Approaching type anti-pinch method and system for electric vehicle door

Abstract

The invention belongs to the field of automobile electric door anti-pinch control, and discloses an electric door proximity type anti-pinch method and system.The method comprises the steps that in the electric door closing process, an electric door controller detects whether an object proximity signal is received or not in real time; the proximity sensor controller judges whether an object approaches or not in real time according to a vehicle door position signal collected by the electric vehicle door controller and a capacitance value of the capacitive sensor, when it is judged that the object approaches, an object approaching signal is output to the electric vehicle door controller, the electric vehicle door controller stops the closing action of the vehicle door driving motor, and the vehicle door driving motor stops the closing action. According to the electric vehicle door anti-pinch control system, through cooperative work of the vehicle door controller and the proximity sensor controller, real-time monitoring and anti-pinch control over the closing process of the electric vehicle door are achieved in combination with the vehicle door position signal and the capacitance value change of the capacitive sensor, the false triggering probability is remarkably reduced, and the reliability of anti-pinch detection is improved.

Description

TECHNICAL FIELD

[0001] The patent belongs to the field of automobile electric door anti-pinch control, and particularly relates to an electric door anti-pinch method and system. BACKGROUND

[0002] With the progress of automobile electronic technology and the increasing demand of customers for operation comfort and convenience, automobile doors have generally adopted an electric opening and closing scheme, and through an anti-pinch control method, safety accidents in the process of electric door operation are prevented and mechanical structures are protected from being damaged.

[0003] In the existing electric door opening and closing control system, there are two categories of anti-pinch detection methods: 1. An electronic control unit (hereinafter referred to as ECU) of an electric door detects whether the electric door is pinched or hit by a person or an object through the speed of the electric door or the current of the motor; 2. A pressure type anti-pinch rubber strip is used to detect whether the electric door is pinched or hit by a person or an object. Both methods can trigger the anti-pinch control function only when the door is pinched or hit by an object, and there is still a risk of injury, pain, damage to objects and damage to the driving mechanical structure of the door.

[0004] In addition, the existing electric door opening and closing control system also has a non-contact door opening and closing control system, but the existing non-contact door opening and closing control system has the following problems: The technology detects the absolute value of the capacitance to determine the proximity of an object. When the air humidity changes due to factors such as rainy weather, or objects such as snow and dust are attached to the door, the capacitance detected by the capacitance sensor will change, increasing the probability of false triggering, and thus causing the door to fail to close normally or the non-contact anti-pinch to fail. If the threshold of the detection is increased to reduce the probability of false triggering, the detection sensitivity will be reduced.

[0005] Therefore, how to provide a non-contact anti-pinch detection method and system with a small probability of false triggering, high reliability and high detection sensitivity has become a problem to be solved. SUMMARY

[0006] The present application aims to solve the problem that the existing non-contact door opening and closing control system detects the absolute value of the capacitance to determine the proximity of an object, which causes the capacitance detected by the capacitance sensor to change when the air humidity changes due to factors such as rainy weather, or objects such as snow and dust are attached to the door, increasing the probability of false triggering, and thus causing the door to fail to close normally or the non-contact anti-pinch to fail.

[0007] To achieve the purpose of the present application, in a first aspect, the present application provides an electric door anti-pinch method, which comprises the following steps: In the process of closing the electric vehicle door, the electric vehicle door controller detects in real time whether an object approach signal is received from the proximity sensor controller; The proximity sensor controller judges in real time whether there is an object approach according to the door position signal collected by the electric vehicle door controller and the capacitance value of the capacitive sensor: When it is judged that there is an object approach, an object approach signal is output to the electric vehicle door controller; When the electric vehicle door controller detects the object approach signal, it controls the electric vehicle door to stop closing action and controls the door drive motor to reverse.

[0008] Further, the door control proximity sensor controller obtains the corresponding door opening degree through the door position signal, and judges in real time whether there is an object approach according to the door opening degree corresponding to the door position signal and the capacitance value of the capacitive sensor. By using the door position signal to obtain the corresponding door opening degree through the door control proximity sensor controller, the system can dynamically adjust the detection sensitivity and the anti-pinch threshold at different opening degrees, thereby avoiding misjudgment or omission caused by changes in door position, and improving the accuracy and reliability of anti-pinch identification. At the same time, this design can realize adaptive detection under different vehicle models and different opening degrees, enhancing the universality and robustness of the method.

[0009] Further, the judgment of the object approach includes: The proximity sensor controller records the capacitance value C-measured-v_n at different door opening degrees during the electric opening of the door, sets the anti-pinch threshold C-threshold_n based on the capacitance value at different door opening degrees and the margin value C-delta_n, and establishes an anti-pinch information table according to different door opening degrees and their corresponding anti-pinch thresholds; Query the anti-pinch information table to obtain the anti-pinch threshold, and when the real-time detected capacitance value C-measured is greater than the anti-pinch threshold C-threshold_n-new, it is determined that there is an object approach.

[0010] By recording the capacitance value at different door opening degrees during the electric opening of the door, and setting the anti-pinch threshold based on the capacitance value and the margin value, the structure characteristics of the door and the electric field distribution at different positions can be accurately modeled.

[0011] Further, the judgment of the object approach further includes: The proximity sensor controller detects the capacitance value C-measured-v_100-new of the current vehicle door at the full open position, compares it with the capacitance value C-measured-v_100 of the last vehicle door at the full open position, corrects the anti-pinch threshold according to the capacitance value difference C-difference, obtains the corrected anti-pinch threshold C-threshold_n-new, and establishes a corrected anti-pinch information table according to different vehicle door opening degrees and their corresponding corrected anti-pinch thresholds. The corrected anti-pinch threshold is obtained by querying the corrected anti-pinch information table, and when the real-time detected capacitance value C-measured is greater than the corrected anti-pinch threshold C-threshold_n-new, it is determined that there is an object approaching.

[0012] In combination with the capacitance correction before the electric vehicle door is closed, the capacitance deviation caused by environmental factors such as temperature, humidity, and vehicle body deformation can be effectively compensated.

[0013] This method ensures that the anti-pinch threshold always matches the actual state of the door, improving the stability and self-calibration ability of the anti-pinch determination, thereby significantly reducing the false trigger rate and missing rate and ensuring passenger safety.

[0014] Further, the margin value C-delta_n is dynamically adjusted according to environmental conditions. By dynamically adjusting the margin value C-delta_n according to environmental conditions, the system can automatically adjust the detection threshold in rainy, high humidity, or dusty environments, ensuring detection accuracy and stability in various complex working conditions.

[0015] This dynamic compensation mechanism can effectively suppress the influence of environmental interference on the output of the capacitive sensor, further improving the robustness and environmental adaptability of proximity detection, thereby improving the reliability of anti-pinch control.

[0016] Further, the capacitive sensor includes a transmitting electrode plate, a receiving electrode plate, and an electric field between them, the transmitting electrode plate is arranged on the door panel, and the receiving electrode plate is arranged between the B-pillar and the body panel.

[0017] By arranging the transmitting electrode plate of the capacitive sensor on the door panel and the receiving electrode plate between the B-pillar and the body panel, the sensor can form a stable electric field covering the door gap area, achieving high-sensitivity detection of approaching objects.

[0018] Further, the method further comprises: When the electric vehicle door is closed, the distance from the door position to the full closed position reaches within the preset invalid distance, the electric vehicle door controller stops controlling the door drive motor.

[0019] By setting a preset invalid distance before the door is closed to the full closed position, the drive motor is automatically stopped from moving when the door is close to the full closed position, which prevents over-closing or injury risk caused by inertia or control lag.

[0020] The control strategy effectively improves the response speed and accuracy of the anti-pinch protection, ensures anti-pinch safety, avoids mechanical impact on the motor and transmission mechanism caused by frequent start-stop, and prolongs the service life of the vehicle door system.

[0021] Further, the electric vehicle door includes an electric side door, an electric side sliding door, and an electric back door. By applying the anti-pinch control method to various types of electric vehicle doors such as electric side doors, electric side sliding doors, and electric back doors, the present application has wide applicability.

[0022] The universal design not only facilitates the application of the application in different vehicle models, but also enables platform management through unified control logic, reduces system development and maintenance costs, and improves the portability and economy of the anti-pinch technology.

[0023] In a second aspect, the application provides an electric vehicle door proximity anti-pinch system that implements the electric vehicle door proximity anti-pinch method described above, the system comprising: An electric vehicle door controller for detecting in real time whether an object proximity signal from a proximity sensor controller is received during the closing process of the electric vehicle door, and stopping the closing action of the door drive motor and controlling the door drive motor to reverse when the object proximity signal is detected; A proximity sensor controller for judging in real time whether an object is approaching based on the door position signal collected by the electric vehicle door controller and the capacitance value of the capacitive sensor: When it is determined that an object is approaching, an object proximity signal is output to the electric vehicle door controller; A door drive motor for stopping the motor closing action and controlling the motor to reverse according to the control signal of the electric vehicle door controller.

[0024] By integrating the electric vehicle door controller, the proximity sensor controller, and the door drive motor at the system level, a full closed-loop control from detection, judgment to execution is achieved.

[0025] The system structure is clear and signal interaction is efficient, which can immediately interrupt the motor action and perform reverse operation when an object approaches, thereby completing the anti-pinch response within milliseconds, greatly improving the sensitivity and safety of the door anti-pinch.

[0026] At the same time, the system design is compatible with the vehicle body control network (such as CAN bus), facilitating later expansion and intelligent upgrading, and providing reliable support for the man-machine safety interaction of the electric vehicle door.

[0027] The beneficial effects of the present application are as follows: The present application realizes real-time monitoring and intelligent anti-pinch control of the closing process of the electric door by the cooperation of the door controller and the proximity sensor controller arranged on the door panel, combined with the door position signal and the capacitance value change of the capacitive sensor, significantly reduces the probability of false triggering, and improves the reliability of non-contact anti-pinch detection.

[0028] By recording the capacitance value at different door positions and setting the corresponding anti-pinch threshold value, and detecting and comparing the capacitance value at the full open position before each electric closing, the anti-pinch threshold value is dynamically corrected according to the difference between the two capacitance values, thereby forming a proximity detection mechanism based on the dynamic changes of the door opening degree and the capacitance. This mechanism can automatically adjust the detection sensitivity according to environmental changes, realize early perception and rapid response to the risk of pinching objects.

[0029] When the proximity sensor detects that the capacitance value exceeds the corrected anti-pinch threshold value, an object proximity signal is immediately output to the door controller to control the drive motor to stop closing and open in reverse, thereby achieving active protection against pinching objects. At the same time, an anti-pinch detection invalid area is set near the full closed position of the door, which can effectively avoid false triggering caused by structural interference or small spacing. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 Flow chart of the electric door proximity anti-pinch method of the present application; Figure 2 Schematic diagram of the arrangement of the capacitive proximity sensor in the full open state of the electric door in the electric door proximity anti-pinch method of the present application; Figure 3 Schematic diagram of the arrangement of the capacitive proximity sensor in the full closed state of the electric door in the electric door proximity anti-pinch method of the present application; Figure 4 Schematic diagram of the arrangement of the capacitive proximity sensor in the electric door proximity anti-pinch method of the present application; Figure 5 Schematic diagram of the principle of the capacitive proximity sensor; Figure 6 Schematic diagram of the electric door opening capacitance threshold learning in the electric door proximity anti-pinch method of the present application; Figure 7 Schematic diagram of object proximity detection during the electric door closing process in the electric door proximity anti-pinch method of the present application; Figure 8 Timing chart of triggering the anti-pinch function during the electric door opening process in the electric door proximity anti-pinch method of the present application; Figure 9 Timing chart of triggering the anti-pinch function during the electric door closing process in the electric door proximity anti-pinch method of the present application. DETAILED DESCRIPTION

[0031] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only for explanation of the present application, and should not be construed as limiting the present application.

[0032] In the description of the present application, unless otherwise specified and limited, it is necessary to explain that the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be mechanical connection or electrical connection, it can be the internal communication of two elements, it can be direct connection or indirect connection through intermediate medium, and the specific meaning of the above terms can be understood by those skilled in the art according to the specific circumstances.

[0033] The execution subject of the electric vehicle door proximity type anti-pinch method and system provided by the present application includes but is not limited to at least one of the electronic devices capable of being configured to execute the method provided by the embodiments of the present application, such as a server, a terminal, a computer, etc. In other words, the electric vehicle door proximity type anti-pinch method and system can be executed by software or hardware installed in a terminal device or a server device. The server includes but is not limited to a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be a stand-alone server, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content distribution networks (CDN), and basic cloud computing services such as big data and artificial intelligence platforms.

[0034] Referring to the drawings Figure 1 In one embodiment, the present application provides an electric vehicle door proximity type anti-pinch method, which comprises the following steps: During the closing process of the electric vehicle door, the electric vehicle door controller 1 detects in real time whether the object proximity signal of the proximity sensor controller 2 arranged on the door panel is received; The proximity sensor controller 2 judges whether there is an object approaching according to the door position signal collected by the electric vehicle door controller 1 and the capacitance value of the capacitive sensor 8: When it is judged that there is no object approaching, the next judgment process is entered.

[0035] If the electric vehicle door does not reach the full closed position 11 at this time, the next judgment process is entered, and the electric vehicle door controller 1 detects in real time whether the object proximity signal of the proximity sensor controller 2 arranged on the door panel is received.

[0036] If the electric door has reached the full closed position 11 at this time, the next judgment flow is entered, and the electric door controller 1 stops detecting whether the object approach signal of the proximity sensor controller 2 arranged on the door panel is received.

[0037] When it is judged that there is an object approach, an object approach signal is output to the electric door controller 1; When the electric door controller 1 detects the object approach signal, the closing action of the door drive motor is stopped, and the door drive motor is controlled to reverse to realize the reverse opening of the door, so as to prevent the object from being clamped.

[0038] The door is reversely opened, and the electric door controller 1 stops detecting whether the object approach signal of the proximity sensor controller 2 arranged on the door panel is received.

[0039] In the process of closing the electric door, when the proximity sensor at the corresponding position detects that there is an object approach, the electric door ECU controls the door drive motor to stop the closing action and performs electric reverse. The timing diagram is shown in FIGS. 8 and 9. Figure 8 and Figure 9 .

[0040] Referring to Figure 2 , Figure 3 and Figure 4 , in some embodiments, the capacitive sensor 8 includes an emitter plate, a receiver plate, and an electric field therebetween. The emitter plate is arranged on the door panel, and the receiver plate is arranged on the B-pillar or the body panel. Specifically, the proximity sensor controller 2 is arranged on the door panel. The emitter plate 5 of the capacitive sensor 8 is arranged on the door edge panel 9 of the door 12. The B-pillar 13 and the body panel serve as the receiver plate 6 of the capacitive sensor 8, and an electric field 7 is generated between the emitter plate 5 and the receiver plate 6. As the door moves, the distance d between the emitter plate 5 and the receiver plate 6 of the capacitive sensor 8 changes, and the C capacitance value of the capacitive sensor 8 also changes.

[0041] Referring to Figure 5 , the capacitive calculation formula is as follows: C=ε×S / d Wherein, C is the capacitance value, ε is the dielectric constant, S is the effective plate area, and d is the plate distance.

[0042] In some embodiments, the door control proximity sensor controller obtains the corresponding door opening degree through the door position signal, and judges in real time whether there is an object approach according to the door opening degree corresponding to the door position signal and the capacitance value of the capacitive sensor. When the door is in the full closed position 11, the door opening degree is 0%, and when the door is in the full open position 10, the door opening degree is 100%.

[0043] The judgment of the object approach includes: Referring to Figure 6 and Figure 7 In one embodiment, the proximity sensor controller 2 records the capacitance value C-measured-v_n at different door opening degrees during the electrically opening process of the vehicle door, and sets the anti-pinch threshold C-threshold_n based on the capacitance value and the margin value C-delta_n at different door opening degrees; in some embodiments, the anti-pinch threshold C-threshold_n is obtained by adding the capacitance value at different door opening degrees to the margin value C-delta_n, and the anti-pinch information table is established according to different door opening degrees and their corresponding anti-pinch thresholds. The anti-pinch information table is queried to obtain the anti-pinch threshold, and when the real-time detected capacitance value C-measured is greater than the anti-pinch threshold C-threshold_n-new, it is determined that there is an object approaching.

[0044] In another embodiment, before the electrically closing of the vehicle door, the proximity sensor controller 2 detects the capacitance value C-measured-v_100-new of the vehicle door at the full opening position 10, compares it with the capacitance value C-measured-v_100 of the vehicle door at the full opening position in the last time, corrects the anti-pinch threshold according to the difference C-difference between the two capacitance values, and obtains the corrected anti-pinch threshold C-threshold_n-new; the corrected anti-pinch information table is established according to different door opening degrees and their corresponding corrected anti-pinch thresholds; when the electrically closing of the vehicle door is first performed, the default difference C-difference between the capacitance values is 0.

[0045] The corrected anti-pinch information table is queried to obtain the corrected anti-pinch threshold, and when the real-time detected capacitance value C-measured is greater than the corrected anti-pinch threshold C-threshold_n-new, it is determined that there is an object approaching.

[0046] Specifically, when the electrically opening of the vehicle door is performed, the proximity sensor controller 2 receives the door position signal sent by the electrically opening controller 1 of the vehicle door, records the capacitance value at the corresponding position, and sets the corresponding anti-pinch threshold C-threshold_n.

[0047] When the electrically opening of the vehicle door is performed, the proximity sensor controller 2 real-time detects the capacitance value C-measurd-v_n at each position and records it. At the same time, a margin value C-delta_n is added to the recorded capacitance value to obtain the anti-pinch threshold C-threshold_n for the object approaching detection of this electrically opening action. The margin value C-delta_n can be recalibrated or adjusted in different projects or different environments. In some embodiments, the margin value C-delta_n is dynamically adjusted according to environmental conditions.

[0048] Specifically, at the first start or periodic calibration of the electric vehicle door, the system will measure a series of baseline capacitance values at various opening degrees and multiple times in an undisturbed state, and determine the typical variation range of capacitance measurement in the current environment (temperature, humidity, electromagnetic interference, etc.) by calculating the mean, standard deviation, maximum and minimum fluctuations of these baseline values. Based on these statistical results, an initial margin range is set: for example, C-delta_n can be set large enough to cover several times the standard deviation to prevent noise jitter from crossing the threshold.

[0049] During the closing period of the electric vehicle door, the capacitance value is continuously measured, and a sliding window or exponentially weighted average is performed on these measurement values to obtain the mean, standard deviation, or range of capacitance values in the recent period.

[0050] If the recent statistics find that the capacitance fluctuation (such as standard deviation) becomes larger, C-delta_n can be appropriately expanded to retain sufficient margin. If the environment is stable and the measurement fluctuation is small, C-delta_n can be reduced to improve system sensitivity.

[0051] That is, C-threshold_n = C-measurd-v_n + C-delta_n The n in the above parameters refers to the parameter corresponding to the position of the opening degree n%. For example, C-measurd-v_n represents the capacitance value detected at the position of opening degree n%.

[0052] The proximity sensor controller 2 again detects the capacitance value C-measurd-v_100-new at the full opening position 10 opening degree 100% before the electric vehicle door is closed. If this value is close to the capacitance value C-measurd-v_100 recorded when the door was last opened, and in some embodiments the difference between the two values does not exceed 1% of C-measurd-v_100-new, the proximity sensor controller 2 detects whether there is an object approaching during the electric door closing according to the threshold set when the door was last opened.

[0053] If the capacitance value of the full open position 10 opening 100% detected before the electric closing is greatly different from the last recorded capacitance value, the difference is C-difference, when the proportion of the difference in C-measurd-v_100-new is more than 1%, the threshold C-threshold_n set last time the door is opened is increased or decreased by this difference C-difference, to get a new threshold C-threshold_n-new, when the capacitance value C-measurd-v-100-new of this time full open position is greater than the last recorded value C-measurd-v-100, the threshold is increased by the difference C-difference; when the capacitance value is less than the last recorded value, the threshold is decreased by the difference C-difference. Dynamically adapt to the baseline drift of the capacitance value caused by the change of environmental conditions or the state of the door, ensure the accuracy of the anti-pinch detection, avoid misjudgment or missed detection, improve the safety and reliability of the electric vehicle door.

[0054] The proximity sensor controller 2 judges whether there is an object approaching during the electric closing process according to the relationship between the real-time detected capacitance value and the new threshold C-threshold_n-new. When C-measurd-v_100-new > C-measurd-v_100, C-threshold_n-new = C-threshold_n + C-difference; when C-measurd-v_100-new < C-measurd-v_100, C-threshold_n-new = C-threshold_n - C-difference.

[0055] In summary, during the closing process of the electric vehicle door, if there is an object approaching the edge of the door, the dielectric constant ε of the capacitive sensor 8 will change, and the capacitance value C detected by the proximity sensor controller 2 will also change. The proximity sensor controller 2 compares the detected capacitance value C-measured with the threshold C-threshold_n corresponding to the current door position. If C-measured > C-threshold_n, as shown in Figure 6 , it is determined that there is an object approaching, and the proximity sensor controller 2 sends an object approaching signal to the controller 1.

[0056] In some embodiments, when the electric vehicle door is closing, the distance of the door position to the full closed position 11 reaches within the preset invalid distance, the electric vehicle door controller 1 stops controlling the door drive motor.

[0057] The electric vehicle door includes an electric side opening door, an electric side sliding door, and an electric rear back door.

[0058] In order to prevent false judgments of anti-pinch, a proximity anti-pinch detection function invalid area is set when the door is closed to the vicinity of full closed and the distance to the vehicle body is close. In the proximity anti-pinch detection function invalid area, the electric door ECU controls the anti-pinch detection by the proximity sensor to be invalid. The proximity anti-pinch detection function invalid area of the electric door closing action (from the full open position 10 to the full closed position 11) is a small distance (for example, 100 mm) from the full closed position 11 to the full closed position 11.

[0059] The proximity anti-pinch detection function invalid area of the electric door opening action (from the full closed position 11 to the full open position 10) of the side sliding door: from the full closed position 11 to a small distance (for example, 200 mm) from the full closed position 11 of the sliding door / back door.

[0060] The proximity anti-pinch detection function invalid area of the electric door closing action is applicable to the side opening door, side sliding door (also known as sliding door), and back door (also known as tail door) of the vehicle.

[0061] The proximity anti-pinch detection function invalid area of the electric door opening action is applicable to the side sliding door (also known as sliding door) of the vehicle.

[0062] When the electric door is powered on or first operated, the electric door controller 1 performs an initialization detection on the door state. The proximity sensor controller 2 is activated, which is integrated in the door panel and communicates with the electric door ECU through the CAN bus or LIN bus. The emitter plate of the capacitive sensor 8 is arranged on the door edge panel, and the receiver plate is arranged on the B-pillar or vehicle body panel, forming an electric field therebetween. As the door moves, the distance d between the plates changes, causing a dynamic change in the capacitance value C. Real-time detection of the capacitance value provides basic data for subsequent anti-pinch judgment.

[0063] During the electric opening of the door, the proximity sensor controller 2 collects the capacitance value C-measured-v_n in real time at different door opening positions (0%~100%), and records these capacitance values as standard reference data. At the same time, a certain margin C-delta_n is added to the capacitance value at each opening position to set the anti-pinch threshold C-threshold_n. This margin can be dynamically adjusted according to different vehicle models or use environments to adapt to changes in temperature, humidity, and air dielectric constant, improving the adaptability and reliability of the system.

[0064] Before the next electric door closing, the proximity sensor controller 2 detects the capacitance value C-measured-v_100-new at the current fully open position 10 (i.e., 100% opening) and compares it with the recorded value C-measured-v_100 from the previous opening. When the difference is within 1%, the system considers the environmental change negligible and continues to use the original anti-pinch threshold. When the difference exceeds 1%, the system corrects the threshold based on the difference C-difference between the two capacitance values, obtaining a new anti-pinch threshold C-threshold_n-new to eliminate the impact of environmental differences on detection accuracy.

[0065] During the movement of the door from fully open to fully closed, the proximity sensor continuously monitors the capacitance value C-measured. When the detected value exceeds the correction threshold C-threshold_n-new for the corresponding opening position, the proximity sensor controller 2 immediately determines that an object is approaching and sends an anti-pinch signal to the electric door controller 1. Simultaneously, the system establishes an invalid anti-pinch detection zone (e.g., within 100mm of the fully closed position) before the fully closed position 11 to avoid false triggering due to extremely small gaps or structural interference, thus balancing safety and system stability.

[0066] Traditional anti-pinch technologies primarily rely on mechanical limit switches or current feedback, requiring a response only after an object is pinched. This solution, however, achieves "proximity-based response" through pre-detection of capacitance field changes, triggering the protective action before the object even touches the door, significantly improving safety and system response speed. Furthermore, by recalibrating the capacitance value and dynamically correcting the threshold with each door opening action, this solution automatically eliminates errors caused by environmental factors (such as temperature, humidity, vehicle body static electricity, and panel deformation), achieving long-term stable operation. Compared to fixed threshold systems, this solution is less prone to misjudgments or missed detections due to seasonal changes or capacitance drift.

[0067] Furthermore, the capacitive sensor 8 only requires an emitting electrode and a receiving electrode, eliminating the need for additional optical components or complex motor torque detection modules, resulting in a compact structure and easy installation. Compared to infrared optical or force feedback detection systems, this invention effectively reduces production costs and is unaffected by surface contamination such as stains and dust.

[0068] By recording historical capacitance change curves from multiple door openings, the system can self-learn and optimize the anti-pinch threshold, making subsequent detection more accurate. Simultaneously, the reverse control logic is safely isolated from the door control system, ensuring that the anti-pinch action does not affect the overall stability of the door system.

[0069] In one embodiment, the present invention provides an electric vehicle door proximity-type anti-pinch system, which performs the above-described electric vehicle door proximity-type anti-pinch method. The system includes: The electric vehicle door controller 1 is used to detect in real time whether it receives an object approach signal from the proximity sensor controller 2 during the closing process of the electric vehicle door. When the object approach signal is detected, the electric vehicle door controller 1 stops the closing action of the door drive motor and controls the door drive motor to reverse. The proximity sensor controller 2 determines whether an object is approaching based on the door position signal collected by the electric vehicle door controller 1 and the capacitance value of the capacitive sensor 8. When it is determined that no object is approaching, proceed to the next judgment process; When an object is detected approaching, an object approaching signal is output to the electric vehicle door controller 1. The door drive motor 3 is used to stop the motor closing action according to the control signal of the electric door controller 1, and to control the motor to reverse.

[0070] The capacitive sensor 8 includes an emitting electrode 5, a receiving electrode 6, and an electric field 7, with the electric field 7 located between 5 and 6.

[0071] The emitting electrode 5 is arranged on the sheet metal 9 along the edge of the door. The B-pillar 13 of the vehicle body and the sheet metal of the vehicle body serve as the receiving electrode 6 of the capacitive sensor 8, generating an electric field 7 between them and the emitting electrode 5.

[0072] Taking electric sliding doors as an example, this paper introduces the composition of an electric door proximity anti-pinch system.

[0073] The electric door drive system 4 is located on the sheet metal at the rear of the vehicle body.

[0074] The electric door drive system 4 consists of a door drive motor 3, an electric door controller 1, and other drive components.

[0075] The electric door drive system 4 can enable the door 12 to perform electric opening, closing, and stopping actions between the fully closed position 11 and the fully open position 10 through the action of the door drive motor 3.

[0076] The proximity sensor controller 2 is mounted on the door sheet metal. The emitter plate 5 of the capacitive sensor 8 is mounted on the door edge sheet metal 9.

[0077] The proximity sensor controller 2 can read sensor signals to determine whether an object is approaching the sensor.

[0078] The electric vehicle door controller 1 communicates with the proximity sensor controller 2 via electrical signals.

[0079] When controller 2 detects an object approaching the sensor, it sends a signal to electric door controller 1 indicating that an object is approaching. Controller 2 receives the door position signal from electric door controller 1. Additionally, electric door controller 1 and controller 2 also exchange other information via electrical signals.

[0080] In the description of this specification, the references to terms such as "an embodiment," "some embodiments," "example," "specific example," "a implementation," "a preferred implementation," 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 the present invention. 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.

[0081] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for preventing pinching of electric vehicle doors by proximity, characterized in that, The method includes the following steps: During the closing process of the electric vehicle door, the electric vehicle door controller detects in real time whether it receives an object approach signal from the proximity sensor controller; The proximity sensor controller determines in real time whether an object is approaching based on the door position signal collected by the electric vehicle door controller and the capacitance value of the capacitive sensor. When an object is detected approaching, an object approaching signal is output to the electric door controller. When the electric door controller detects an approaching object signal, it controls the electric door to stop closing and controls the door drive motor to reverse.

2. The electric vehicle door proximity-type anti-pinch control method according to claim 1, characterized in that, The door control proximity sensor controller obtains the corresponding door opening degree through the door position signal, and determines in real time whether an object is approaching based on the door opening degree corresponding to the door position signal and the capacitance value of the capacitive sensor.

3. The electric vehicle door proximity-type anti-pinch control method according to claim 2, characterized in that, The determination that an object is approaching includes: The proximity sensor controller records the capacitance value C-measured-v_n under different door opening degrees during the electric opening of the car door, sets the anti-pinch threshold C-threshold_n based on the capacitance value and margin value C-delta_n under different door opening degrees, and establishes an anti-pinch information table according to different door opening degrees and their corresponding anti-pinch thresholds. Query the anti-pinch information table to obtain the anti-pinch threshold. When the real-time detection capacitance value C-measured is greater than the anti-pinch threshold C-threshold_n-new, it is determined that an object is approaching.

4. The electric vehicle door proximity-type anti-pinch control method according to claim 3, characterized in that, The determination that an object is approaching also includes: Before the electric door closes, the proximity sensor controller detects the capacitance value C-measured-v_100-new when the door is in the fully open position, compares it with the capacitance value C-measured-v_100 when the door is in the fully open position, and corrects the anti-pinch threshold based on the difference C-difference between the two capacitance values ​​to obtain the corrected anti-pinch threshold C-threshold_n-new. A corrected anti-pinch information table is established based on different door opening degrees and their corresponding corrected anti-pinch thresholds. Query the corrected anti-pinch information table to obtain the corrected anti-pinch threshold. When the real-time detection capacitance value C-measured is greater than the corrected anti-pinch threshold C-threshold_n-new, it is determined that an object is approaching.

5. The electric vehicle door proximity-type anti-pinch control method according to claim 3, characterized in that, The margin value C-delta_n is dynamically adjusted according to environmental conditions.

6. The electric vehicle door proximity-type anti-pinch control method according to claim 1, characterized in that: The capacitive sensor includes a transmitting electrode, a receiving electrode, and an electric field between them. The transmitting electrode is installed on the door sheet metal, and the receiving electrode is installed on the B-pillar of the vehicle body or the body sheet metal.

7. The electric vehicle door proximity-type anti-pinch control method according to claim 1, characterized in that, The method further includes: When the electric door is closed, if the distance from the door position to the fully closed position is within a preset invalid distance, the electric door controller will stop controlling the door drive motor.

8. The electric vehicle door proximity-type anti-pinch control method according to claim 1, characterized in that, The electric vehicle doors include electric side-opening doors, electric side-sliding doors, and electric rear doors.

9. An electric vehicle door proximity-type anti-pinch system, implementing the electric vehicle door proximity-type anti-pinch method according to any one of claims 1-8, characterized in that, The system includes: An electric vehicle door controller is used to detect in real time whether an object approach signal is received from a proximity sensor controller during the closing process of the electric vehicle door. When an object approach signal is detected, the electric vehicle door controller stops the closing action of the door drive motor and controls the door drive motor to reverse. The proximity sensor controller uses the door position signal collected by the electric door controller and the capacitance value of the capacitive sensor to determine in real time whether an object is approaching. When an object is detected approaching, an object approaching signal is output to the electric door controller. The door drive motor is used to stop the motor closing action and control the motor to reverse according to the control signal of the electric door controller.

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