based on the preset anti-pinch force, the target rotation speed, the anti-pinch monitoring data window, and the current filtering time.
[0086] Optionally, the matching module 200 is specifically used to: determine whether the motor speed is within a preset speed range; if the motor speed is within the preset speed range, then the motor speed is used as the target speed, otherwise the preset speed is used as the target speed.
[0087] Optionally, before collecting the motor speed when the window is raised, the acquisition module 100 is also used to: obtain the cumulative duration before acquisition; if the cumulative duration is greater than the preset duration, it is determined that the preset acquisition conditions are met.
[0088] Optionally, the preset anti-pinch force is:
[0089]
[0090] Where k is the elastic coefficient, x max The maximum compression is given by K, where J is the moment of inertia of the motor, and K is the maximum compression. t I is the motor torque coefficient. th The preset anti-pinch trigger current threshold is ω0, where ω0 is the motor speed and t is the motor speed. response This is the current filtering time.
[0091] It should be noted that the foregoing explanation of the embodiment of the anti-pinch method for car windows also applies to the anti-pinch device for car windows in this embodiment, and will not be repeated here.
[0092] According to the anti-pinch device for car windows proposed in this application, the embodiment collects the motor speed when the car window is raised, determines the target speed based on the motor speed, and matches the anti-pinch monitoring data window and current filtering time based on the target speed. Based on the preset anti-pinch force, anti-pinch control is performed according to the target speed, the anti-pinch monitoring data window, and the current filtering time. Therefore, by adding a car window adaptive learning algorithm, the current filtering window is corrected in real time based on the motor speed, and the anti-pinch monitoring response time is dynamically adjusted. This solves the problems in related technologies, such as mechanical structure aging leading to deviation between the actual anti-pinch force and the target, false anti-pinch, or no anti-pinch, thus improving the safety and reliability of the car window anti-pinch system.
[0093] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:
[0094] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.
[0095] When the processor 402 executes the program, it implements the anti-pinch method for car windows provided in the above embodiments.
[0096] Furthermore, electronic devices also include:
[0097] Communication interface 403 is used for communication between memory 401 and processor 402.
[0098] The memory 401 is used to store computer programs that can run on the processor 402.
[0099] The memory 401 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.
[0100] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.
[0101] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.
[0102] Processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.
[0103] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described anti-pinch method for vehicle windows.
[0104] This application also provides a computer program product that stores a computer program, which, when executed by a processor, implements the above-described anti-pinch method for car windows.
[0105] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0106] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0107] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.
[0108] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0109] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
Claims
1. A method for preventing car windows from being pinched, characterized in that, Includes the following steps: Collect the motor speed when the car window is raised; The target speed is determined based on the motor speed, and the anti-pinch monitoring data window and current filtering time are matched based on the target speed. Based on the preset anti-pinch force, anti-pinch control is performed according to the target rotation speed, the anti-pinch monitoring data window, and the current filtering time.
2. The method according to claim 1, characterized in that, Determining the target speed based on the motor speed includes: Determine whether the motor speed is within a preset speed range; If the motor speed is within the preset speed range, then the motor speed is taken as the target speed; otherwise, the preset speed is taken as the target speed.
3. The method according to claim 1, characterized in that, Before collecting the motor speed when the car window is raised, the following steps are also included: Get the cumulative duration before data collection; If the accumulated duration is greater than the preset duration, then the preset collection conditions are met.
4. The method according to any one of claims 1-3, characterized in that, The preset anti-pinch force is: Where k is the elastic coefficient, x max The maximum compression is given by K, where J is the moment of inertia of the motor, and K is the maximum compression. t I is the motor torque coefficient. th The preset anti-pinch trigger current threshold is ω0, where ω0 is the motor speed and t is the motor speed. response This is the current filtering time.
5. A vehicle window anti-pinch device, characterized in that, include: The data acquisition module is used to collect the motor speed when the car window is raised; The matching module is used to determine the target speed based on the motor speed, and to match the anti-pinch monitoring data window and current filtering time based on the target speed; The control module is used to perform anti-pinch control based on a preset anti-pinch force, the target rotation speed, the anti-pinch monitoring data window, and the current filtering time.
6. The apparatus according to claim 5, characterized in that, The matching module is specifically used for: Determine whether the motor speed is within a preset speed range; If the motor speed is within the preset speed range, then the motor speed is taken as the target speed; otherwise, the preset speed is taken as the target speed.
7. The apparatus according to claim 5, characterized in that, Before collecting the motor speed when the car window is raised, the data acquisition module is further configured to: Get the cumulative duration before data collection; If the accumulated duration is greater than the preset duration, then the preset collection conditions are met.
8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the anti-pinch method for vehicle windows as described in any one of claims 1-4.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the anti-pinch method for car windows as described in any one of claims 1-4.
10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the anti-pinch method for car windows as described in any one of claims 1-4.