Vehicle equipment control method and device, vehicle equipment and computer program product

Abstract

The invention provides a vehicle equipment control method and device, vehicle equipment and a computer program product. The vehicle equipment control method comprises the steps that under the condition that a control motor of vehicle equipment drives an executing mechanism of the vehicle equipment to be closed, state parameters of the control motor are obtained; performing deviation calculation based on the state parameters to obtain a state evaluation index of the control motor; determining a control strategy corresponding to the execution mechanism based on the state evaluation index; the control strategy at least comprises one or more of the following items: increasing the anti-pinch threshold value of the execution mechanism, reducing the movement speed of the execution mechanism and stopping the movement of the execution mechanism; and controlling the execution mechanism based on the control strategy corresponding to the execution mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle device control method and device, vehicle device and computer program product. BACKGROUND

[0002] The anti-pinch function of the vehicle device is a standard configuration of the vehicle device, and its main function is to make the vehicle window and / or tailgate of the vehicle device retreat when it is pinched by an obstacle during the closing process of the vehicle window and / or tailgate, so as to prevent the control motor of the vehicle window and / or tailgate from being damaged and avoid pinching accidents. However, in some special cases, such as road bumps, aging of the rubber strip of the vehicle window and / or tailgate, etc., the vehicle window and / or tailgate may trigger the anti-pinch function without being pinched by an obstacle, resulting in false anti-pinch phenomenon.

[0003] In the related art, only the anti-pinch threshold is usually adjusted to avoid false anti-pinch phenomenon, and it is impossible to realize corresponding control according to different states of the control motor, resulting in inflexible control strategy and limited adaptation scenarios. SUMMARY

[0004] The present application provides a vehicle device control method and device, vehicle device and computer program product, which are used to realize corresponding control of the vehicle device according to different states of the control motor.

[0005] In a first aspect, the present application provides a vehicle device control method, which comprises: acquiring a state parameter of a control motor when the control motor drives an actuator of a vehicle device to close; performing deviation calculation based on the state parameter to obtain a state evaluation index of the control motor; determining a control strategy corresponding to the actuator based on the state evaluation index; the control strategy at least includes one or more of the following: increasing the anti-pinch threshold of the actuator, reducing the movement speed of the actuator and stopping the movement of the actuator; and controlling the actuator based on the control strategy corresponding to the actuator.

[0006] It can be understood that the vehicle device control method provided by the present application first acquires the state parameter of the control motor when the control motor drives the actuator to close, then obtains the state evaluation index of the control motor through deviation calculation, and determines the corresponding control strategy according to the state evaluation index. By determining the control strategy corresponding to the current state of the control motor based on the state parameter of the control motor, the control strategy of the present application is flexible and can effectively meet the false anti-pinch demand in different scenarios.

[0007] In some embodiments, the control strategy corresponding to the actuating mechanism is determined based on the state evaluation index, including: in a case where the state evaluation index is less than a first index threshold, determining that the control strategy corresponding to the actuating mechanism is to increase the anti-pinch threshold of the actuating mechanism; in a case where the state evaluation index is greater than or equal to the first index threshold and less than a second index threshold, determining an evaluation index change rate based on the state evaluation index, and determining the control strategy corresponding to the actuating mechanism according to the evaluation index change rate; in a case where the state evaluation index is greater than or equal to the second index threshold and less than a third index threshold, determining the control strategy corresponding to the actuating mechanism based on the parameter deviation corresponding to the state parameter; and in a case where the state evaluation index is greater than or equal to the third index threshold, determining that the control strategy corresponding to the actuating mechanism is to stop the movement of the actuating mechanism.

[0008] It can be understood that by dividing the state evaluation index into multiple intervals and setting different control strategies for the multiple intervals, the application can adjust the control strategy according to the real-time obtained state evaluation index to achieve fine control.

[0009] In some embodiments, the control strategy corresponding to the actuating mechanism is determined based on the parameter deviation corresponding to the state parameter, including: in a case where the parameter deviation is less than or equal to a deviation threshold, determining an evaluation index change rate based on the state evaluation index, and determining the control strategy corresponding to the actuating mechanism according to the evaluation index change rate; and in a case where the parameter deviation is greater than the deviation threshold, determining that the control strategy corresponding to the actuating mechanism is to stop the movement of the actuating mechanism.

[0010] It can be understood that when the parameter deviation is small, further using the evaluation index change rate as a basis for judgment helps to take a relatively moderate control strategy in the case of slight abnormalities; and when the parameter deviation is large, it indicates that the control motor under the current state is abnormal, and immediate stop should be triggered to ensure safety. Therefore, this way can maintain the operation of the actuating mechanism as much as possible under the premise of ensuring safety.

[0011] In some embodiments, the evaluation index change rate is determined based on the state evaluation index, including: obtaining the evaluation index change rate based on the state evaluation index at the current time and the state evaluation index at the historical time.

[0012] It can be understood that the evaluation index change rate is calculated by the state evaluation index at different times, which helps to implement the corresponding control strategy in the case of mutation.

[0013] In some embodiments, the control strategy corresponding to the actuating mechanism is determined according to the evaluation index change rate, including: in a case where the evaluation index change rate is less than a change rate threshold, determining that the control strategy corresponding to the actuating mechanism is to reduce the movement speed of the actuating mechanism to a first movement speed.

[0014] It can be understood that when the evaluation index change rate is low, it indicates that the actuator is in a slowly changing environment, and at this time, a more moderate way of appropriately reducing the movement speed of the actuator is adopted to avoid triggering false anti-pinch.

[0015] In some embodiments, the control strategy corresponding to the actuator is determined according to the evaluation index change rate, and further includes: in a case where the evaluation index change rate is greater than or equal to a change rate threshold, determining that the control strategy corresponding to the actuator is to reduce the movement speed of the actuator to a second movement speed or stop the movement of the actuator; and the second movement speed is less than the first movement speed.

[0016] It can be understood that when the evaluation index change rate is high, it indicates that there may be an emergency situation, for example, the form is on a very bumpy road, at this time, the movement speed of the actuator is greatly reduced or the movement of the actuator is directly stopped, which can effectively avoid false anti-pinch phenomenon in the emergency situation.

[0017] In some embodiments, the state parameters include current, ripple peak-to-peak value and ripple main frequency; the state evaluation index of the control motor is obtained based on the deviation calculation of the state parameters, including: obtaining a current deviation based on the current and a reference current value; obtaining a peak deviation based on the ripple peak-to-peak value and a reference ripple peak-to-peak value; obtaining a main frequency deviation based on the ripple main frequency and a reference ripple main frequency; obtaining a ripple deviation based on the weighted summation of the peak deviation and the main frequency deviation; and obtaining the state evaluation index based on the weighted summation of the current deviation and the ripple deviation.

[0018] It can be understood that the state evaluation index is constructed in a multi-state parameter fusion manner, which can comprehensively reflect the running state of the control motor and the influence of the external environment.

[0019] In a second aspect, the embodiments of the present application provide a vehicle device control apparatus, which includes: an acquisition unit configured to acquire state parameters of a control motor of a vehicle device when a control motor of the vehicle device drives an actuator of the vehicle device to be closed; the acquisition unit is further configured to obtain a state evaluation index of the control motor based on deviation calculation of the state parameters; a determination unit configured to determine a control strategy corresponding to the actuator based on the state evaluation index; the control strategy includes one or more of the following: increasing the anti-pinch threshold of the actuator, reducing the movement speed of the actuator, and stopping the movement of the actuator; and a control unit configured to control the actuator based on the control strategy corresponding to the actuator.

[0020] In a third aspect, the embodiments of the present application provide a vehicle device, which includes an actuator, a memory and a processor, the memory stores a computer program capable of running on the processor, and the processor implements the vehicle device control method of the first aspect when executing the program in combination with the actuator.

[0021] In a fourth aspect, an embodiment of the present application provides a computer program product comprising computer programs or instructions, which, when executed by a processor, implement the vehicle device control method of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings in the accompanying drawings are incorporated into the specification and form a part of the specification, which show embodiments consistent with the present application, and together with the specification serve to explain the technical solutions of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0023] The flowcharts shown in the drawings are only exemplary descriptions, and do not necessarily include all contents and operations / steps, nor do they necessarily be executed in the described order. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may be changed according to the actual situation.

[0024] Figure 1 An implementation flow of a vehicle device control method provided by an embodiment of the present application Figure 1 ; Figure 2 An actuator closing process provided by an embodiment of the present application Figure 1 ; Figure 3 An actuator closing process provided by an embodiment of the present application Figure 2 ; Figure 4 A state evaluation index acquisition flow provided by an embodiment of the present application Figure 5 An implementation flow of a vehicle device control method provided by an embodiment of the present application Figure 2 ; Figure 6 A flowchart of a fault diagnosis mode provided by an embodiment of the present application Figure 7 A flowchart of a slow exploration mode provided by an embodiment of the present application Figure 8 A schematic diagram of a vehicle device control apparatus provided by an embodiment of the present application Figure 9 A schematic diagram of a vehicle device provided by an embodiment of the present application DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0026] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described below with reference to the drawings. The described embodiments below are only some of the embodiments of the present application, and not all the embodiments. Therefore, the described embodiments should not be regarded as limitations on the present application. All other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0027] In the following description, "some embodiments / other embodiments" are described, which describe a subset of all possible embodiments, but it can be understood that "some embodiments / other embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0028] In the following description, the terms "first / second" are only to distinguish similar objects, and do not represent a specific order of the objects. It can be understood that "first / second" can be interchanged in a specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present application.

[0030] When in a special environment, for example, road bumps, aging of the actuator body, etc., when the control actuator is closed, it will cause the actuator to trigger the anti-pinch function without pinching the obstacle, so as to make the actuator unfold. The reason why such false anti-pinch phenomenon occurs is that the robustness and adaptability of the anti-pinch system are not high.

[0031] In the related art, the anti-pinch threshold is often adjusted based on the state adaptability of the control motor of the actuator. Although this control strategy can effectively avoid the false anti-pinch phenomenon, due to the single control strategy, the same control strategy is still used in different scenarios, so that targeted control according to different scenarios cannot be achieved, thereby the problem of poor driving experience occurs.

[0032] To solve the above problems, the embodiment of the present application provides a vehicle equipment control method, in which the state parameters of the control motor are first obtained when the control motor drives the closing of the actuator, then the state evaluation index of the control motor is calculated through the deviation, and the corresponding control strategy is determined according to the state evaluation index. By determining the control strategy corresponding to the current state of the control motor based on the state parameters of the control motor, the control strategy of the present application is flexible and can effectively meet the false anti-pinch requirements in different scenarios.

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

[0034] The embodiment of the present application provides a vehicle equipment control method, as shown in Figure 1 The vehicle equipment control method comprises the following steps: Step 101, obtaining the state parameters of the control motor when the control motor drives the closing of the actuator of the vehicle equipment.

[0035] In the embodiment of the present application, the actuator refers to a mechanical structure for realizing a specific function in the vehicle equipment.

[0036] In some embodiments, the actuator includes a window and / or a tailgate. The window includes a door window and / or a sunroof.

[0037] In the embodiment of the present application, as shown in Figure 2 When the actuator is a door window, driving the door window to close means controlling the door window to rise in the direction perpendicular to the horizontal plane.

[0038] In the embodiment of the present application, as shown in Figure 3 When the actuator is a tailgate, driving the tailgate to close means controlling the tailgate to rotate towards the head direction.

[0039] In the embodiment of the present application, the control motor is used to drive the above-mentioned actuator.

[0040] In some embodiments, the different functions of the actuator are realized by controlling the forward and reverse rotation of the control motor.

[0041] For example, the control motor of the sunroof is instructed to open the sunroof by the central control screen of the vehicle equipment, and the instruction can control the control motor of the sunroof to rotate forward to realize the function of automatically opening the sunroof.

[0042] In the embodiment of the present application, the state parameter refers to a physical quantity of the control motor in the running process, which is used to reflect the current state of the control motor.

[0043] In some embodiments, the state parameter includes a current parameter and a ripple parameter.

[0044] In the embodiments of the present application, the state parameter of the control motor can indirectly reflect the working condition of the actuator.

[0045] For example, when the window is not fully closed and the surface is covered with ice, the current of the control motor of the window will increase when the window is controlled to be closed because the ice will hinder the closing of the window.

[0046] In step 102, deviation calculation is performed based on the state parameter to obtain a state evaluation index of the control motor.

[0047] In the embodiments of the present application, after the state parameter of the control motor is obtained, deviation calculation can be further performed based on the state parameter to obtain a state evaluation index of the control motor.

[0048] In some embodiments, the deviation calculation includes deviation processing based on the real-time state parameter of the control motor and the pre-set reference state parameter and weighting processing on the deviation result after the deviation processing.

[0049] In the embodiments of the present application, the state evaluation index is a comprehensive quantitative index reflecting the current running state of the control motor.

[0050] In some embodiments, the higher the state evaluation index, the more complex the working condition of the actuator, and thus a more stringent control strategy is adopted.

[0051] For example, when the state parameter includes the current and ripple data, the state evaluation index is the result of weighted summation of the current deviation and the ripple data deviation.

[0052] In step 103, a control strategy corresponding to the actuator is determined based on the state evaluation index, and the control strategy at least includes one or more of the following: increasing the anti-pinch threshold of the actuator, reducing the movement speed of the actuator, and stopping the movement of the actuator.

[0053] In the embodiments of the present application, after the state evaluation index of the control motor is obtained based on the deviation calculation of the state parameter, a control strategy corresponding to the actuator can be further determined based on the state evaluation index.

[0054] In some embodiments, the control strategy refers to a series of countermeasures corresponding to different interval ranges of the state evaluation index to avoid the false anti-pinch phenomenon.

[0055] In the embodiments of the present application, the anti-pinch threshold refers to a limit value for judging whether to trigger the anti-pinch function of the actuator, and the actuator will be retracted when the corresponding physical quantity is detected to exceed the anti-pinch threshold.

[0056] In some embodiments, the anti-pinch threshold is set based on a current of the control motor.

[0057] For example, the anti-pinch threshold is 3A.

[0058] In the embodiments of the present application, reducing the movement speed of the actuator and stopping the movement of the actuator can both reduce the current value of the control motor of the actuator, thereby avoiding the phenomenon of false anti-pinch.

[0059] In some embodiments, the movement speed of the actuator is reduced by controlling the rotation speed of the control motor to decrease.

[0060] For example, since the rotation speed of the control motor is in a positive proportional relationship with the duty cycle of the PWM (Pulse Width Modulation) signal, reducing the movement speed of the actuator can be achieved by reducing the duty cycle of the control motor from 50% to 30%.

[0061] In step 104, the actuator is controlled based on the control strategy corresponding to the actuator.

[0062] In the embodiments of the present application, after determining the control strategy corresponding to the actuator based on the state evaluation index, the actuator can be further controlled based on the control strategy corresponding to the actuator.

[0063] In the embodiments of the present application, by collecting the state parameters of the control motor, performing deviation calculation and generating the state evaluation index, and then determining the corresponding control strategy according to the state evaluation index, precise and adaptive control of the actuator is achieved. Not only the sensitivity and accuracy of the anti-pinch system are improved, but also the robustness of the anti-pinch system in various complex working conditions is enhanced, and the false triggering probability of the anti-pinch function is effectively reduced.

[0064] In some embodiments, by steps 201 to 204, the control strategy corresponding to the actuator can be determined based on the state evaluation index: In step 201, if the state evaluation index is less than a first index threshold, the control strategy corresponding to the actuator is determined to increase the anti-pinch threshold of the actuator.

[0065] In the embodiments of the present application, after obtaining the state evaluation index of the control motor, and when it is determined that the state evaluation index is less than the first index threshold, the control strategy corresponding to the actuator can be further determined to increase the anti-pinch threshold of the actuator.

[0066] In some embodiments, the first index threshold is a parameter greater than 0.

[0067] For example, the first index threshold is 0.6.

[0068] In some embodiments, when the state evaluation index is less than the first index threshold, it indicates that the actuator is slightly disturbed. In this case, the control strategy is to increase the anti-pinch threshold of the actuator to appropriately prevent the sensitivity of the anti-pinch system from triggering the anti-pinch function by mistake.

[0069] For example, the anti-pinch threshold is increased from 3A to 3.5A.

[0070] In some embodiments, the state evaluation index not only needs to be less than the first index threshold, but also needs to be greater than 0. This is because when the actuator is disturbed, the state parameter of the control motor will exceed the baseline state parameter, so that the state evaluation index obtained based on the state parameter is greater than 0.

[0071] In step 202, when the state evaluation index is greater than or equal to the first index threshold and less than the second index threshold, the evaluation index change rate is determined based on the state evaluation index, and the control strategy of the actuator is determined according to the evaluation index change rate.

[0072] In the embodiments of the present application, after the state evaluation index of the control motor is obtained, and it is determined that the state evaluation index is greater than or equal to the first index threshold and less than the second index threshold, the evaluation index change rate can be further determined based on the state evaluation index, and the control strategy of the actuator can be determined according to the evaluation index change rate.

[0073] In some embodiments, when the state evaluation index is greater than or equal to the first index threshold and less than the second index threshold, it indicates that the actuator is moderately disturbed.

[0074] For example, the second index threshold is 0.8.

[0075] In the embodiments of the present application, the evaluation index change rate refers to the change rate of the state evaluation index in a period of time.

[0076] In some embodiments, the evaluation index change rate corresponding to the state evaluation index can accurately determine whether the current disturbance is continuously increasing and the degree of increase, so that the corresponding control strategy is determined according to the evaluation index change rate.

[0077] In step 203, when the state evaluation index is greater than or equal to the second index threshold and less than the third index threshold, the control strategy of the actuator is determined based on the parameter deviation of the state parameter.

[0078] In the embodiments of the present application, after the state evaluation index of the control motor is obtained, and it is determined that the state evaluation index is greater than or equal to the second index threshold and less than the third index threshold, the control strategy of the actuator can be further determined based on the parameter deviation of the state parameter.

[0079] In some embodiments, when the state evaluation index is greater than or equal to the second index threshold and less than the third index threshold, it indicates that the actuator is disturbed to a large extent.

[0080] For example, the third index threshold is 1.

[0081] In some embodiments, during the movement of the actuator, the state parameters of the control motor may change greatly due to the influence of the vehicle device body, thereby causing the state evaluation index to change greatly.

[0082] For example, when the track of the window is deformed, the weather strip of the window is aged, the voltage of the power supply supplying power to the control motor fluctuates, the load of the control motor increases to cause the current to change, etc., the state evaluation index changes.

[0083] In the embodiments of the present application, when these situations occur, the state parameters of the control motor deviate from the reference state parameters, therefore, for these situations, the corresponding control strategy can be determined according to the parameter deviation degree of the state parameters.

[0084] Step 204, when the state evaluation index is greater than or equal to the third index threshold, the corresponding control strategy of the actuator is determined to stop the movement of the actuator.

[0085] In the embodiments of the present application, after the state evaluation index of the control motor is obtained, and when it is determined that the state evaluation index is greater than or equal to the third index threshold, it can be further determined that the corresponding control strategy of the actuator is to stop the movement of the actuator.

[0086] In some embodiments, when the state evaluation index is greater than or equal to the third index threshold, it indicates that the actuator is seriously disturbed, at this time, in order to avoid triggering the anti-pinch function, the movement of the actuator should be stopped immediately.

[0087] For example, when the weather strip of the window is seriously aged, causing the friction force on the window during closing to be greater than the driving force, at this time, the control motor will continuously increase the current to increase the driving force in order to close the window, if the corresponding control strategy is not taken at this time, the window will trigger the anti-pinch, thereby causing the window to retreat. At this time, if the control strategy of increasing the anti-pinch threshold is taken, the anti-pinch threshold needs to be increased to a larger threshold, thereby seriously affecting the sensitivity of the anti-pinch system; and at this time, the window is extremely likely to be not moving, therefore, the control strategy of reducing the movement speed of the window cannot be taken. Therefore, in the face of such extreme situation, the corresponding control strategy is to stop the movement of the actuator.

[0088] In some embodiments, by steps 301 and 302, the control strategy corresponding to the actuator can be determined based on the parameter deviation corresponding to the state parameter: Step 301, in the case where the parameter deviation is less than or equal to the deviation threshold, determining the evaluation index change rate based on the state evaluation index, and determining the control strategy corresponding to the actuator according to the evaluation index change rate.

[0089] In the embodiments of the present application, after obtaining the parameter deviation corresponding to the state parameter and determining that the parameter deviation is less than or equal to the deviation threshold, the evaluation index change rate can be further determined based on the state evaluation index, and the control strategy corresponding to the actuator can be determined according to the evaluation index change rate.

[0090] In some embodiments, the parameter deviation is obtained based on the difference between the real-time state parameter and the reference state parameter.

[0091] In the embodiments of the present application, the state parameter includes current, ripple peak-to-peak value, and ripple main frequency.

[0092] In the embodiments of the present application, the reference state parameter corresponds to the reference current value, the reference ripple peak-to-peak value, and the reference ripple main frequency.

[0093] In some embodiments, the ripple peak-to-peak value refers to the difference between the maximum value and the minimum value of the current signal in one stroke segment.

[0094] In some embodiments, the ripple main frequency refers to the main frequency component after fast Fourier transform of the current signal.

[0095] In some embodiments, the parameter deviation includes current deviation and ripple deviation. The ripple deviation is obtained by weighted summation based on the peak deviation and the main frequency deviation.

[0096] In some embodiments, the deviation threshold includes the current deviation threshold and the ripple deviation threshold.

[0097] For example, the current deviation threshold is 0.5.

[0098] For example, the ripple deviation threshold is 0.7.

[0099] In the embodiments of the present application, when the current deviation does not exceed the current deviation threshold and the ripple deviation does not exceed the ripple deviation threshold, it indicates that the influence of the vehicle device body on the actuator is small, but there may be external environmental influence, so at this time the control strategy corresponding to the actuator needs to be determined according to the evaluation index change rate.

[0100] Step 302, in the case where the parameter deviation is greater than the deviation threshold, determining the control strategy corresponding to the actuator as stopping the movement of the actuator.

[0101] In the embodiments of the present application, after the corresponding parameter deviation is obtained based on the state parameter, and it is determined that the parameter deviation is greater than the deviation threshold, it can be further determined that the control strategy corresponding to the actuating mechanism is to stop the movement of the actuating mechanism.

[0102] In some embodiments, when the parameter deviation exceeds the deviation threshold, it indicates that the vehicle device body has a greater impact on the actuating mechanism. Since the vehicle device itself has caused an abnormal condition, in order to avoid aggravating the abnormal condition, the control strategy adopted is to stop the movement of the actuating mechanism.

[0103] In some embodiments, when the current deviation exceeds the current deviation threshold or the ripple deviation exceeds the ripple deviation threshold, the movement of the actuating mechanism is stopped.

[0104] In some embodiments, when the current deviation exceeds the current deviation threshold, it can be further determined whether the voltage overrun is met, and when the voltage overrun is met, the control strategy adopted is to stop the movement of the actuating mechanism.

[0105] In some embodiments, the voltage overrun can be that the deviation of the power supply voltage of the control motor at the current moment from the reference power supply voltage exceeds the voltage deviation threshold, or the result of the deviation of the power supply voltage of the control motor at the current moment from the power supply voltage at the previous moment divided by the time interval exceeds the voltage deviation threshold.

[0106] For example, the voltage deviation threshold is 1V.

[0107] In some embodiments, by step 401, the evaluation index change rate can be determined based on the state evaluation index. Step 401, based on the state evaluation index at the current moment and the state evaluation index at the historical moment, the evaluation index change rate is obtained.

[0108] In the embodiments of the present application, after the state evaluation index of the control motor is obtained based on the deviation calculation of the state parameter, the evaluation index change rate can be further obtained based on the state evaluation index at the current moment and the state evaluation index at the historical moment.

[0109] In some embodiments, during the process of controlling the actuating mechanism to be closed, the state parameters of the control motor are collected in real time, so that the real-time state evaluation index is calculated according to the real-time collected state parameters, and the real-time obtained state evaluation index is stored.

[0110] In some embodiments, after the difference between the state evaluation index at the current moment and the state evaluation index at the historical moment is obtained, the difference is divided by the time interval to obtain the evaluation index change rate.

[0111] For example, the current time is the third second, the state evaluation index of the third second is 0.6, the historical time is the second second, and the state evaluation index of the second second is 0.4. The evaluation index change rate is 0.2.

[0112] In some embodiments, the control strategy corresponding to the actuator can be determined according to the evaluation index change rate by step 501. In step 501, when the evaluation index change rate is less than the change rate threshold, the control strategy corresponding to the actuator is determined to be reducing the movement speed of the actuator to the first movement speed.

[0113] In the embodiments of the present application, after the evaluation index change rate is obtained, and when it is determined that the evaluation index change rate is less than the change rate threshold, it can be further determined that the control strategy corresponding to the actuator is to reduce the movement speed of the actuator to the first movement speed.

[0114] In some embodiments, the change rate threshold is used to distinguish the degree of continuous change of the state evaluation index.

[0115] For example, the change rate threshold is 0.3.

[0116] In the embodiments of the present application, when the evaluation index change rate is less than the change rate threshold, it indicates that the continuous change of the state evaluation index of the actuator is small. At this time, the movement speed of the actuator can be fine-tuned to alleviate the continuous change of the state parameter, which avoids stopping the movement of the actuator and effectively avoids the triggering of the false anti-pinch.

[0117] For example, the PWM duty cycle of the control motor is reduced from 50% to 30% to reduce the movement speed of the actuator to the first movement speed.

[0118] In some embodiments, the control strategy corresponding to the actuator can be determined according to the evaluation index change rate by step 502. In step 502, when the evaluation index change rate is greater than or equal to the change rate threshold, the control strategy corresponding to the actuator is determined to be reducing the movement speed of the actuator to the second movement speed or stopping the movement of the actuator; the second movement speed is less than the first movement speed.

[0119] In the embodiments of the present application, after the evaluation index change rate is obtained, and when it is determined that the evaluation index change rate is greater than or equal to the change rate threshold, it can be further determined that the control strategy corresponding to the actuator is to reduce the movement speed of the actuator to the second movement speed or stop the movement of the actuator.

[0120] In some embodiments, when the evaluation index change rate is greater than or equal to the change rate threshold, it indicates that the state evaluation index of the actuator continuously changes greatly, and an abnormal condition may occur. Therefore, the control strategy for this working condition is to reduce the movement speed of the actuator to a second movement speed or stop the movement of the actuator. Since the working condition at this time is more complex, in order to avoid false anti-pinch, the control strategy adopted is to reduce the movement speed of the actuator to a second movement speed less than the first movement speed or directly stop the movement of the actuator.

[0121] For example, the PWM duty cycle of the control motor is reduced from 50% to 20% to reduce the movement speed of the actuator to a second movement speed.

[0122] In some embodiments, as shown in FIG. 6, the deviation calculation based on the state parameter can be implemented by steps 601 to 605 to obtain the state evaluation index of the control motor: Figure 4 Step 601: Obtain the current deviation based on the current and the reference current value.

[0123] In the embodiments of the present application, after obtaining the current of the control motor, the current deviation can be further obtained based on the current and the reference current value.

[0124] In some embodiments, the reference current value refers to the average current value measured by the control motor in the normal running state, representing the typical working state of the control motor without interference.

[0125] In some embodiments, the current deviation is obtained based on the absolute value of the difference between the current at the current moment and the reference current value.

[0126] For example, the current deviation DI can be obtained by the following formula: (1) Where I is the current at the current moment, I_ref is the reference current value, I_max_ref is the reference maximum current value measured by the control motor in the normal running state, and I_min_ref is the reference minimum current value measured by the control motor in the normal running state.

[0127] Step 602: Obtain the peak deviation based on the ripple peak-peak value and the reference ripple peak-peak value.

[0128] In the embodiments of the present application, after obtaining the ripple peak-peak value of the control motor, the peak deviation can be further obtained based on the ripple peak-peak value and the reference ripple peak-peak value.

[0129] In some embodiments, the reference ripple peak-peak value is the average value of the maximum fluctuation value of the current ripple measured by the motor in the normal running state. ​

[0130] In some embodiments, the peak deviation is obtained based on an absolute value of a difference between the current time's ripple peak-peak value and the reference ripple peak-peak value.

[0131] For example, the peak deviation DP can be obtained by the following formula: (2) Wherein, R_freq is the current time's ripple fundamental frequency, and R_peakref is the reference ripple peak-peak value.

[0132] In step 603, the fundamental frequency deviation is obtained based on the ripple fundamental frequency and the reference ripple fundamental frequency.

[0133] In the embodiments of the present application, after the ripple fundamental frequency of the control motor is obtained, the fundamental frequency deviation can be further obtained based on the ripple fundamental frequency and the reference ripple fundamental frequency.

[0134] In some embodiments, the reference ripple fundamental frequency is an average value of the current fundamental frequency measured in the normal operation state of the motor.

[0135] In some embodiments, the fundamental frequency deviation is obtained based on an absolute value of a difference between the current time's ripple fundamental frequency and the reference ripple fundamental frequency.

[0136] For example, the fundamental frequency deviation DF can be obtained by the following formula: (3) Wherein, R_freq is the current time's ripple fundamental frequency, and R_freqref is the reference ripple fundamental frequency.

[0137] In step 604, the ripple deviation is obtained by weighted summation based on the peak deviation and the fundamental frequency deviation.

[0138] In the embodiments of the present application, after the peak deviation and the fundamental frequency deviation are obtained, the ripple deviation can be further obtained by weighted summation based on the peak deviation and the fundamental frequency deviation.

[0139] In some embodiments, the weighted summation refers to summing up after assigning corresponding weight coefficients to multiple variables, so as to combine the multiple variables into a comprehensive index according to a certain proportion. The present application does not make specific limitation on the weight coefficients, which can be adjusted according to the requirements of the scene.

[0140] For example, the ripple deviation DR can be obtained by the following formula: (4) In step 605, the state evaluation index is obtained by weighted summation based on the current deviation and the ripple deviation.

[0141] In the embodiments of the present application, after obtaining the current deviation and the ripple deviation, the state evaluation index can be obtained by further performing weighted summation based on the current deviation and the ripple deviation.

[0142] In some embodiments, by performing weighted summation on the current deviation and the ripple deviation, a parameter for representing the overall operation state of the control motor, i.e., the state evaluation index, can be obtained.

[0143] In some embodiments, when the actuator encounters an abnormal situation during the closing process, mainly the current of the control motor changes greatly, so a larger weight coefficient can be assigned to the current deviation.

[0144] For example, the state evaluation index UI can be obtained by the following formula: (5) In summary, the vehicle equipment control method provided in the present application obtains the state evaluation index of the control motor by the state parameters of the control motor during the closing process of the actuator, and then determines the corresponding control strategy based on the state evaluation index reflecting the overall working state of the control motor, so that the control method of the present application can not only adapt to different scenes, but also effectively avoid the false anti-pinch phenomenon.

[0145] Based on the above embodiments, another embodiment of the present application provides a vehicle equipment control method, including an anti-pinch control method based on multi-parameter fusion and dynamic resistance map. The method provided in the present application is suitable for solving the false anti-pinch problem under complex working conditions, and can be applied to the electric actuator of the vehicle equipment such as the vehicle window and the electric tailgate.

[0146] For example, the possible implementation of the anti-pinch control method based on multi-parameter fusion and dynamic resistance map provided in the embodiments of the present application is described as follows.

[0147] According to the regulations, the vehicle window with automatic lifting function must have anti-pinch function. The early anti-pinch strategy relies on manual calibration and fixed threshold, and depends on current amplitude judgment or rising slope in strategy, which cannot adapt to aging and assembly tolerance, and voltage fluctuation, so the false anti-pinch phenomenon occurs.

[0148] In the related art, the anti-pinch threshold is adaptively adjusted by learning the resistance to slowly adapt to the changes of the external environment, so as to avoid the false anti-pinch phenomenon. However, the control method has single applicable scene and inflexible control means.

[0149] To solve the above problems, the embodiment of the application provides a vehicle window anti-pinch control method based on multi-parameter fusion and a dynamic resistance map.

[0150] The dynamic resistance map of the application includes current and current ripple data collected in the temperature range of-30 DEG C-80 DEG C and the voltage range of 10V-16V, and multi-source features are obtained according to the current and current ripple data, and then the multi-source features are fused to obtain a comprehensive evaluation index.

[0151] In the embodiment of the application, the multi-source features are obtained by deviation calculation based on real-time collected data and stored reference data. The stored reference data includes reference current value (I_ref), current fluctuation range (I_min_ref, I_max_ref), reference ripple peak value (R_peakref) and reference ripple main frequency (R_freqref), and these reference values are updated in real time by a sliding window algorithm, and the weight of new data is W1 (adjustable) and the weight of historical data is W2 (adjustable).

[0152] In the embodiment of the application, the comprehensive evaluation index (state evaluation index) UI can be obtained by the following formula: (6) Wherein, DI is the current deviation, which can be obtained by formula (1); DR is the ripple deviation, which can be obtained by the following formula: (7) Wherein, DP is the peak deviation, which can be obtained by formula (2); DF is the main frequency deviation, which can be obtained by formula (3); K1, K2, K3 and K4 are weight coefficients, and the application does not make specific limitation on the values of K1, K2, K3 and K4, but the sum of K1 and K2 is 1 and the sum of K3 and K4 is 1, for example, K1=K3=0.65, K2=K4=0.35.

[0153] As shown in Figure 5 , the hierarchical response mechanism of the application includes: Step 701, calculating the comprehensive evaluation index UI in real time according to the control motor current, ripple peak value and ripple main frequency.

[0154] Step 7011, judge whether the change rate of the comprehensive evaluation index UI exceeds the second change rate threshold, in the case that the change rate dUI / dt of the comprehensive evaluation index UI (evaluation index change rate) does not exceed the second change rate threshold (for example, 0.5), step 7012, step 7013 and step 7016 are performed to judge the range interval where UI is located. If it exceeds the second change rate threshold, step 702 is performed to identify the sudden obstacle and trigger the anti-pinch function, and dUI / dt is obtained based on the UI at the current time and the UI at the last time.

[0155] When the UI range is in the standard interval (for example, 0-0.3), step 706 is performed to respond to the standard mode (enter the normal mode) and anti-pinch at a fixed anti-pinch threshold; when the UI is greater than the standard interval but less than the first index threshold (for example, 0.3-0.6), step 703 is performed to respond to the threshold lifting strategy, and the anti-pinch threshold (anti-pinch threshold) is lifted (for example, by 20%); when the UI range is in the first index threshold to the third index threshold interval (for example, 0.6-1.0), further step 7014 is performed, if the UI value is further less than the second index threshold (for example, 0.8), step 704 is performed to respond to the slow exploration mode (enter the slow exploration mode), and the movement speed of the window is reduced by 50%; if the UI value is further in the first index threshold to the second index threshold interval, step 705 is performed to enter the fault diagnosis mode, in which fault diagnosis is performed, and step 7015 is performed, if no fault is diagnosed, step 704 is performed, if a fault is diagnosed, further step 7016 is performed, and then step 705 is performed to enter the emergency shutdown mode; when the UI is greater than the third index threshold (for example, 1), step 705 is performed to respond to the emergency shutdown mode (enter the emergency shutdown mode), the motor is controlled to be powered off, and a fault code is pushed.

[0156] The embodiment of the application also provides a window anti-pinch control system corresponding to the window anti-pinch control method based on multi-parameter fusion and dynamic resistance map. The control system is composed of a signal acquisition module, a core processing module and an execution control module.

[0157] The signal acquisition module includes a current sensor, a ripple sampling circuit, a range of 30A and a bandwidth of 80kHz. A temperature sensor, an NTC (Negative Temperature Coefficient) thermistor with an accuracy of 0.5. A voltage detection circuit, a voltage dividing resistor and an ADC sampling.

[0158] Core processing module: main control chip: STM32G474RET6, built-in 12-bit, sampling rate of 5Msps ADC (analogue-to-digital conversion) and hardware FFT (fast Fourier transform) accelerator; memory: SPI Flash storage DRM data.

[0159] Execution control module: motor drive chip: DRV8701, supporting PWM control and current detection.

[0160] Dynamic resistance map construction process: Step 1: factory initial calibration, place the window assembly in the temperature control cabin, temperature range-30℃~80℃, test with 5℃ step; each temperature point is executed, uniformly close the window 10 times at the nominal voltage (12V); test 5 times at low voltage (10V) and high voltage (16V).

[0161] Step 2: data extraction: The extraction process of the reference current value (I_ref): obtain multiple current values at multiple measurements, and then take the average of the multiple current values as the reference current value.

[0162] The extraction process of the current fluctuation range (I_min_ref, I_max_ref): sort the obtained multiple current values from small to large, take the current value at the 5% position after sorting as I_min_ref, and take the current value at the 95% position after sorting as I_max_ref.

[0163] The peak-to-peak ripple refers to the difference between the maximum and minimum values of the current signal in one stroke segment, and the extraction process of the reference peak-to-peak ripple (R_peakref): record the maximum and minimum values of the current ripple at each measurement, and further obtain the peak-to-peak ripple at each measurement according to the difference between the maximum and minimum values, take the average of the peak-to-peak ripple obtained by multiple measurements as the reference peak-to-peak ripple.

[0164] The ripple frequency refers to the main frequency component after fast Fourier transform (FFT) of the current signal, and the extraction process of the reference ripple frequency (R_freqref): record the ripple frequency at each measurement, and take the average of the ripple frequency obtained by multiple measurements as the reference ripple frequency.

[0165] Step 3: user online update: After each successful window closing, update the dynamic resistance map according to the following formula: The new reference current value I_ref_new can be obtained by the following formula: (8) Wherein, I_ref is the original reference current value, I_actual is the current value at this time of measurement; W1 and W2 are weight coefficients, which can be set according to the situation.

[0166] Similarly, the current fluctuation range, the reference ripple peak-peak value and the reference ripple main frequency are also updated according to the above formula (8).

[0167] When the UI value exceeds 0.8, the update is paused, and the fault diagnosis mode is triggered.

[0168] The fault diagnosis logic is as follows: As shown in Figure 6 , first, step 801 is performed to calculate the UI value in real time. When the UI value is greater than or equal to 0.8 and less than 1, step 8011 is performed to detect whether the current deviation DI value is greater than the current deviation threshold (for example, 0.5). If so, the current abnormality can be directly output, or step 8012 can be further performed to determine whether the voltage mutation exceeds the voltage deviation threshold, to check the power supply voltage fluctuation. If the power supply voltage fluctuation does not exceed the voltage deviation threshold (for example, 1V), step 802 is performed to diagnose the current abnormality and output the current abnormality fault code. If the power supply voltage fluctuation exceeds the voltage deviation threshold, step 803 is performed to diagnose the voltage mutation and output the voltage mutation fault code. The power supply voltage fluctuation is obtained according to the power supply voltage at the current time and the power supply voltage at the last time. If the current deviation DI value is less than or equal to the current deviation threshold, step 8013 is further performed to determine whether the ripple deviation DR is greater than the ripple deviation threshold (for example, 0.7). If so, step 804 is performed to diagnose the motor abnormality, track deformation or sealing strip aging, and output the hardware abnormality fault code.

[0169] Fault code definition: F101: current abnormality; F202: voltage mutation; F303: hardware abnormality (motor abnormality, track deformation or sealing strip aging).

[0170] When the UI value exceeds 0.8, if the corresponding fault code is output, the movement of the actuator is directly stopped, otherwise, the vehicle window is controlled according to the slow trial mode.

[0171] When the UI value exceeds 0.6 but is less than 0.8; or exceeds 0.8 but the corresponding fault code is not output, the slow trial mode is entered. As shown in Figure 7 , the detailed flow of the slow trial mode in the embodiment of the application includes: Step 901, the PWM duty cycle of the control motor is reduced to 50% of the original value, so that the running speed of the vehicle window is reduced to 50% of the original value.

[0172] Real-time calculation of UI change rate dUI / dt (sliding average is calculated every 100 milliseconds), and step 9011 is performed to determine whether the UI change rate dUI / dt is between the change rate threshold and the second change rate threshold and the duration is longer than the set time period.

[0173] If 0 < dUI / dt < change rate threshold (for example, 0.3 / s) or between the change rate threshold and the second change rate threshold but the duration is less than the set time period (for example, 500 ms), step 902 is performed to determine that the resistance can be restored (such as icing), and the slow speed is maintained until the abnormal area is passed.

[0174] If the change rate threshold ≤ dUI / dt < the second change rate threshold (for example, 0.5 / s) and the duration is 500 ms, step 903 is performed to determine that the resistance is not restorable, and the movement speed of the vehicle window is reduced to 30% or the stop is triggered.

[0175] In the embodiments of the present application, a vehicle-cloud cooperative maintenance system is also provided, which includes a subsystem deployed at a vehicle device end and a subsystem deployed at a cloud end. The subsystem deployed at the vehicle device end is used to send the current state information of the vehicle device to the cloud end when the vehicle device determines an abnormality according to a UI value. The subsystem deployed at the cloud end can determine the abnormal state of the vehicle device according to the state data, and send the data generated by the cloud end to the vehicle device end.

[0176] For vehicle models equipped with a vehicle networking module, the following functions are extended: Abnormal data reporting: When UI ≥ 1.0 or a fault is diagnosed, the following data is automatically compressed and uploaded to the cloud end: Timestamp, location, UI value, original current waveform (128-point sampling), environment temperature, battery voltage.

[0177] The cloud end is deployed with an analysis engine which performs the following steps according to the received data: The historical fault data is retrained using a convolutional neural network to optimize the local diagnostic model.

[0178] Maintenance suggestions (such as “seal strip needs to be cleaned” or “guide rail lubrication is insufficient”) are generated according to the received data and the local diagnostic model, and the maintenance suggestions are pushed to the user's mobile phone APP.

[0179] OTA (Over-the-Air Technology, Over-the-Air Technology) parameter update: When more than 10% of the vehicle devices report the same fault, the cloud automatically generates new parameters (baseline state parameters) in the dynamic resistance map, and then sends these new baseline state parameters to the vehicle devices, so that the vehicle devices can adjust the corresponding baseline state parameters according to the new baseline state parameters.

[0180] The cloud transmits these baseline state parameters through a differential compression technology, and the amount of data updated at a time is less than 5KB.

[0181] In order to make the control process of the present application clear and detailed, the control process of the present application is described below with two specific examples: Embodiment 1: Anti-mis-triggering in low-temperature environment Scenario: -20℃ environment, the sealing strip of the window hardens, causing the resistance to rise (initial UI=0.55 when rising, and increasing to a maximum of 0.7 during the rising process).

[0182] Response of the window anti-pinch control system: Since the initial UI is 0.55, the threshold value is raised to 1.15xI_ref (anti-pinch threshold value) in the threshold value raising mode.

[0183] The update weight W1 is reduced to 0.1 (low-temperature data has low reliability); during the rising process, the UI is constantly rising, and when it exceeds 0.6, the slow exploration mode is entered, and it is determined to be a recoverable resistance through the slow exploration mode, and the movement speed of the window is reduced to the first movement speed until the closing is completed.

[0184] Embodiment 2: Sudden obstacle recognition Scenario: The palm is suddenly pinched during the window rising (UI rises from 0.1 to 0.9 within 0.2s).

[0185] Response of the window anti-pinch control system: According to the change value of UI within 0.2s, the calculated dUI / dt is 4, the system recognizes the sudden obstacle and triggers the anti-pinch.

[0186] At this time, the system generates a fault code F404 (sudden obstacle) and uploads the current waveform to the cloud.

[0187] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the present application, and they should be covered in the protection scope of the present application.

[0188] It should be noted that although the steps of the method in the present application are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired result. In addition or alternatively, some steps can be omitted, a plurality of steps can be combined into one step, and / or one step can be divided into a plurality of steps, etc.; or, steps in different embodiments can be combined into a new technical solution. Based on the foregoing embodiments, the present application provides a device including the modules included therein and the units included in the modules, which can be implemented by a processor; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be an AI acceleration engine (such as NPU, etc.), a graphics processing unit (GPU), a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0189] Based on the above embodiments, Figure 8 A schematic diagram of a vehicle device control apparatus provided by an embodiment of the present application is shown in Figure 8 The vehicle device control apparatus 1000 includes an acquisition unit 1001, a determination unit 1002, and a control unit 1003; wherein: The acquisition unit 1001 is configured to acquire a state parameter of the control motor when the control motor drives the actuator of the vehicle device to be closed.

[0190] The acquisition unit 1001 is further configured to perform deviation calculation based on the state parameter to obtain a state evaluation index of the control motor.

[0191] The determination unit 1002 is configured to determine a control strategy corresponding to the actuator based on the state evaluation index; the control strategy at least includes one or more of the following: increasing the anti-pinch threshold of the actuator, reducing the movement speed of the actuator, and stopping the movement of the actuator.

[0192] The control unit 1003 is configured to control the actuator based on the control strategy corresponding to the actuator.

[0193] The above description of the device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0194] It should be noted that the division of the modules in the embodiments of the present application is illustrative, and is only a logical function division. Actual implementation can have another division manner. In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or can be physically separated, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware, or in the form of a software function unit. It can also be realized in the form of a combination of software and hardware.

[0195] It should be noted that if the above method is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a vehicle device to execute all or part of the method of each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various storage media that can store program codes. Thus, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0196] The embodiments of the present application provide a vehicle device, Figure 9 The structure schematic diagram of the vehicle device provided by the embodiments of the present application is shown in Figure 9 As shown in the figure, the vehicle device 2000 includes an execution mechanism 2001, a memory 2002 and a processor 2003. The memory 2002 stores a computer program executable on the processor 2003. The processor 2003 executes the program in combination with the adjustment body 2001 to realize the steps in the method provided in the above embodiments. The execution mechanism 2001 includes a window and / or a tail door.

[0197] It should be noted that the memory 2002 is configured to store instructions and applications executable by the processor 2003, and can also buffer data (for example, image data, audio data, voice communication data and video communication data) to be processed or having been processed in the processor 2003 and each module of the vehicle device 2000, which can be realized by a flash (FLASH) or a random access memory (RAM).

[0198] The embodiments of the present application provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to realize the steps in the method provided in the above embodiments.

[0199] The embodiment of the present application provides a computer program product containing instructions, which, when running on a computer, causes the computer to execute the steps in the method provided by the above method embodiment.

[0200] It should be noted that the description of the above storage medium and vehicle device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects to the method embodiments. For technical details not disclosed in the storage medium and vehicle device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0201] It should be understood that the "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" or "in some embodiments" appearing throughout the specification does not necessarily mean the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above processes does not mean the order of execution, and the execution order of the processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The sequence number of the above embodiments of the present application is only for description, not representing the advantages and disadvantages of the embodiments. The above description of each embodiment tends to emphasize the differences between each embodiment, and the same or similar parts can be referred to each other, and for the sake of brevity, the text will not be repeated here.

[0202] The term "and / or" in this text is only a description of the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, object A and / or object B, which can represent the three cases of existence of object A, existence of object A and object B, and existence of object B.

[0203] It should be noted that in this text, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or vehicle device. Without more limitations, the element defined by the sentence "including a" does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0204] In several embodiments provided in the present application, it should be understood that the disclosed vehicle device and method can be implemented in other manners. The above described embodiments are merely exemplary, for example, the division of modules is merely logical function division, and there can be another division manner in actual implementation, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the above illustrated or discussed components can be indirect coupling or communication connection through some interfaces, and there can be electrically, mechanically or other forms of coupling or communication connection between the vehicle device or modules.

[0205] The modules illustrated as separated components can or can not be physically separated, and the components illustrated as modules can or can not be physical modules; they can be located in one place or distributed on a plurality of network units; and part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments.

[0206] In addition, each functional module in each embodiment of the present application can be integrated in one processing unit, or each module can be a separate unit, or two or more modules can be integrated in one unit; and the integrated module can be realized in the form of hardware or hardware plus software functional unit.

[0207] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by a program instruction related hardware, and the foregoing program can be stored in a computer readable storage medium, and the program is executed to perform the steps of the above-mentioned method embodiments; and the foregoing storage medium includes mobile storage equipment, read only memory (Read Only Memory, ROM), magnetic disc or optical disc and various storage program codes.

[0208] Alternatively, the integrated unit of the present application, if realized in the form of software functional module and sold or used as an independent product, can also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of software product, and the computer software product is stored in a storage medium, and includes a plurality of instructions for causing the vehicle device to execute all or part of the method of each embodiment of the present application. The foregoing storage medium includes mobile storage equipment, ROM, magnetic disc or optical disc and various storage program codes.

[0209] The methods disclosed in the several method embodiments provided in the present application can be combined arbitrarily without conflict to obtain new method embodiments.

[0210] The features disclosed in the several product embodiments provided by the present application can be arbitrarily combined without conflict, to obtain new product embodiments.

[0211] The features disclosed in the several method or vehicle device embodiments provided by the present application can be arbitrarily combined without conflict, to obtain new method embodiments or vehicle device embodiments.

[0212] The above is only an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

[0213] It should be understood that if the present disclosure refers to any user data and personal information (including but not limited to device information, behavior data, location information, etc.) and before applying the technical solutions described in the embodiments of the present disclosure, the relevant products or services should comply with the laws and regulations on user data and personal information protection, strictly handle the personal information and data of users in accordance with the provisions of the applicable laws and regulations in the whole life cycle of data processing, follow the principles of legality, legitimacy, necessity, honesty, openness and transparency, take reasonable privacy design schemes and technical measures to ensure the safety of user data and personal information, protect the legitimate rights and interests of users, and prevent the risk of leakage or theft, tampering, etc. of user data and personal information.

[0214] Specifically, the privacy policy is published and displayed in a prominent position of the user interface in the name of the entity, and the user is explicitly informed of the matters that should be informed according to the laws and regulations, such as the type, purpose, use, and manner of processing personal information; the user's prior informed consent or explicit authorization is obtained through active user interaction (such as prompt information confirmation pop-up window) for data processing behavior; user data is processed or stored in a secure manner within the legal required period; a series of security technologies and management measures including but not limited to data encryption and access control are adopted; user data is shared and transferred in the manner required by law within the scope allowed by law; the rights of users are handled within the legal required time limit, including the rights to query, access, correct, delete, withdraw authorization consent, cancel, obtain a copy of personal information, etc.

Claims

1. A vehicle equipment control method, characterized in that, The method includes: When the control motor of the vehicle equipment drives the actuator of the vehicle equipment to close, the status parameters of the control motor are acquired; Based on the state parameters, deviation calculation is performed to obtain the state evaluation index of the controlled motor; Based on the state assessment index, a control strategy corresponding to the actuator is determined; the control strategy includes at least one or more of the following: increasing the anti-pinch threshold of the actuator, reducing the movement speed of the actuator, and stopping the movement of the actuator structure; The actuator is controlled based on the control strategy corresponding to the actuator.

2. The method according to claim 1, characterized in that, The step of determining the control strategy corresponding to the actuator based on the state assessment index includes: If the state evaluation index is less than the first index threshold, the control strategy corresponding to the actuator is determined to be to increase the anti-pinch threshold of the actuator. If the state assessment index is greater than or equal to the first index threshold and less than the second index threshold, the rate of change of the assessment index is determined based on the state assessment index, and the control strategy corresponding to the actuator is determined based on the rate of change of the assessment index. When the state evaluation index is greater than or equal to the second index threshold and less than the third index threshold, the control strategy corresponding to the actuator is determined based on the parameter deviation corresponding to the state parameter. If the state evaluation index is greater than or equal to the third index threshold, the control strategy corresponding to the actuator is determined to be to stop the movement of the actuator structure.

3. The method according to claim 2, characterized in that, The step of determining the control strategy corresponding to the actuator based on the parameter deviation corresponding to the state parameters includes: If the parameter deviation is less than or equal to the deviation threshold, the rate of change of the evaluation index is determined based on the state evaluation index, and the control strategy corresponding to the actuator is determined according to the rate of change of the evaluation index. If the parameter deviation is greater than the deviation threshold, the control strategy corresponding to the actuator is determined to be to stop the movement of the actuator structure.

4. The method according to claim 3, characterized in that, The determination of the rate of change of the assessment index based on the state assessment index includes: Based on the current state evaluation index and the state evaluation index at historical times, the rate of change of the evaluation index is obtained.

5. The method according to claim 4, characterized in that, The step of determining the control strategy corresponding to the actuator based on the rate of change of the evaluation index includes: If the rate of change of the evaluation index is less than the rate of change threshold, the control strategy corresponding to the actuator is determined to be to reduce the movement speed of the actuator to a first movement speed.

6. The method according to claim 5, characterized in that, The step of determining the control strategy corresponding to the actuator based on the rate of change of the evaluation index further includes: If the rate of change of the evaluation index is greater than or equal to the rate of change threshold, the control strategy corresponding to the actuator is determined to be to reduce the movement speed of the actuator to a second movement speed or to stop the movement of the actuator; the second movement speed is less than the first movement speed.

7. The method according to any one of claims 1 to 6, characterized in that, The state parameters include current, ripple peak-to-peak value, and ripple dominant frequency; The step of calculating the deviation based on the state parameters to obtain the state evaluation index of the controlled motor includes: Based on the current and the reference current value, the current deviation is obtained; Based on the peak-to-peak value of the ripple and the reference peak-to-peak value of the ripple, the peak deviation is obtained; Based on the ripple frequency and the reference ripple frequency, the frequency deviation is obtained; Based on the peak deviation and the main frequency deviation, a weighted sum is performed to obtain the ripple deviation; The state evaluation index is obtained by performing a weighted summation based on the current deviation and the ripple deviation.

8. A vehicle equipment control device, characterized in that, The device includes: The acquisition unit is used to acquire the state parameters of the control motor when the control motor of the vehicle equipment drives the actuator of the vehicle equipment to close; the acquisition unit is also used to perform deviation calculation based on the state parameters to acquire the state evaluation index of the control motor. The determining unit is configured to determine the control strategy corresponding to the actuator based on the state evaluation index; the control strategy includes at least one or more of the following: increasing the anti-pinch threshold of the actuator, reducing the movement speed of the actuator, and stopping the movement of the actuator structure; The control unit is used to control the actuator based on the control strategy corresponding to the actuator.

9. A vehicle device, characterized in that, The method includes an actuator, a memory, and a processor, wherein the memory stores a computer program that can run on the processor, and the processor, in conjunction with the actuator, executes the program to implement the method of any one of claims 1 to 7.

10. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by a processor, they implement the method described in any one of claims 1 to 7.

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