Vehicle door anti-pinch control method and device, medium and equipment

Abstract

The invention provides a vehicle door anti-pinch control method and device, a medium and equipment. A self-suction motor is controlled to output self-suction force by responding to a vehicle door self-suction instruction; collecting self-absorption current of the self-absorption motor in a plurality of self-absorption time; if the self-suction current exceeds the reference current range of the corresponding self-suction time, the self-suction motor is controlled to release the self-suction force; wherein the reference current range is determined according to the historical current of the self-priming motor; in the self-suction process, self-suction currents are compared for each self-suction time, if a certain self-suction current exceeds the corresponding reference current range, it is judged that foreign matter exists at the vehicle door, at the moment, the anti-pinch function is started, that is, the self-suction force is released, and the self-suction time is shortened. The self-absorption process is divided into a plurality of time periods for detailed analysis to improve the recognition precision of the anti-pinch function triggering condition, and the reference current range is dynamically adjusted in combination with the historical current to reduce the interference of external factors on the self-absorption current, so that the anti-pinch effect and precision are further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle door control, in particular to a vehicle door anti-pinch control method, device, medium and equipment. BACKGROUND

[0002] With the continuous development of automobile technology, more and more automobiles have been equipped with electric suction doors. The existing electric suction door technology is to control the closing of the vehicle door by an actuator when a user closes the vehicle door, so that the vehicle door can be closed quietly. In order to ensure that the suction can be successfully completed under various working conditions, the suction force of the electric suction door during self-suction can be more than 800 Newton, and if a passenger's finger is mistakenly pinched during the suction process, it may cause serious injury. Therefore, the electric suction door with anti-pinch function also emerges as the times require. The anti-pinch function is that if foreign matter is detected during the closing process of the vehicle door, the self-suction force of the electric suction door will be released to avoid pinching the passenger.

[0003] The electric suction door needs to overcome the resistance generated by the sealing strip to suck the vehicle door from the half-lock position to the full-lock position during the closing process. However, due to different specifications and performances of different vehicle door sealing strips and different use environments, the resistances are different, and the resistance of the sealing strip will also change after being used for a period of time, that is, the resistance of the sealing strip is not fixed and unchangeable, so that the demand for self-suction force to overcome the resistance of the sealing strip is also changing. This makes the method of judging whether there is foreign matter based on the size of the self-suction force or the self-suction current inaccurate, which may lead to safety accidents. Therefore, there is an urgent need for a method that can accurately determine whether there is foreign matter during the closing process of the vehicle door to improve the accuracy of anti-pinch control. SUMMARY

[0004] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a vehicle door anti-pinch control method, device, medium and equipment.

[0005] According to one aspect of the present application, a vehicle door anti-pinch control method is provided, comprising: in response to a vehicle door self-suction instruction, controlling a self-suction motor to output a self-suction force; collecting self-suction currents of the self-suction motor at multiple self-suction times; if the self-suction current exceeds a reference current range corresponding to the self-suction time, controlling the self-suction motor to release the self-suction force; wherein the reference current range is determined according to historical currents of the self-suction motor.

[0006] In an embodiment, the collecting the self-suction currents of the self-suction motor at multiple self-suction times comprises: collecting the self-suction currents of the self-suction motor at multiple self-suction times according to a preset time difference.

[0007] In an embodiment, the determining the reference current range according to the historical current of the self-sucking motor comprises: storing a plurality of historical currents of the self-sucking motor; wherein the historical current comprises a self-sucking current of the self-sucking motor at a plurality of self-sucking times; calculating a reference current of the self-sucking motor at the plurality of self-sucking times based on the plurality of historical currents; and determining the reference current range of the plurality of self-sucking times based on the reference currents of the plurality of self-sucking times.

[0008] In an embodiment, the calculating the reference current of the self-sucking motor at the plurality of self-sucking times based on the plurality of historical currents comprises: calculating the reference current of the same self-sucking time by weightedly averaging the historical currents of the same self-sucking time in the plurality of historical currents.

[0009] In an embodiment, the determining the reference current range of the plurality of self-sucking times based on the reference currents of the plurality of self-sucking times comprises: increasing a preset proportion on the basis of each reference current to obtain an upper limit value of the corresponding reference current range.

[0010] In an embodiment, the controlling the self-sucking motor to release the self-sucking force if the self-sucking current exceeds the reference current range of the corresponding self-sucking time comprises: controlling the self-sucking motor to release the self-sucking force if the self-sucking current is greater than the upper limit value of the reference current range of the corresponding self-sucking time.

[0011] In an embodiment, the vehicle door anti-pinch control method further comprises: controlling the self-sucking motor to continue to output the self-sucking force if the self-sucking current does not exceed the reference current range of the corresponding self-sucking time.

[0012] According to another aspect of the present application, a vehicle door anti-pinch control device is provided, comprising: a self-sucking instruction execution module configured to control a self-sucking motor to output a self-sucking force in response to a vehicle door self-sucking instruction; a self-sucking current acquisition module configured to acquire a self-sucking current of the self-sucking motor at a plurality of self-sucking times; and an anti-pinch control execution module configured to control the self-sucking motor to release the self-sucking force if the self-sucking current exceeds a reference current range of a corresponding self-sucking time; wherein the reference current range is determined according to a historical current of the self-sucking motor.

[0013] According to another aspect of the present application, a computer readable storage medium is provided, the storage medium storing a computer program, the computer program being configured to execute any of the above-mentioned methods.

[0014] According to another aspect of the present application, an electronic device is provided, comprising: a processor; a memory configured to store instructions executable by the processor; and the processor configured to execute any of the above-mentioned methods.

[0015] The application provides a vehicle door anti-pinch control method, device, medium and equipment. The self-suction motor is controlled to output self-suction force in response to a self-suction instruction. Self-suction currents of the self-suction motor at multiple self-suction times are collected. If the self-suction current exceeds a reference current range corresponding to the self-suction time, the self-suction motor is controlled to release the self-suction force. The reference current range is determined according to historical currents of the self-suction motor. The self-suction process is divided into multiple self-suction times, and the reference current is determined based on the historical currents of the self-suction motor. In the self-suction process, the self-suction currents are compared for each self-suction time. If a self-suction current exceeds the corresponding reference current range, it is determined that there is a foreign object at the vehicle door. At this time, the anti-pinch function is started, that is, the self-suction force is released. The self-suction process is divided into multiple time periods for detailed analysis to improve the recognition accuracy of the anti-pinch function triggering condition. The reference current range is dynamically adjusted in combination with the historical currents to reduce the interference of external factors on the self-suction current, thereby further improving the anti-pinch effect and accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of embodiments of the present application taken in conjunction with the accompanying drawings. The accompanying drawings are provided to aid in the understanding of the present application and are not intended to limit the present application. The same reference numerals in different drawings denote the same or similar components or steps.

[0017] Figure 1 FIG. 1 is a flowchart of a vehicle door anti-pinch control method according to an example embodiment of the present application.

[0018] Figure 2 FIG. 2 is a structural diagram of a vehicle door control system according to an example embodiment of the present application.

[0019] Figure 3 FIG. 3 is a structural diagram of an upper limit value curve of a reference current range according to an example embodiment of the present application.

[0020] Figure 4 FIG. 4 is a structural diagram of an anti-pinch function triggering state according to an example embodiment of the present application.

[0021] Figure 5 FIG. 5 is a structural diagram of a vehicle door anti-pinch control device according to an example embodiment of the present application.

[0022] Figure 6 FIG. 6 is a structural diagram of an electronic device according to an example embodiment of the present application.

[0023] FIG. 7 is a structural diagram of an electronic device according to an example embodiment of the present application. DETAILED DESCRIPTION

[0024] Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part but not all of the embodiments of the present application. It should be understood that the present application is not limited to the described embodiments.

[0025] Figure 1 is a flowchart of a vehicle door anti-pinch control method provided by an example embodiment of the present application. As shown in Figure 1 the vehicle door anti-pinch control method includes the following steps: Step 110: in response to a self-suction instruction of the vehicle door, controlling the self-suction motor to output a self-suction force.

[0026] The vehicle door anti-pinch control method of the present application is applied to a vehicle door control system, wherein, as shown in Figure 2As shown, the vehicle door control system includes a vehicle door control module 21, a door lock control module 22, a self-suction control module 23, a self-suction motor 24, and a door lock 25. The vehicle door control module 21 is connected to the door lock control module 22 and the self-suction control module 23. The self-suction control module 23 is connected to the self-suction motor 24. The self-suction motor 24 is connected to the door lock 25. The door lock control module 22 is connected to the door lock. The vehicle door control module 21 sends a self-suction instruction to the self-suction control module 23. The self-suction control module 23 sends a self-suction drive control instruction to the self-suction motor 24 to control the self-suction motor 24 to rotate forward after receiving the self-suction instruction sent by the vehicle door control module 21, or sends a release drive control instruction to the self-suction motor 24 to control the self-suction motor 24 to rotate reversely when the anti-pinch function is triggered. The self-suction motor 24 drives the door lock 25 to self-suction through a mechanical pull wire according to the drive control instruction after receiving the drive control instruction. During the self-suction process, the self-suction motor 24 returns the current signal of itself to the self-suction control module 23. The self-suction control module 23 returns the current signal of the self-suction motor 24 to the vehicle door control module 21. The door lock control module 22 receives the unlock or electric opening signal sent by the vehicle door control module 21, and sends an execution instruction of the unlock or electric opening control to the door lock 25 according to the unlock or electric opening signal. The door lock 25 executes the corresponding action after receiving the execution instruction, and returns the state signal of the door lock 25 to the door lock control module 22. The door lock control module 22 returns the door lock state signal to the vehicle door control module 21. The vehicle door control module 21 is also in communication connection with an external system (including an inner pull handle, an outer pull handle, and the like), and the door lock 25 is mechanically connected to the external system through a mechanical pull wire or the like, so that the control signal of the external system is input to the vehicle door control system through the vehicle door control module 21. In addition, passengers can manually open and close the door lock through the inner pull handle or the outer pull handle in the external system. When there is a need to lock the door, the vehicle door control module 21 sends a vehicle door self-suction instruction to the self-suction control module 23. The self-suction control module 23 controls the self-suction motor 24 to output a self-suction force to drive the door lock 25 to self-suction and lock after receiving the vehicle door self-suction instruction.

[0027] Step 120: Collecting the self-suction current of the self-suction motor at multiple self-suction times.

[0028] The vehicle door self-suction process includes self-suction locking of the door lock from the half-lock position to the full-lock position. During the vehicle door self-suction process, the self-suction current of the self-suction motor is collected in real time, and the self-suction current of the self-suction motor at multiple self-suction times is recorded, i.e., the self-suction current at multiple specific times during the process of the door lock from the half-lock position to the full-lock position is recorded, so as to determine whether there is a foreign object (including the clothes, fingers, and the like of passengers) at the vehicle door during the self-suction process. Specifically, the self-suction current of the self-suction motor at the self-suction time since the start of the self-suction can be collected as the basis for determining whether to trigger the anti-pinch function.

[0029] Step 130: If the self-sucking current exceeds the reference current range corresponding to the self-sucking time, the self-sucking motor is controlled to release the self-sucking force.

[0030] The reference current range is determined according to the historical current of the self-sucking motor. If the self-sucking current at a certain self-sucking time exceeds the corresponding reference current range, it is determined that there is a foreign object at the door at this time, and the self-sucking motor is controlled to release the self-sucking force to realize that the door returns to the half-lock position or the open position, thereby realizing the anti-pinch function. The self-sucking process is divided into multiple time periods and the corresponding reference current range is set, and when the self-sucking current exceeds the corresponding reference current range, the anti-pinch function is executed, thereby quickly triggering the anti-pinch function and improving safety. Because the self-sucking motor and the door will have certain wear during use, and the self-sucking resistance is different under different use conditions, for example, the activity of the lubricating oil of the door decreases at low temperature, thereby increasing the resistance, thereby causing the self-sucking resistance of the door or the resistance of the self-sucking motor itself to change (for example, increase), and the self-sucking current of the self-sucking motor will also change in order to overcome the resistance during the self-sucking process, thereby causing the self-sucking current of the self-sucking motor to fluctuate under different times and environments. The application dynamically determines the reference current range according to the historical current of the self-sucking motor, which can avoid the misjudgment of the anti-pinch caused by the fluctuation of the self-sucking current of the self-sucking motor (caused by the change of the use condition), thereby improving the triggering accuracy of the anti-pinch function.

[0031] The application provides a door anti-pinch control method, which comprises the following steps: responding to a door self-sucking instruction, controlling a self-sucking motor to output a self-sucking force; collecting self-sucking currents of the self-sucking motor at multiple self-sucking times; if the self-sucking current exceeds the reference current range corresponding to the self-sucking time, the self-sucking motor is controlled to release the self-sucking force; wherein the reference current range is determined according to the historical current of the self-sucking motor; by dividing the self-sucking process into multiple self-sucking times and determining the reference current based on the historical current of the self-sucking motor, the self-sucking currents are compared for each self-sucking time during the self-sucking process. If there is a self-sucking current that exceeds the corresponding reference current range, it is determined that there is a foreign object at the door, and the anti-pinch function is started at this time, that is, the self-sucking force is released. The self-sucking process is divided into multiple time periods for detailed analysis to improve the recognition accuracy of the anti-pinch function triggering condition, and the reference current range is dynamically adjusted in combination with the historical current to reduce the interference of external factors on the self-sucking current, thereby further improving the anti-pinch effect and accuracy.

[0032] In an embodiment, the specific implementation of step 120 can be: collecting the self-sucking currents of the self-sucking motor at multiple self-sucking times according to a preset time difference.

[0033] The application sets a time difference The self-sucking process is divided into multiple time periods, and the self-sucking current is collected once in each time period, for example, the self-sucking current is collected , 2 , 3 , …, n the self-suction current at the self-suction time to obtain a plurality of self-suction currents at self-suction times. It should be understood that when the self-suction current at the self-suction time is collected, the self-suction motor is controlled to continue to output the self-suction force and the self-suction current at the next self-suction time is collected in chronological order, on the premise that the self-suction current at the previous self-suction time does not exceed the corresponding reference current range. If the self-suction current at a certain self-suction time does not exceed the corresponding reference current range, it can be directly determined that there is a foreign object at the vehicle door, at which time the self-suction motor is controlled to release the self-suction force and no longer collect the self-suction current.

[0034] In an embodiment, the specific determination method of the reference current range can be: storing the recent multiple historical currents of the self-suction motor; wherein the historical current includes the self-suction current of the self-suction motor at multiple self-suction times; calculating the reference current of the self-suction motor at multiple self-suction times based on the multiple historical currents; and determining the reference current range at multiple self-suction times based on the reference currents at multiple self-suction times.

[0035] The application determines the current basis for judging whether there is a foreign object at the vehicle door by storing the recent multiple historical currents (for example, the last 10 self-suction currents) of the self-suction motor, calculating the reference current of the self-suction motor at the self-suction time according to the multiple historical currents, and determining the reference current range at multiple self-suction times in combination with the reference currents in the multiple historical currents. Preferably, the application automatically updates the historical current after each vehicle door closing is completed. Specifically, the self-suction current in the current vehicle door closing process can be used to replace the earliest self-suction current in the stored historical current, so as to ensure that the stored historical current is the recent multiple self-suction currents in time, thereby ensuring the accuracy of the self-suction current and improving the reliability of the reference current range.

[0036] In an embodiment, the specific calculation method of the reference current can be: weightedly averaging the historical currents at the same self-suction time in the multiple historical currents to calculate the reference current at the same self-suction time.

[0037] The application calculates the reference current of the same self-suction time in multiple historical currents by weighted evaluation. Optionally, the application can directly obtain the average value of the same self-suction time in multiple historical currents (i.e. the weights of multiple historical currents are the same) as the reference current, or set different weights of multiple historical currents, for example, set the weight of the historical current closer to the current time as larger, so as to further reduce the influence of the self-suction current of a long time ago (which may be quite different from the current running environment of the self-suction motor) on the reference current, and then improve the reliability of the reference current. It should be understood that the application automatically adjusts the weight of each historical current after updating the historical current, for example, the weight of the updated historical current is the largest, and the weight of the other historical current is sequentially reduced.

[0038] In an embodiment, the specific determination method of the above reference current range can be: increasing a preset proportion on the basis of each reference current to obtain the upper limit value of the corresponding reference current range.

[0039] Since the existence of foreign matter can be determined when the self-suction current is low, the anti-pinch function will not be triggered when the self-suction current is low, therefore, the application does not set a lower limit for the reference current range. After the application calculates the reference current of multiple self-suction times according to multiple historical currents (as shown by the solid line in Figure 3 , a preset proportion (for example, 5%) is added on the basis of the reference current, so as to obtain the upper limit value of the reference current range of multiple self-suction times (as shown by the dotted line in Figure 3 ), which is used as the determination standard for determining whether the self-suction current in the self-suction process exceeds the reference current range.

[0040] In an embodiment, the specific implementation of the above step 130 can be: if the self-suction current is greater than the upper limit value of the reference current range of the corresponding self-suction time, the self-suction motor is controlled to release the suction force.

[0041] If the self-suction current of a certain self-suction time is greater than the upper limit value of the corresponding reference current range (as shown in Figure 4 ), it is determined that there is foreign matter at the door at this time, at this time, the anti-pinch function is triggered, the self-suction motor is controlled to release the suction force and reverse to drive the door lock to the half-lock or fully open position to avoid injuring the passenger. Preferably, the application can further determine whether the next self-suction time of the current self-suction time is greater than the upper limit value of the corresponding reference current range when the self-suction current of the current self-suction time exceeds the upper limit value of the corresponding reference current range during the self-suction process, if it is greater, it is determined that there is foreign matter at the door, at this time, the anti-pinch function is triggered, the self-suction motor is controlled to release the suction force and reverse to drive the door lock to the half-lock or fully open position to avoid injuring the passenger, if it is less than or equal to, it means that the self-suction current of the current self-suction time may be abnormal fluctuation or abnormal data collection, which can be ignored.

[0042] In an embodiment, the door anti-pinch control method can further include: if the deviation between the self-sucking current and the reference current corresponding to the self-sucking time is greater than a preset value, controlling the self-sucking motor to run for a first time and then pause for a second time.

[0043] In the self-sucking process, if the deviation (the difference between the self-sucking current and the reference current corresponding to the self-sucking time) between the self-sucking current and the reference current corresponding to the self-sucking time is greater than a preset value (for example, 1% of the reference current corresponding to the self-sucking time), indicating that the self-sucking current has an upward trend, the warning function is started (for example, as shown in FIG. 1). Figure 4 The specific warning function is: controlling the self-sucking motor to run for a first time (for example, 100 milliseconds) and then pause the self-sucking process for a second time (for example, 500 milliseconds). If a passenger's finger is pinched in the door gap, the passenger will feel pain within the first time, and the passenger can pull out the finger within the pause time (the second time). The self-sucking motor further collects the self-sucking current after pausing for the second time. If the self-sucking current returns to the normal range (i.e., the deviation between the self-sucking current and the reference current corresponding to the self-sucking time is less than the preset value), the self-sucking process is continued until the door lock is closed. If the self-sucking current continues to rise to the upper limit value of the reference current range corresponding to the self-sucking time (for example, 5% of the reference current corresponding to the self-sucking time), the self-sucking motor is controlled to release the self-sucking force.

[0044] Optionally, if the warning function is started multiple times in a single self-sucking process and the anti-pinch function is not triggered, it indicates that the preset value is set too small. At this time, the preset value can be appropriately increased to reduce the false start rate of the warning function.

[0045] In an embodiment, the door anti-pinch control method can further include: if the self-sucking current does not exceed the reference current range corresponding to the self-sucking time, controlling the self-sucking motor to continue to output the self-sucking force.

[0046] In the self-sucking process, if the self-sucking current of the current self-sucking time does not exceed the corresponding reference current range, the self-sucking motor is controlled to continue to output the self-sucking force. If the self-sucking currents of all self-sucking times do not exceed the corresponding reference current range (i.e., are less than or equal to the upper limit value of the corresponding reference current range) in the entire self-sucking process, it is determined that there is no foreign matter in the door during the self-sucking process. At this time, the door lock can be controlled to be closed to achieve the locking of the door.

[0047] In one embodiment, this application also includes an anti-pinch emergency stop function. Specifically, by manually operating an external system (e.g., an inner or outer handle), a control signal is transmitted to the door control module 21. The door control module 21 then sends a command to the self-priming control module 23, thereby controlling the self-priming motor 24 to stop self-priming and reverse to release the door lock 25. For example, in the event of a sudden situation (e.g., a power outage) where the anti-pinch function fails, the anti-pinch emergency stop function can be triggered by touching the inner or outer handle. Furthermore, by pulling the mechanical cables of the inner or outer handle, the mechanical structure of the door lock 25 can be disengaged, releasing the door to prevent injury from being pinched.

[0048] Figure 5 This is a schematic diagram of the structure of a door anti-pinch control device provided in an exemplary embodiment of this application. Figure 5 As shown, the door anti-pinch control device 50 includes: a self-priming command execution module 51, used to respond to the door self-priming command and control the self-priming motor to output self-priming force; a self-priming current acquisition module 52, used to acquire the self-priming current of the self-priming motor at multiple self-priming times; and an anti-pinch control execution module 53, used to control the self-priming motor to release the self-priming force if the self-priming current exceeds the reference current range of the corresponding self-priming time; wherein, the reference current range is determined based on the historical current of the self-priming motor.

[0049] This application provides a door anti-pinch control device. A self-priming command execution module 51 responds to a door self-priming command, controlling the self-priming motor to output self-priming force. A self-priming current acquisition module 52 acquires the self-priming current of the self-priming motor at multiple self-priming times. If the self-priming current exceeds the reference current range for the corresponding self-priming time, the anti-pinch control execution module 53 controls the self-priming motor to release the self-priming force. The reference current range is determined based on the historical current of the self-priming motor. By dividing the self-priming process into multiple self-priming times and determining the reference current based on the historical current of the self-priming motor, the self-priming current is compared for each self-priming time during the self-priming process. If a self-priming current exceeds the corresponding reference current range, it is determined that there is a foreign object at the door, and the anti-pinch function is activated, i.e., the self-priming force is released. Dividing the self-priming process into multiple time periods for detailed analysis improves the accuracy of identifying the trigger conditions for the anti-pinch function. Furthermore, the reference current range is dynamically adjusted based on historical current to reduce interference from external factors on the self-priming current, thereby further improving the anti-pinch effect and accuracy.

[0050] In one embodiment, the self-priming current acquisition module 52 can be further configured to: acquire the self-priming current of the self-priming motor at multiple self-priming times according to a preset time difference.

[0051] In one embodiment, the specific method for determining the above-mentioned reference current range may be: storing the most recent historical currents of the self-priming motor; wherein the historical currents include the self-priming current of the self-priming motor at multiple self-priming times; calculating the reference current of the self-priming motor at multiple self-priming times based on the multiple historical currents; and determining the reference current range of multiple self-priming times based on the reference currents at multiple self-priming times.

[0052] In one embodiment, the specific calculation method of the above-mentioned reference current may be: weighted average of the historical currents at the same self-absorption time in multiple historical currents to calculate the reference current at the same self-absorption time.

[0053] In one embodiment, the specific method for determining the above-mentioned reference current range may be: adding a preset ratio to each reference current to obtain the upper limit value of the corresponding reference current range.

[0054] In one embodiment, the anti-pinch control execution module 53 can be further configured to: if the self-priming current is greater than the upper limit of the reference current range of the corresponding self-priming time, control the self-priming motor to release the self-priming force.

[0055] In one embodiment, the aforementioned door anti-pinch control device 50 may be further configured to: if the self-priming current does not exceed the reference current range of the corresponding self-priming time, then control the self-priming motor to continue outputting self-priming force.

[0056] Below, for reference Figure 6 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0057] Figure 6 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0058] like Figure 6 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0059] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0060] The memory 12 can include one or more computer program products that can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), cache memory, and / or the like. The non-volatile memory, for example, can include read only memory (ROM), hard disk drives, solid state drives, and / or the like. The computer-readable storage media can store one or more computer program instructions implementing the methods of the embodiments of the present application described above and / or other desired function. Various contents such as input signals, signal components, noise components, and the like can also be stored in the computer-readable storage media.

[0061] In one example, the electronic device 10 can further include an input device 13 and an output device 14, which are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0062] When the electronic device is a stand-alone device, the input device 13 can be a communication network connector for receiving acquired input signals from the first device and the second device.

[0063] In addition, the input device 13 can further include, for example, a keyboard, a mouse, and the like.

[0064] The output device 14 can output various information including determined distance information, direction information, and the like to the outside. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0065] Of course, in order to simplify, Figure 6 Only some of the components of the electronic device 10 related to the present application are shown in FIG. 1, and components such as buses, input / output interfaces, and the like are omitted. In addition, the electronic device 10 can include any other appropriate components according to the specific application.

[0066] In addition to the above-described methods and devices, embodiments of the present application can be a computer program product including computer program instructions that, when executed by a processor, cause the processor to perform the steps of the methods according to the embodiments of the present application described in the above "Exemplary Methods" section of the specification.

[0067] The computer program product can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. The embodiments of the present application are not limited by the

[0068] In addition, an embodiment of the present application can also be a computer readable storage medium, which stores computer program instructions, and when the computer program instructions are run on a processor, the processor executes the steps of the methods according to various embodiments of the present application described in the above "Exemplary Methods" section of the specification.

[0069] The computer readable storage medium can be any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0070] The above describes the basic principles of the present application in combination with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present application are only examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as the must-have of each embodiment of the present application. In addition, the above specific details are only for the purpose of example and understanding, and the above details do not limit the present application to the must-have of the above specific details.

[0071] The block diagrams of the devices, apparatuses, equipment, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connection, arrangement, configuration must be as shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include," "contain," "have," and the like are open-ended words that are intended to mean "including but not limited to," and are to be used interchangeably. The words "or" and "and" as used herein are intended to mean "and / or," and are to be used interchangeably, unless the context clearly indicates otherwise. The word "such as" as used herein is intended to mean "such as but not limited to," and is to be used interchangeably.

[0072] It is also important to note that each of the devices, apparatuses, and methods described in this application can be embodied in a variety of forms, including but not limited to a device, a system, a method, a computer program product, a process, a business method, a data structure, and the like.

[0073] The above description of disclosed aspects is provided to enable any person skilled in the art to make or use the application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0074] The above description has been presented for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the forms disclosed herein. Although various example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A door anti-pinch control method characterized by, The method comprises: in response to a self-sucking instruction of a vehicle door, controlling a self-sucking motor to output a self-sucking force; collecting self-sucking currents of the self-sucking motor at multiple self-sucking times; if the self-sucking current exceeds a reference current range corresponding to the self-sucking time, controlling the self-sucking motor to release the self-sucking force; wherein the reference current range is determined according to historical currents of the self-sucking motor.

2. The vehicle door anti-pinch control method according to claim 1, characterized by, The collecting of the self-sucking currents of the self-sucking motor at the multiple self-sucking times comprises: collecting the self-sucking currents of the self-sucking motor at the multiple self-sucking times according to a preset time difference.

3. The vehicle door anti-pinch control method according to claim 1, characterized by, The reference current range determined according to the historical currents of the self-sucking motor comprises: storing multiple historical currents of the self-sucking motor; wherein the historical currents comprise the self-sucking currents of the self-sucking motor at the multiple self-sucking times; calculating reference currents of the self-sucking motor at the multiple self-sucking times based on the multiple historical currents; determining the reference current ranges of the multiple self-sucking times based on the reference currents of the multiple self-sucking times.

4. The vehicle door anti-pinch control method according to claim 3, characterized by, The calculation of the reference currents of the self-sucking motor at the multiple self-sucking times based on the multiple historical currents comprises: weighting the historical currents of the same self-sucking time in the multiple historical currents to calculate the reference current of the same self-sucking time.

5. The vehicle door anti-pinch control method according to claim 3, characterized by, The determination of the reference current ranges of the multiple self-sucking times based on the reference currents of the multiple self-sucking times comprises: increasing a preset proportion on the basis of each reference current to obtain an upper limit value of the corresponding reference current range.

6. The vehicle door anti-pinch control method according to claim 5, characterized by, The control of the self-sucking motor to release the self-sucking force if the self-sucking current exceeds the reference current range corresponding to the self-sucking time comprises: if the self-sucking current is greater than the upper limit value of the reference current range corresponding to the self-sucking time, controlling the self-sucking motor to release the self-sucking force.

7. The vehicle door anti-pinch control method according to claim 1, characterized by, The vehicle door anti-pinch control method further comprises: if the self-sucking current does not exceed the reference current range corresponding to the self-sucking time, controlling the self-sucking motor to continue to output the self-sucking force.

8. A door anti-pinch control device characterized by comprising: The method comprises: a self-sucking instruction execution module for controlling a self-sucking motor to output a self-sucking force in response to a self-sucking instruction of a vehicle door; a self-sucking current collection module for collecting self-sucking currents of the self-sucking motor at multiple self-sucking times; an anti-pinch control execution module for controlling the self-sucking motor to release the self-sucking force if the self-sucking current exceeds a reference current range corresponding to the self-sucking time; wherein the reference current range is determined according to historical currents of the self-sucking motor.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is used to execute the method of any one of claims 1-7.

10. An electronic device, comprising: The method comprises: a processor; a memory for storing instructions executable by the processor; the processor is used to execute the method of any one of claims 1-7.

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