A pinch prevention control method and device, vehicle and equipment

Abstract

The application discloses a kind of anti-pinch control method, device, vehicle and equipment, it is related to vehicle control technical field, the method includes: the actual value of the motion parameter of drive motor in normal operating state of vehicle-mounted component is acquired, and according to the actual value of motion parameter, the operating characteristic of drive motor and the maximum clamping torque of preset maximum safety current value is determined drive motor;The drive motor is used to drive vehicle-mounted component to move, and the motion parameter includes rotational inertia, gravity and friction torque and damping coefficient;The real-time output current value of drive motor is acquired, in the case where determining real-time output current value is not lower than maximum safety current value, the current slope of drive motor is acquired, and whether to carry out anti-pinch protection is determined according to current slope.The application limits clamping force in safety range, and reduces the probability of anti-pinch false triggering, improves user experience.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, specifically to an anti-pinch control method, device, vehicle, and equipment. Background Technology

[0002] When in-vehicle components such as car lift screens are opened or closed, there is a risk of pinching people or trapping objects. Therefore, anti-pinch control of in-vehicle components is crucial.

[0003] Currently, there are two commonly used anti-pinch solutions for automotive components:

[0004] The first method involves adding sensors, such as pressure bars or infrared sensors, to help the vehicle control system determine whether anti-pinch protection needs to be triggered. However, this method requires additional sensors, which not only takes up more space but also increases hardware costs.

[0005] The second method uses the motor's current amplitude or current slope to assist the vehicle control system in determining whether to trigger anti-pinch protection. However, during actual driving, vehicles may experience severe bumps, causing the motor current to rise rapidly. If the motor current amplitude method is used, setting a small current threshold can easily lead to false alarms; while setting a large current threshold can result in excessive clamping force, increasing the risk of personal injury or damage to objects. If the motor current slope method is used, the threshold parameter of the slope is difficult to calibrate, and random current changes caused by vehicle bumps can also easily lead to false alarms.

[0006] Therefore, there is an urgent need for a new anti-pinch control scheme that can solve the above-mentioned defects. Summary of the Invention

[0007] In view of this, embodiments of the present invention provide an anti-pinch control method, device, vehicle, and equipment to solve the problem that existing anti-pinch control schemes require additional sensors or are prone to false alarms.

[0008] According to a first aspect, embodiments of the present invention provide an anti-pinch control method, the method comprising:

[0009] The actual values ​​of the motion parameters of the drive motor of the vehicle component under normal operating conditions are obtained, and the maximum safe current value of the drive motor is determined based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque; the drive motor is used to drive the vehicle component to move, and the motion parameters include moment of inertia, gravity, frictional torque, and damping coefficient.

[0010] Obtain the real-time output current value of the drive motor. If the real-time output current value is not lower than the maximum safe current value, obtain the current slope of the drive motor and determine whether to perform anti-pinch protection based on the current slope.

[0011] In conjunction with the first aspect, in the first embodiment of the first aspect, the step of obtaining the actual values ​​of the motion parameters of the drive motor under normal operating conditions of the vehicle-mounted component, and determining the maximum safe current value of the drive motor based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque, specifically includes:

[0012] Control the drive motor to drive the vehicle components at different speeds to determine the working status of the vehicle components;

[0013] Under the premise that the on-board components are in normal operating condition, determine the current feedback value corresponding to the rotational speed;

[0014] The output torque corresponding to the speed of motion is determined based on the operating characteristics of the drive motor and the speed of motion.

[0015] By comparing the output torque at different motion speeds, the actual values ​​of the motion parameters can be obtained.

[0016] The maximum safe torque of the drive motor is determined based on the actual values ​​of the operating parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque.

[0017] In conjunction with the first embodiment of the first aspect, in the second embodiment of the first aspect, the formulas for calculating the actual value of the damping coefficient and the actual values ​​of gravity and frictional torque are as follows:

[0018]

[0019]

[0020] in, Indicates the number of drive motors Rotational speed during uniform motion; Indicates the number of drive motors Rotational speed during uniform motion; Indicates the number of drive motors The output torque corresponding to the rotational speed during uniform motion; Indicates the number of drive motors The output torque corresponding to the rotational speed during uniform motion.

[0021] In conjunction with the second embodiment of the first aspect, in the third embodiment of the first aspect, the formula for calculating the actual value of the moment of inertia is:

[0022]

[0023]

[0024] in, Indicates the number of drive motors Rotational speed during acceleration; Indicates the number of drive motors Rotational speed during acceleration; Indicates the number of drive motors The output torque corresponding to the rotational speed during each acceleration motion; Indicates the number of drive motors The output torque corresponding to the rotational speed during each acceleration motion; This represents the actual value of the damping coefficient; This represents the actual values ​​of gravity and frictional torque.

[0025] In conjunction with the first embodiment of the first aspect, in the fourth embodiment of the first aspect, determining the maximum safe current value of the drive motor based on the actual values ​​of the operating parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque specifically includes:

[0026] Determine the preset maximum clamping torque; the maximum clamping torque is the sum of the clamping torque and the vibration torque;

[0027] Based on the operating characteristics of the drive motor, the real-time operating speed, real-time acceleration, actual values ​​of motion parameters, and maximum clamping torque of the vehicle components, determine the maximum safe torque of the vehicle components under real-time operating speed and real-time acceleration.

[0028] The maximum safe current value is determined based on the operating characteristics of the drive motor and the maximum safe torque.

[0029] In conjunction with the first aspect, in the fifth embodiment of the first aspect, the step of obtaining the real-time output current value of the drive motor, and, if it is determined that the real-time output current value is not lower than the maximum safe current value, obtaining the current slope of the drive motor, and determining whether to perform anti-pinch protection based on the current slope, specifically includes:

[0030] Obtain the current feedback value of the drive motor, filter the current feedback value, and obtain the real-time output current value;

[0031] Under the condition that the real-time output current value is not lower than the maximum safe current value, the time point at which the real-time output current value equals the maximum safe current value is determined.

[0032] The current slope of the drive motor within a preset time window is obtained. If the current slope does not meet the preset condition, anti-pinch protection is performed. The preset condition is that the total number of times the current slope is not equal to 0 within the preset time window exceeds a preset number. The preset time window is a continuous time period with a time node as the starting time and a preset duration.

[0033] In conjunction with the first aspect, in the sixth embodiment of the first aspect, before the steps of obtaining the actual values ​​of the motion parameters of the drive motor of the vehicle-mounted component under normal operating conditions, and determining the maximum safe current value of the drive motor based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque, the method further includes:

[0034] The location information of the vehicle-mounted component is obtained; the location information is used to determine whether the vehicle-mounted component is within the anti-pinch area, and, if it is determined that the vehicle-mounted component is within the anti-pinch area, the anti-pinch control is triggered.

[0035] According to a second aspect, embodiments of the present invention also provide an anti-pinch control device, the device comprising:

[0036] The parameter determination module is used to obtain the actual values ​​of the motion parameters of the drive motor of the vehicle component under normal operating conditions, and to determine the maximum safe current value of the drive motor based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque; the drive motor is used to drive the vehicle component to move, and the motion parameters include moment of inertia, gravity, frictional torque, and damping coefficient;

[0037] The anti-pinch control module is used to obtain the real-time output current value of the drive motor. If the real-time output current value is not lower than the maximum safe current value of the current preset operating speed, the module obtains the current slope of the drive motor and determines whether to perform anti-pinch protection based on the current slope.

[0038] According to a third aspect, embodiments of the present invention also provide a vehicle including the anti-pinch control device described in any of the preceding claims.

[0039] According to a fourth aspect, embodiments of the present invention also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of any of the above-described anti-pinch control methods.

[0040] The anti-pinch control method, device, vehicle, and equipment of the present invention overcomes the problem of deviation between theoretical and actual values ​​caused by temperature and accuracy changes by acquiring the actual values ​​of the motion parameters of the drive motor of the vehicle-mounted component under normal operating conditions, making the anti-pinch control more precise. Furthermore, based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque, the maximum safe current value of the drive motor is determined. This maximum safe current value is used as a limiting condition and feedback control of the drive motor, ensuring that the maximum clamping torque generated by the vehicle-mounted component remains constant during operation and that the clamping torque is within a safe range, preventing injury to people or damage to objects. Simultaneously, this method also... The system dynamically adjusts the maximum safe current value using a threshold. Finally, by acquiring the real-time output current value of the drive motor and ensuring that the real-time output current value is not lower than the maximum safe current value at the current preset operating speed, the system obtains the current slope of the drive motor and determines whether to perform anti-pinch protection based on the current slope. By introducing a secondary judgment mechanism based on the current slope, it can confirm whether the drive motor is in a stalled state before triggering anti-pinch protection, thereby effectively eliminating misjudgments caused by severe vehicle vibration or abnormal data sampling. This enhances the robustness of the vehicle control system, improves the user experience, eliminates the need for additional sensors, saves costs and space, and facilitates integration and application on existing vehicle platforms. Attached Figure Description

[0041] The features and advantages of the invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the invention in any way. In the drawings:

[0042] Figure 1 This diagram illustrates the current flow when an onboard component encounters an obstacle during its movement, as shown in the prior art.

[0043] Figure 2 This diagram illustrates the current under normal operating conditions of an onboard component in the prior art.

[0044] Figure 3 A schematic diagram of the current of an onboard component under severe vibration is shown in the prior art;

[0045] Figure 4 One of the flowcharts of the anti-pinch control method provided by the present invention is shown;

[0046] Figure 5 The second schematic diagram of the anti-pinch control method provided by the present invention is shown;

[0047] Figure 6 A schematic diagram of the anti-pinch control device provided by the present invention is shown;

[0048] Figure 7This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] When in-vehicle components such as car lift screens are opened or closed, there is a risk of pinching people or trapping objects. Therefore, anti-pinch control of in-vehicle components is crucial.

[0051] Currently, there are two commonly used anti-pinch solutions for automotive components:

[0052] The first method involves adding sensors, such as pressure bars or infrared sensors, to help the vehicle control system determine whether anti-pinch protection needs to be triggered. However, this method requires additional sensors, which not only takes up more space but also increases hardware costs.

[0053] The second method uses the motor's current amplitude or current slope to assist the vehicle control system in determining whether to trigger the anti-pinch protection. Please refer to [link / reference needed]. Figure 1 , Figure 1 The horizontal axis represents time (in seconds), and the vertical axis represents current (in amperes). When a vehicle-mounted component encounters an obstacle during its movement, both the current amplitude and current slope will increase significantly. Taking a vehicle-mounted lifting screen as an example, for more details:

[0054] Anti-pinch detection is based on motor current amplitude: During the normal lifting phase of the vehicle-mounted lifting screen, the motor current changes with the load. When the vehicle-mounted lifting screen starts and stalls, the motor current has a large peak value. The starting current is less than the stall current, and the starting time is much shorter than the stall time. When the vehicle-mounted lifting screen encounters an obstacle during the lifting process, the load increases, and the motor current will increase rapidly. Anti-pinch detection based on current amplitude involves setting a current threshold for the motor. When the current exceeds this threshold, the anti-pinch function is triggered.

[0055] Anti-pinch detection using motor current slope: Please refer to [link / reference]. Figure 2 and Figure 3 , Figure 2 and Figure 3The horizontal axis represents time (in seconds), and the vertical axis represents current (in amperes). This method uses the current slope of the motor as the basis for judgment. When the vehicle-mounted lifting screen moves to the bottom or top, the motor will stall. The current slope is the largest when the motor stalls. The current slope is the second largest when the vehicle-mounted lifting screen encounters an obstacle during the lifting process. The current slope is the smallest when the vehicle-mounted lifting screen is operating normally.

[0056] Assuming the vehicle-mounted lifting screen experiences motor stall when it reaches an endpoint (including the highest and lowest points during the lifting process), the current slope at which the motor stalls is... The slope of the current during normal motor operation is During the lifting and lowering process of the vehicle-mounted screen, the start time of time Δt is measured within a certain time interval Δt. The current is The end time of time interval Δt The current is Then the slope of the current during that time period Δt is:

[0057]

[0058] If satisfied If so, it is assumed that the vehicle-mounted lifting screen encountered an obstacle within the time period Δt.

[0059] However, during actual driving, vehicles may experience severe bumps, causing the motor current to rise rapidly. If the motor current amplitude is used for judgment, setting a small current threshold can easily lead to false alarms in the anti-pinch system; while setting a large current threshold can result in excessive clamping force, increasing the risk of personal injury or damage to objects. If the motor current slope is used for judgment, the threshold parameter of the slope is difficult to calibrate, and random current changes caused by vehicle bumps can also easily lead to false alarms.

[0060] In conclusion, there is an urgent need for a new anti-pinch control scheme that can solve the above-mentioned defects, thereby improving the anti-pinch control effect.

[0061] To address the aforementioned issues, this specification provides an anti-pinch control method designed to limit the clamping force within a safe range and reduce the probability of false alarms. This anti-pinch control method can be applied to electronic devices, including laptops, desktop computers, smartphones, smart wearable devices, and tablets. Furthermore, the anti-pinch control method can also be applied to applications running on these electronic devices. Figure 4 This is a flowchart illustrating the anti-pinch control method according to an embodiment of the present invention, as shown below. Figure 4 As shown, the method may include the following steps:

[0062] S101. Obtain the actual values ​​of the motion parameters of the drive motor of the vehicle-mounted component under normal operating conditions, and determine the maximum safe current value of the drive motor based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque. The drive motor is used to drive the vehicle-mounted component to move, and the motion parameters of the drive motor include moment of inertia, gravity, frictional torque, and damping coefficient.

[0063] In this embodiment, the vehicle-mounted components may be vehicle-mounted lifting screens, lifting windows, electric tailgates, electric seats, etc. Correspondingly, the drive motor is used to drive the above-mentioned vehicle-mounted components to perform linear motion in the horizontal or vertical direction, or to drive the above-mentioned vehicle-mounted components to rotate, or to drive the above-mentioned vehicle-mounted components to perform a composite motion combining linear motion and rotation.

[0064] In this embodiment, the drive motor is a permanent magnet brushless motor. Based on the various motion characteristics of the permanent magnet brushless motor, the drive motor has the following calculation formula when driving the vehicle components to move:

[0065]

[0066] in, This indicates the output torque of the drive motor; This parameter represents the number of pole pairs of the drive motor. It is determined based on the model of the drive motor and is a constant. This represents the flux linkage of the permanent magnet in the drive motor. This parameter is determined based on the model of the drive motor and is also a constant. This represents the current feedback value of the drive motor, specifically the quadrature-axis (Q-axis) current of the drive motor. This formula is for calculating motor torque, used to characterize and solve for the motor's output torque.

[0067]

[0068] in, This represents the equivalent total moment of inertia of the entire motion mechanism referred to the drive motor shaft; Indicates the rotational speed of the drive motor. It can be used to represent the acceleration of a drive motor when it propels vehicle components into motion; This represents the inertial torque of the drive motor, which is determined by both the moment of inertia and the rotational speed and acceleration. This represents the equivalent damping coefficient of the entire motion mechanism when referred to the drive motor; This represents the damping torque of the drive motor, which is determined by both the damping coefficient and the rotational speed. This represents the force of gravity and frictional torque on the drive motor; This indicates the clamping torque of the drive motor, and the torque applied to the object. This represents the vibration torque of the drive motor, which is caused by vehicle bumps. This formula is for calculating the motor's motion parameters, used to characterize and solve the various parameters of the motor mentioned above.

[0069] However, since the moment of inertia, damping, and friction of the drive motor all change with conditions such as temperature, structural precision, and installation errors, directly solving the parameters using the above formula is not feasible. , , The values ​​obtained are only theoretical values ​​for the above parameters; the actual values ​​of these parameters will deviate from the theoretical values ​​to some extent.

[0070] In order to better determine the actual values ​​of the above-mentioned parameters of the drive motor, in this embodiment, step S101 includes:

[0071] S1011. Control the drive motor to drive the vehicle components at different speeds to determine the working status of the vehicle components.

[0072] Motion speed It can be measured by the existing Hall sensors in the vehicle control system, so there is no need to deploy additional sensors at the hardware level.

[0073] S1012. Determine the rotational speed after confirming that the on-board components are in normal operating condition. Corresponding current feedback value Under normal operating conditions, there is neither clamping nor severe vibration, therefore the clamping torque can be ignored. and vibration torque These two items.

[0074] S1013, Based on the operating characteristics of the drive motor and the rotational speed Determine the rotational speed Corresponding output torque .

[0075] S1014. Compare different motion speeds. Output torque This yields the actual values ​​of the motion parameters, i.e., the current actual moment of inertia of the drive motor. Gravity and frictional torque and damping coefficient .

[0076] The formulas for calculating the actual values ​​of the damping coefficient, gravity, and friction torque are as follows:

[0077]

[0078]

[0079] in, Indicates the number of drive motors Rotational speed during uniform motion; Indicates the number of drive motors Rotational speed during uniform motion; Indicates the number of drive motors The output torque corresponding to the rotational speed during uniform motion; Indicates the number of drive motors The output torque corresponding to the rotational speed during uniform motion.

[0080] It should be noted that in the process of calculating the actual value of the damping coefficient and the actual values ​​of gravity and friction torque, the drive motor needs to be driven at a certain speed. To drive the on-board components to move at a constant speed. (like as well as Since all 0 values ​​are 0, this item can be ignored.

[0081] The formula for calculating the actual value of the moment of inertia is:

[0082]

[0083]

[0084] in, Indicates the number of drive motors Rotational speed during acceleration; Indicates the number of drive motors Rotational speed during acceleration; Indicates the number of drive motors The output torque corresponding to the rotational speed during each acceleration motion; Indicates the number of drive motors The output torque corresponding to the rotational speed during each acceleration motion; This represents the actual value of the damping coefficient; This represents the actual values ​​of gravity and frictional torque.

[0085] It should be noted that in the process of calculating the actual value of the moment of inertia, the drive motor needs to be driven at a certain speed. This drives the onboard components to accelerate, therefore (like as well as ( ) represents acceleration. The process of calculating the actual value of the moment of inertia requires first calculating the actual values ​​of the damping coefficient, gravity, and friction torque. In particular, it is also possible to use only the rotational speed of a single motion. Such as among them The actual value of the damping coefficient, along with the actual values ​​of gravity and friction torque, is used to calculate the actual value of the moment of inertia.

[0086] More specifically, step S1014 includes:

[0087] Obtain the rotational speeds of different motions in uniform motion. Corresponding output torque The difference between them ( Based on the difference and the two different rotational speeds, Determine the damping coefficient And gravity and frictional torque The actual value, and based on the damping coefficient Actual values, gravity and friction torque The actual value and the rotational speed of motion that maintains acceleration Determine the moment of inertia The actual value, that is, the damping coefficient. Actual values ​​ / gravity and friction torque After obtaining the actual value, combine it with the rotational speed. Determine the moment of inertia The actual value.

[0088] With different motion speeds This explanation uses the example of running the drive motor twice to obtain the rotational speed. Corresponding current feedback value And ensure that the drive motor operates at the specified speed. When driving the on-board components to move, the on-board components are in normal operating condition, avoiding abnormal operating conditions such as stalled components. Current feedback value The result is inaccurate. Assume the rotational speed of the first motion is... The rotational speed of the second motion is ,at this time:

[0089]

[0090]

[0091] Different motion speeds were obtained using Hall effect sensors. Current feedback value After that, it is possible to pass The output torque corresponding to the rotational speed is calculated, which is the above. as well as Compare again as well as The damping coefficient can be calculated by subtracting the two current feedback values. The actual value, and then the damping coefficient Substitute the actual value into or We can also obtain gravity and friction torque. The actual value.

[0092] By controlling the drive motor to move the on-board components at different speeds, and then comparing the corresponding speeds... Output torque It can utilize different rotational speeds Output torque The actual values ​​of the motion parameters are calculated, making the obtained motion parameters more closely reflect the actual situation. Furthermore, multiple motion speeds can be utilized. Output torque The calculated motion parameters are numerically verified to ensure that the calculated motion parameters are correct.

[0093] In this embodiment, at regular intervals or when the vehicle is in a special driving environment, steps S1011 to S1014 are used to re-determine the actual values ​​of each motion parameter, making the motion parameters more consistent with the actual situation. Users can also choose whether to use steps S1011 to S1014 to re-determine the actual values ​​of each motion parameter.

[0094] S1015. Determine the maximum safe current value of the drive motor based on the actual values ​​of the operating parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque.

[0095] More specifically, step S1015 includes:

[0096] S10151, Determine the preset maximum clamping torque The maximum clamping torque is the sum of the clamping torque and the vibration torque, i.e. .

[0097] In this embodiment, the maximum clamping torque The maximum torque that the vehicle control system can accept, the maximum clamping torque. It can be configured by the manufacturer or the user.

[0098] S10152. Based on the operating characteristics of the drive motor, the real-time operating speed, real-time acceleration, actual values ​​of motion parameters, and maximum clamping torque of the on-board components. To determine the maximum safe torque of the on-board components under real-time operating speed and real-time acceleration.

[0099] Real-time acceleration can reflect whether the real-time operating speed is uniform or accelerating. When the specific values ​​of real-time operating speed and real-time acceleration change, the specific value of the determined maximum safe torque also changes, thereby realizing dynamic threshold adjustment of the maximum safe current value.

[0100] The maximum safe torque is used to limit the output torque of the drive motor within a safe range to prevent injury to people or damage to objects.

[0101] After obtaining the moment of inertia Gravity and frictional torque and damping coefficient After obtaining the actual value, it can also be determined that... The specific value, and then the specific value is compared with the maximum clamping torque. The summation yields the maximum clamping torque corresponding to the preset operating speed. ,Right now, .

[0102] Of course, multiple preset operating speeds can be set for the vehicle-mounted components. These preset operating speeds can be categorized into constant speed and acceleration types. There is a mapping relationship between the preset operating speed and the rotational speed of the drive motor; each preset operating speed has a corresponding rotational speed. The preset operating speed of the vehicle-mounted component is obtained from the rotational speed output by the drive motor that drives it. Therefore, there is a mapping relationship between the preset operating speed and the drive motor's rotational speed. A corresponding database can be established to store the preset operating speed, the mapping relationship between the preset operating speed and the rotational speed. By querying the data stored in the database, the corresponding rotational speed can be quickly obtained. The maximum safe torque at the preset operating speed is also the maximum safe torque at which the drive motor drives the vehicle-mounted component to operate at the preset operating speed.

[0103] Similarly, after obtaining the moment of inertia Gravity and frictional torque and damping coefficient After obtaining the actual value, it can also be determined that... The specific value, and then the specific value is compared with the maximum clamping torque. The summation yields the maximum clamping torque corresponding to the preset operating speed. ,Right now, .in, Indicates the first Preset running speed Maximum safe torque, Indicates the relationship with the first Preset running speed The rotational speed that establishes the mapping relationship.

[0104] It should be noted that some vehicle components have multiple preset operating speeds, each of which represents a movement mode of the vehicle component, such as fast mode, standard mode, fine-tuning mode, etc.

[0105] S10153. Determine the maximum safe current value based on the operating characteristics of the drive motor and the maximum safe torque.

[0106] After obtaining Then, based on the motor torque calculation formula... This allows us to obtain the maximum safe current value, that is, .in, This indicates the maximum safe current value.

[0107] Using the maximum safe current value as a limit and using this as feedback to control the drive motor can ensure that the maximum clamping torque generated by the on-board component remains constant during operation, and can also ensure that the clamping torque is within a safe range to avoid injuring people or damaging objects. At the same time, it can also dynamically adjust the maximum safe current value based on the real-time operating speed and real-time acceleration.

[0108] When a preset operating speed is enabled, this step can also be: determining the maximum safe current value for each preset operating speed based on the operating characteristics of the drive motor and the maximum safe torque for each preset operating speed. The maximum safe current value for the preset operating speed is also the maximum safe current value at which the drive motor drives the on-board components to operate at the preset operating speed.

[0109] That is, after obtaining Then, based on the motor torque calculation formula... This allows us to obtain the maximum safe current value for each preset operating speed, that is, .in, Indicates the first Preset running speed The maximum safe current value.

[0110] Each preset operating speed of the on-board component corresponds to a maximum safe current value, thus different preset operating speeds have different maximum safe current values. Because different preset operating speeds have different maximum safe current values, the maximum safe current value can be adjusted by setting different preset operating speeds in this way.

[0111] S102. Obtain the real-time output current value of the drive motor. If the real-time output current value is not lower than the maximum safe current value, obtain the current slope of the drive motor and determine whether to perform anti-pinch protection based on the current slope.

[0112] After obtaining After that, as long as the output current of the drive motor, i.e. the current feedback value, is guaranteed... This achieves a clamping force lower than Similarly, after obtaining... After that, as long as the output current of the drive motor, i.e. the current feedback value, is guaranteed... This achieves a clamping force lower than .

[0113] Considering that the vehicle may be driven in a severely bumpy environment, and because the clamping torque cannot be directly distinguished during the operation of the on-board components... and vibration torque This could lead to issues such as severe driving vibrations or abnormal data sampling. In this case, triggering the anti-pinch protection solely by determining that the output current of the drive motor is not lower than the maximum safe current value may result in a false alarm. In this embodiment, the current slope of the drive motor is also obtained, and a second anti-pinch judgment is made based on the current slope to reduce the probability of false alarm.

[0114] In this embodiment, step S102 includes:

[0115] S1021. Obtain the current feedback value of the drive motor, filter the current feedback value, and obtain the real-time output current value.

[0116] By obtaining the current feedback value output by the controller of the drive motor and performing filtering processes such as sliding mean filtering on the current feedback value, the above-mentioned real-time output current value can be obtained.

[0117] S1022. If the real-time output current value is determined to be no lower than the maximum safe current value at the current preset operating speed, determine the time point at which the real-time output current value equals the maximum safe current value, i.e., record the initial time point. or The corresponding time node. Step S1022 is used to trigger the identification and judgment under the vibration state.

[0118] S1023. Obtain the current slope of the drive motor within the preset time window. If the current slope does not meet the preset conditions, anti-pinch protection is activated; conversely, if the current slope is determined to be... If the preset conditions are met, the system will identify that the vehicle may be driving in a severely bumpy environment, and accordingly, it will not perform anti-pinch protection.

[0119] The preset condition is: the total number of times the current slope is not equal to 0 within the preset time window exceeds a preset number, i.e. as well as The total number of times exceeded the preset number of times Theoretically, the drive motor will stall after the onboard components are clamped, at which point the current slope will... It should approach 0, within the preset time window, whenever the current slope of the drive motor... or At any given time, the corresponding number of records is recorded once. If the total number of records exceeds the preset number, the record will be updated accordingly. If the total number of recorded instances does not exceed a preset number, it indicates that the vehicle may be driving in a severely bumpy environment. If the motor fails to perform its anti-pinch protection function, it will drive the motor to perform corresponding actions, such as stopping operation or rotating in the opposite direction.

[0120] In this embodiment, the preset time window is a continuous time period starting from the aforementioned time node and lasting for a preset duration. Taking a preset duration of 100ms as an example, if the time node is... (Unit: seconds), the start time of the preset time window is also... The preset time window ends at [time]. .

[0121] By introducing a secondary judgment mechanism based on current slope, it is possible to confirm whether the drive motor is in a stalled state before triggering the anti-pinch protection, thereby effectively eliminating misjudgments caused by severe vehicle vibration or abnormal data sampling, enhancing the robustness of the vehicle control system and improving the user experience.

[0122] The anti-pinch control method of this invention overcomes the problem of deviation between theoretical and actual values ​​caused by temperature and accuracy changes by acquiring the actual values ​​of the motion parameters of the drive motor of the vehicle component under normal operating conditions, making the anti-pinch control more precise. Then, based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque, the maximum safe current value of the drive motor is determined. This maximum safe current value is used as a limiting condition and feedback control of the drive motor. This ensures that the maximum clamping torque generated by the vehicle component during operation remains constant and that the clamping torque is within a safe range, preventing injury to people or damage to objects. Furthermore, this method also allows for the control of the maximum safe current. The full current value is dynamically adjusted to a threshold. Finally, by obtaining the real-time output current value of the drive motor, and ensuring that the real-time output current value is not lower than the maximum safe current value of the current preset operating speed, the current slope of the drive motor is obtained. Based on the current slope, it is determined whether to perform anti-pinch protection. By introducing a secondary judgment mechanism based on the current slope, it is possible to confirm whether the drive motor is in a stalled state before triggering anti-pinch protection, thereby effectively eliminating misjudgments caused by severe vehicle bumps or abnormal data sampling. This enhances the robustness of the vehicle control system, improves the user experience, eliminates the need for additional sensors, saves costs and space, and facilitates integration and application on existing vehicle platforms.

[0123] The maximum safe current value of the drive motor is determined based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque.

[0124] Figure 5 Another flowchart of an embodiment of the present invention is shown, the method may further include:

[0125] S201. Obtain the location information of the vehicle-mounted component, wherein the location information is used to determine whether the vehicle-mounted component is within the anti-pinch area, and trigger anti-pinch control if it is determined that the vehicle-mounted component is within the anti-pinch area.

[0126] and Figure 4Compared to the illustrated embodiment, this embodiment first determines whether the vehicle-mounted component is within the anti-pinch zone before performing anti-pinch control. This is because when the drive motor moves to the endpoint (bottom or top), the vehicle-mounted component cannot continue to move due to physical limitations, causing the drive motor to stall. If the endpoint position is not correctly identified, it may lead to erroneous actions after subsequent steps S202 to S203, where the drive motor performs anti-pinch protection. Therefore, this embodiment utilizes sensor components already equipped in various vehicles to obtain the position information of the vehicle-mounted component. For example, a Hall sensor can be used to identify the total rotation angle of the drive motor, thereby determining whether the vehicle-mounted component is close to the preset distance of the endpoint. A Hall sensor is a magnetic sensor that can detect changes in the surrounding magnetic field. A magnetic ring is placed on the drive shaft of the drive motor, rotating with the drive shaft, and the Hall sensor is fixed near the magnetic ring. When the drive motor moves, the magnetic ring rotates, and the magnetic field strength changes. By reading the magnetic field data through the Hall sensor, the total rotation angle of the drive motor can be determined, thus obtaining the position information of the vehicle-mounted component.

[0127] When the vehicle-mounted component is within a preset distance from the endpoint, it is considered to have moved out of the anti-pinch zone. The preset distance is determined based on the safe blind spot allowed by the vehicle control system, such as setting the preset distance to 10mm. When the vehicle-mounted component is not within the preset distance from the endpoint, it is considered to be within the anti-pinch zone, and the anti-pinch control can be triggered accordingly.

[0128] S202. Obtain the actual values ​​of the motion parameters of the drive motor under normal operating conditions of the vehicle-mounted components, and determine the maximum safe current value of the drive motor based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque. For details, please refer to... Figure 4 As shown in step S101.

[0129] S203. Obtain the real-time output current value of the drive motor. If the real-time output current value is not lower than the maximum safe current value for the current preset operating speed, obtain the current slope of the drive motor and determine whether to perform anti-pinch protection based on the current slope. See details below. Figure 4 As shown in step S102.

[0130] The anti-pinch control device provided in the embodiments of the present invention is described below. The anti-pinch control device described below can be referred to in correspondence with the anti-pinch control method described above.

[0131] To address the aforementioned issues, this specification provides an anti-pinch control device designed to limit the clamping force within a safe range and reduce the probability of false alarms. Figure 6 This is a schematic diagram of the anti-pinch control device according to an embodiment of the present invention, as shown below. Figure 6 As shown, the device may include:

[0132] The parameter determination module 10 is used to acquire the actual values ​​of the motion parameters of the drive motor of the vehicle-mounted component under normal operating conditions, and to determine the maximum safe current value of the drive motor based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque. The drive motor is used to drive the vehicle-mounted component to move, and the motion parameters of the drive motor include moment of inertia, gravity, frictional torque, and damping coefficient.

[0133] In this embodiment, the vehicle-mounted components may be vehicle-mounted lifting screens, lifting windows, electric tailgates, electric seats, etc. Correspondingly, the drive motor is used to drive the above-mentioned vehicle-mounted components to perform linear motion in the horizontal or vertical direction, or to drive the above-mentioned vehicle-mounted components to rotate, or to drive the above-mentioned vehicle-mounted components to perform a composite motion combining linear motion and rotation.

[0134] The anti-pinch control module 20 is used to obtain the real-time output current value of the drive motor. When it is determined that the real-time output current value is not lower than the maximum safe current value of the current preset operating speed, the current slope of the drive motor is obtained, and the anti-pinch protection is determined based on the current slope.

[0135] Once the maximum safe current value is obtained, as long as the output current of the drive motor, i.e. the current feedback value, is less than the maximum safe current value, the clamping force is lower than the maximum safe torque.

[0136] Considering that vehicles may operate in severely bumpy driving environments, and that the clamping torque and vibration torque cannot be directly distinguished during the operation of on-board components, the vibration torque may equal the maximum clamping torque under severely bumpy driving environments or when data sampling is abnormal. In such cases, triggering anti-pinch protection solely by determining that the output current of the drive motor is not lower than the maximum safe current value may lead to false alarms. In this embodiment, the current slope of the drive motor is also obtained, and a secondary anti-pinch judgment is performed based on the current slope to reduce the probability of false alarms.

[0137] The anti-pinch control device of this invention overcomes the problem of deviation between theoretical and actual values ​​caused by temperature and accuracy changes by acquiring the actual values ​​of the motion parameters of the drive motor of the vehicle component under normal operating conditions, making the anti-pinch control more precise. Then, based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque, the maximum safe current value of the drive motor is determined. This maximum safe current value is used as a limiting condition and feedback control of the drive motor. This ensures that the maximum clamping torque generated by the vehicle component remains constant during operation and that the clamping torque is within a safe range, preventing injury to people or damage to objects. Furthermore, this method also allows for the control of the maximum clamping torque. The safety current value is dynamically adjusted to a threshold. Finally, by acquiring the real-time output current value of the drive motor, and ensuring that the real-time output current value is not lower than the maximum safe current value of the current preset operating speed, the current slope of the drive motor is obtained. Based on the current slope, it is determined whether to activate anti-pinch protection. By introducing a secondary judgment mechanism based on the current slope, it is possible to confirm whether the drive motor is in a stalled state before triggering anti-pinch protection, thereby effectively eliminating misjudgments caused by severe vehicle vibration or abnormal data sampling. This enhances the robustness of the vehicle control system, improves the user experience, eliminates the need for additional sensors, saves costs and space, and facilitates integration and application on existing vehicle platforms.

[0138] To address the aforementioned problems, this specification provides a vehicle that includes the aforementioned anti-pinch control device.

[0139] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730, and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 can call logical commands in the memory 730 to execute an anti-pinch control method, which includes:

[0140] The actual values ​​of the motion parameters of the drive motor of the vehicle component under normal operating conditions are obtained, and the maximum safe current value of the drive motor is determined based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque; the drive motor is used to drive the vehicle component to move, and the motion parameters include moment of inertia, gravity, frictional torque, and damping coefficient.

[0141] Obtain the real-time output current value of the drive motor. If the real-time output current value is not lower than the maximum safe current value, obtain the current slope of the drive motor and determine whether to perform anti-pinch protection based on the current slope.

[0142] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0143] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the anti-pinch control method provided by the above methods, the method comprising:

[0144] The actual values ​​of the motion parameters of the drive motor of the vehicle component under normal operating conditions are obtained, and the maximum safe current value of the drive motor is determined based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque; the drive motor is used to drive the vehicle component to move, and the motion parameters include moment of inertia, gravity, frictional torque, and damping coefficient.

[0145] Obtain the real-time output current value of the drive motor. If the real-time output current value is not lower than the maximum safe current value, obtain the current slope of the drive motor and determine whether to perform anti-pinch protection based on the current slope.

[0146] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the aforementioned methods for performing anti-pinch control, the method comprising:

[0147] The actual values ​​of the motion parameters of the drive motor of the vehicle component under normal operating conditions are obtained, and the maximum safe current value of the drive motor is determined based on the actual values ​​of the motion parameters, the operating characteristics of the drive motor, and the preset maximum clamping torque; the drive motor is used to drive the vehicle component to move, and the motion parameters include moment of inertia, gravity, frictional torque, and damping coefficient.

[0148] Obtain the real-time output current value of the drive motor. If the real-time output current value is not lower than the maximum safe current value, obtain the current slope of the drive motor and determine whether to perform anti-pinch protection based on the current slope.

[0149] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0150] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pinching prevention control method characterized by comprising: The method comprises: acquiring an actual value of a motion parameter of a driving motor of a vehicle-mounted component in a normal running state, and determining a maximum safe current value of the driving motor according to the actual value of the motion parameter, a running characteristic of the driving motor, and a preset maximum clamping torque; the driving motor is used to drive the vehicle-mounted component to move, and the motion parameter comprises a rotational inertia, a gravity and a friction torque, and a damping coefficient; acquiring a real-time output current value of the driving motor, and determining whether to perform anti-pinch protection according to a current slope of the driving motor in a case where it is determined that the real-time output current value is not lower than the maximum safe current value; The acquiring of the actual value of the motion parameter of the driving motor of the vehicle-mounted component in the normal running state, and the determining of the maximum safe current value of the driving motor according to the actual value of the motion parameter, the running characteristic of the driving motor, and the preset maximum clamping torque, specifically comprises: controlling the driving motor to drive the vehicle-mounted component to move at different motion speeds, and determining a working state of the vehicle-mounted component; determining a current feedback value corresponding to the motion speed in a case where it is determined that the vehicle-mounted component is in the normal running state; determining an output torque corresponding to the motion speed according to the running characteristic of the driving motor and the motion speed; comparing the output torques at different motion speeds to obtain the actual value of the motion parameter; determining the maximum safe torque of the driving motor according to the actual value of the running parameter, the running characteristic of the driving motor, and the preset maximum clamping torque; The determining of the maximum safe current value of the driving motor according to the actual value of the running parameter, the running characteristic of the driving motor, and the preset maximum clamping torque specifically comprises: determining the preset maximum clamping torque; the maximum clamping torque is a sum of a clamping torque and a vibration torque; determining the maximum safe torque of the vehicle-mounted component under the real-time running speed and the real-time acceleration according to the running characteristic of the driving motor, the real-time running speed of the vehicle-mounted component, the real-time acceleration, the actual value of the motion parameter, and the maximum clamping torque; determining the maximum safe current value according to the running characteristic of the driving motor and the maximum safe torque.

2. The anti-pinch control method of claim 1, wherein The calculation formulae of the actual values of the damping coefficient and the gravity and the friction torque are: in, Indicates the number of drive motors Rotational speed during uniform motion; Indicates the number of drive motors Rotational speed during uniform motion; Indicates the number of drive motors The output torque corresponding to the rotational speed during uniform motion; Indicates the number of drive motors The output torque corresponding to the rotational speed during uniform motion.

3. The anti-pinch control method of claim 2, wherein, The calculation formula of the actual value of the rotational inertia is: wherein represents the rotational speed of the motor during the first acceleration movement; represents the rotational speed of the motor during the first acceleration movement; represents the rotational speed of the motor during the first acceleration movement; represents the rotational speed of the motor during the first acceleration movement; represents the actual value of the damping coefficient; represents the actual value of the gravitational and friction torque.

4. The anti-pinch control method of claim 1, wherein The acquiring of the real-time output current value of the driving motor, and the determining of whether to perform the anti-pinch protection according to the current slope of the driving motor in a case where it is determined that the real-time output current value is not lower than the maximum safe current value, specifically comprises: acquiring a current feedback value of the driving motor, and performing filtering processing on the current feedback value to obtain the real-time output current value; determining a time node at which the real-time output current value is equal to the maximum safe current value in a case where it is determined that the real-time output current value is not lower than the maximum safe current value; acquiring a current slope of the driving motor in a preset time window, and performing the anti-pinch protection in a case where it is determined that the current slope does not satisfy a preset condition; the preset condition is that a total number of times that the current slope is not equal to 0 in the preset time window exceeds a preset number, and the preset time window is a continuous time period that takes the time node as a starting time point and lasts for a preset length of time.

5. The anti-pinch control method of claim 1, wherein, The method further comprises, before the step of acquiring an actual value of a motion parameter of a drive motor of a vehicle-mounted component in a normal operation state and determining a maximum safe current value of the drive motor according to the actual value of the motion parameter, an operation characteristic of the drive motor, and a preset maximum clamping torque: acquiring position information of the vehicle-mounted component; the position information is used to determine whether the vehicle-mounted component is in an anti-pinch area, and triggering anti-pinch control in a case where it is determined that the vehicle-mounted component is in the anti-pinch area.

6. An anti-pinch control device characterized by comprising: The device comprises: a parameter determination module, configured to acquire an actual value of a motion parameter of a drive motor of a vehicle-mounted component in a normal operation state and determine a maximum safe current value of the drive motor according to the actual value of the motion parameter, an operation characteristic of the drive motor, and a preset maximum clamping torque; the drive motor is used to drive the vehicle-mounted component to move, and the motion parameter comprises a moment of inertia, a gravity and a friction torque, and a damping coefficient; an anti-pinch control module, configured to acquire a real-time output current value of the drive motor, acquire a current slope of the drive motor in a case where it is determined that the real-time output current value is not lower than the maximum safe current value, and determine whether to perform anti-pinch protection according to the current slope; The parameter determination module specifically comprises: controlling the drive motor to drive the vehicle-mounted component to move at different motion speeds, and determining a working state of the vehicle-mounted component; acquiring a current feedback value corresponding to the motion speed in a case where it is determined that the vehicle-mounted component is in the normal operation state; determining an output torque corresponding to the motion speed according to the operation characteristic of the drive motor and the motion speed; comparing the output torques at different motion speeds to obtain the actual value of the motion parameter; determining a maximum safe torque of the drive motor according to the actual value of the operation parameter, the operation characteristic of the drive motor, and the preset maximum clamping torque; The determination of the maximum safe current value of the drive motor according to the actual value of the operation parameter, the operation characteristic of the drive motor, and the preset maximum clamping torque specifically comprises: determining the preset maximum clamping torque; the maximum clamping torque is a sum of a clamping torque and a vibration torque; determining a maximum safe torque of the vehicle-mounted component at a real-time running speed and a real-time acceleration according to the operation characteristic of the drive motor, the real-time running speed, the real-time acceleration, the actual value of the motion parameter, and the maximum clamping torque; determining the maximum safe current value according to the operation characteristic of the drive motor and the maximum safe torque.

7. A vehicle characterized by comprising: The anti-pinch control device comprises the anti-pinch control device according to claim 6.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the steps of the anti-pinch control method according to any one of claims 1 to 5 when executing the program.

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