Vehicle control method, vehicle control device, vehicle, and storage medium

Abstract

The invention provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, the method relates to the field of vehicle body control, the method comprises the steps that when it is detected that the vehicle is powered on and no target signal is detected, an electric windshield is controlled to run in the first direction, and the target signal comprises a zero signal and / or a torque signal; the first direction is used for representing any direction of ascending or descending, and the zero position signal is used for indicating the zero position of the electric windshield; in the process that the electric windshield runs in the first direction, an electric signal of a target motor is obtained, and the target motor is used for driving the electric windshield; when the electric signal is used for representing a locked-rotor signal, a first position, a second position and a torque curve are determined; and controlling the electric windshield to operate based on the first position, the second position and the torque curve. The method can ensure normal use of the electric windshield when the electric windshield is powered off abnormally.

Description

Technical Field

[0001] This application relates to the field of vehicle body control, and more specifically, to a vehicle control method, a vehicle control device, a vehicle, and a storage medium in the field of vehicle body control. Background Technology

[0002] Vehicles can be equipped with electric windshields. In actual use, if an abnormal power outage occurs, the electric windshield will lose its zero position, causing it to malfunction and increasing maintenance costs for users, thus affecting the user experience.

[0003] Therefore, ensuring the normal operation of the electric windshield when it experiences an abnormal power outage is a technical problem that needs to be solved. Summary of the Invention

[0004] This application provides a vehicle control method, a vehicle control device, a vehicle, and a storage medium. The method ensures the normal use of the electric windshield when the electric windshield experiences an abnormal power outage.

[0005] Firstly, a method for controlling a vehicle is provided, the vehicle including an electric windshield, the method comprising: When the vehicle is detected to be powered on and no target signal is detected, the electric windshield is controlled to move in the first direction. The target signal includes a zero position signal and / or a torque signal. The first direction is used to indicate either upward or downward movement. The zero position signal is used to indicate the zero position of the electric windshield. During the movement of the electric windshield in the first direction, an electrical signal of the target motor is acquired, and the target motor is used to drive the electric windshield. When electrical signals are used to represent stall signals, the first position, the second position, and the torque curve are determined. The operation of the electric windshield is controlled based on the first position, the second position, and the torque curve.

[0006] In the embodiments of this application, compared to the prior art where the zero position or torque information is lost due to abnormal power failure, making it impossible to determine the current position of the electric windshield after the vehicle is powered on again, thus failing to control the electric windshield normally, resulting in high maintenance costs and affecting user experience, this solution controls the operation of the electric windshield when the zero position or torque information is lost due to abnormal power failure. It determines whether a stall has occurred by acquiring the electrical signal of the motor driving the electric windshield, thereby determining the limit positions of the windshield's range of motion (i.e., the first position and the second position) and the torque curve, and then controls the normal operation of the electric windshield based on these parameters. Therefore, this solution can complete the mechanical positioning and self-learning of the electric windshield's torque curve by using the stall signal generated by the motor at the mechanical limit when the electric windshield is abnormally powered off, without relying on professional equipment or complex manual calibration, ensuring normal use of the electric windshield in the event of an abnormal power failure.

[0007] In conjunction with the first aspect, in some possible implementations, when an electrical signal is used to represent a stall signal, determining the first position, the second position, and the torque curve includes: When a stall signal is detected in the electrical signal, the current position of the electric windshield is determined as the first position; Control the electric windshield to move in the second direction, which indicates the direction opposite to the first direction; When the electrical signal is detected as a stall signal again, the current position of the electric windshield is determined as the second position; The torque curve is determined based on the first and second positions.

[0008] In the embodiments of this application, two mechanical limit positions (first position and second position) of the electric windshield are determined by sequentially detecting stall signals in two opposite directions, and a torque curve is generated accordingly. Since this scheme uses the stall signals to determine two physical references—the first and second positions—to drive the windshield through one complete stroke, the calibration of the mechanical stroke and the self-learning of the dynamic torque are achieved during the control of the electric windshield. Therefore, without relying on external calibration equipment or complex manual intervention, the system can automatically reconstruct complete control parameters after parameter loss, improving its self-recovery capability and reliability.

[0009] Combining the first aspect and the above implementation methods, in some possible implementation methods, the torque curve is determined based on the first position and the second position, including: During the process of controlling the electric windshield to move between the first position and the second position, the operating data of the electric windshield is acquired, including the position information and current information of the target motor. The torque curve is determined based on the operating data.

[0010] In the embodiments of this application, the electric windshield is controlled to operate between a first position and a second position, and the position and current information of the target motor are simultaneously collected as operating data. The torque curve is then determined based on this operating data. By determining the torque curve using real-time physical data (position and current) of the electric windshield throughout its entire operating stroke, the determined torque curve accurately reflects the current actual resistance characteristics. Therefore, it can provide accurate and adaptive parameter basis for subsequent windshield control (such as anti-pinch function), thereby improving the accuracy and safety of control.

[0011] Combining the first aspect and the above implementation methods, in some possible implementation methods, the torque curve is determined based on operating data, including: Determine the mapping relationship between location information and current information; Based on the mapping relationship, the torque curve is determined, and the current information is proportional to the output torque of the target motor.

[0012] In the embodiments of this application, a mapping relationship between position information and current information is determined, and a torque curve is determined based on this mapping relationship, wherein the current information is proportional to the output torque of the target motor. The mapping relationship established in this scheme relates the physical nature of mechanical position and driving torque, enabling the determined torque curve to accurately and reliably characterize the real-time load characteristics of the motor throughout its entire operating stroke in driving the electric windshield. Therefore, it provides a direct and reliable criterion for torque-based precise control (such as anti-pinch function), improving the safety and accuracy of control.

[0013] In combination with the first aspect and the above implementation methods, in some possible implementation methods, control also includes: When the current value is detected to exceed the preset current threshold, the duration for which the current value exceeds the preset current threshold is determined; When the duration is greater than or equal to a preset time threshold, the electrical signal is determined to be a stall signal.

[0014] In the embodiments of this application, after detecting that the motor current exceeds a preset threshold, it is further determined whether the duration of this state reaches a preset time threshold to identify a stall signal. This solution, through a dual determination combining current amplitude and duration, can effectively distinguish genuine mechanical stall and shield against current fluctuations or interference. Therefore, it can improve the accuracy and anti-interference capability of motor stall detection, providing a reliable and stable triggering benchmark for zero-position positioning and torque learning, thereby ensuring the accuracy of the entire self-learning process and laying the foundation for the normal operation of the subsequent electric windshield.

[0015] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the control method also includes: When the vehicle is detected to be powered on but no target signal is detected, a prompt message is output to prompt the user whether to perform self-learning of the zero position. Controlling the electric windshield to move in the first direction includes: In response to the confirmation of the prompt message, the electric windshield is controlled to move in the first direction.

[0016] In the embodiments of this application, when the vehicle is detected to be powered on but no zero-position signal and / or torque signal is detected, it is determined that the zero-position signal or torque signal of the electric windshield is lost. At this time, the electric windshield cannot be controlled normally. Therefore, a prompt message is output to encourage the user to choose to perform self-learning repair on the electric windshield. Since this solution only initiates self-learning of the electric windshield after receiving confirmation from the user, it provides the user with the right to know and the right to control, preventing the user from controlling the electric windshield when its state is abnormal, and preventing automatic execution of operations without the user's knowledge or expectation, thus improving the user experience.

[0017] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the control method also includes: When the vehicle is detected to be powered on but no target signal is detected, the vehicle's current voltage is obtained; Output prompts, including: When the vehicle's current voltage is detected to be greater than or equal to a preset voltage threshold, a prompt message is output.

[0018] In the embodiments of this application, before outputting the prompt information, the vehicle's current voltage is detected, and output is only performed when it is greater than or equal to a preset voltage threshold. Because this solution checks the vehicle's current voltage before executing the critical self-recovery process, it ensures that zero-position self-learning and torque self-learning are performed under conditions of sufficient and stable power. This prevents unexpected interruptions in the learning process, inaccurate data learning, or hardware damage that may occur due to insufficient voltage, thereby guaranteeing the completion rate, reliability, and hardware safety of the self-recovery process.

[0019] Secondly, a vehicle control device is provided, the device comprising: The control module is used to control the electric windshield to move in a first direction when the vehicle is detected to be powered on and no target signal is detected. The target signal includes a zero position signal and a torque signal. The first direction is used to indicate either upward or downward movement. The processing module is used to determine the first position, the second position, and the torque curve based on the stall signal of the motor of the electric windshield; and to control the operation of the electric windshield based on the first position, the second position, and the torque curve.

[0020] In conjunction with the second aspect, in some implementations of the second aspect, the processing module is specifically used to: when the electrical signal is detected as a stall signal, determine the current position of the electric windshield as a first position; control the electric windshield to run in a second direction, the second direction being used to indicate a direction opposite to the first direction; when the electrical signal is detected as a stall signal again, determine the current position of the electric windshield as a second position; and determine the torque curve based on the first position and the second position.

[0021] Combining the second aspect and the above implementation methods, in some possible implementation methods, the processing module is specifically used to: acquire the operating data of the electric windshield during the operation of the electric windshield between the first position and the second position, the operating data including the position information and current information of the target motor; and determine the torque curve based on the operating data.

[0022] Combining the second aspect and the above implementation methods, in some possible implementation methods, the processing module is specifically used to: determine the mapping relationship between position information and current information; and based on the mapping relationship, determine the torque curve, wherein the current information is proportional to the output torque of the target motor.

[0023] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is further used to: when the current current value is detected to exceed the preset current threshold, determine the duration for which the current current value exceeds the preset current threshold; when the duration is greater than or equal to the preset time threshold, determine that the electrical signal is a stall signal.

[0024] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is further configured to: output a prompt message when the vehicle is detected to be powered on and no target signal is detected, the prompt message being used to prompt the user whether to perform self-learning of the zero position; control the electric windshield to move in the first direction, including: in response to the confirmation operation of the prompt message, controlling the electric windshield to move in the first direction.

[0025] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is further configured to: obtain the current voltage of the vehicle when the vehicle is detected to be powered on and no target signal is detected; and output prompt information, including: outputting prompt information when the current voltage of the vehicle is detected to be greater than or equal to a preset voltage threshold.

[0026] Thirdly, a vehicle is provided, including a memory and a processor; the memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the vehicle control method of the first aspect or any possible implementation thereof.

[0027] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to execute the vehicle control method of the first aspect or any possible implementation thereof.

[0028] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the vehicle control method of the first aspect or any possible implementation thereof. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of a vehicle scenario provided in an embodiment of this application; Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application; Figure 3 This is a schematic flowchart of another vehicle control method provided in an embodiment of this application; Figure 4 This is a schematic diagram of a vehicle control architecture provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0030] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0031] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0032] Before introducing the methods of the embodiments of this application, the technical terms that may be involved in the embodiments of this application will be explained first.

[0033] Electric windshield: Also known as an automatic windshield or adjustable windshield, it is used to adjust the height of the vehicle while it is in motion to change airflow, reduce wind noise, and protect the driver. For example, an electric windshield may include: a glass or composite material panel driven by an electric motor, a guide rail mechanism, a position sensor, and a control unit connected thereto.

[0034] Zero position: also known as origin position, mechanical zero point or reference position, is used to refer to the lowest or highest point of the physical movement range of the electric windshield. It usually refers to the lowest point of the physical movement range of the electric windshield and is the coordinate reference for all position control.

[0035] Torque self-learning: Also known as resistance curve learning, load characteristic learning, or anti-pinch parameter calibration, it is used to automatically collect and establish a mapping curve between motor current (torque) and windshield position by driving the windshield through a full-range motion. This curve can be used to achieve accurate anti-pinch function judgment.

[0036] Stalled rotor signal: Also known as a stalled rotor fault signal, overload protection signal, or mechanical limit detection signal, it indicates a specific electrical state when a drive motor stops rotating due to excessive load (such as reaching mechanical limits). For example, the conditions for its generation may include: the motor current continuously exceeding a threshold for a preset time.

[0037] The Central Electronic Module (CEM), also known as the central gateway, body domain controller, or main controller, serves as the core node of the vehicle's electronic and electrical architecture, coordinating communication and power management between various systems and executing control strategies. For example, in this solution, it can be responsible for fault diagnosis, human-machine interface logic, and sending learning commands to the windshield controller.

[0038] Electric Windscreen Module (EWM): Also known as windscreen drive module, lift control unit or motor controller, it is used to directly receive commands, drive the windscreen motor, detect position and current signals, and execute low-level zero position and torque learning algorithms.

[0039] The vehicle may be equipped with an electric windshield, such as Figure 1 As shown, Figure 1 This is a schematic diagram of a vehicle scenario provided in an embodiment of this application. For example, vehicle 100 includes 10 and 20, where 10 represents an electric windshield and 20 represents a physical button on the left handlebar of vehicle 100.

[0040] In existing technologies, electric windshields require storing key parameters such as their zero position, current position, and torque curve of operating resistance in a fast but volatile cache (e.g., Random Access Memory, RAM) during actual use. Since the hardware devices for non-volatile storage have a limited number of write cycles, rewriting these updated parameters to Flash memory every time the windshield is controlled would shorten its lifespan. Therefore, storing these key parameters in the cache leads to data loss during abnormal power outages (e.g., unexpected battery disconnection). Upon power restoration, the windshield's key parameters cannot be retrieved, rendering it unusable and impacting user experience.

[0041] In view of this, the embodiments of this application provide a vehicle control method, a vehicle control device, a vehicle, and a storage medium. Compared with the prior art, where the zero position or torque information is lost due to abnormal power failure, making it impossible to determine the current position of the electric windshield after the vehicle is powered on again, thus failing to control the electric windshield normally, resulting in high maintenance costs and affecting user experience, this solution controls the operation of the electric windshield when the zero position or torque information is lost due to abnormal power failure. It determines whether a stall occurs by acquiring the electrical signal of the motor driving the electric windshield, thereby determining the limit positions of the windshield's range of motion (i.e., the first position and the second position) and the torque curve, and then controls the normal operation of the electric windshield based on these parameters. Therefore, this solution can complete the mechanical positioning and self-learning of the torque curve of the electric windshield by using the stall signal generated by the motor at the mechanical limit when the electric windshield is abnormally powered off, without relying on professional equipment or complex manual calibration, ensuring normal use of the electric windshield in the event of abnormal power failure.

[0042] The following is combined with Figure 2 A vehicle control method provided in the embodiments of this application will be described in detail.

[0043] Figure 2 This is a schematic flowchart illustrating a vehicle control method provided in an embodiment of this application. Figure 2 As shown, method 200 includes steps S210 to S240, which are described in detail below.

[0044] For example, Figure 2The method 200 shown can be performed by a vehicle; or by a processor in the vehicle; or by a chip in the processor of the vehicle; or by a software platform integrated in an electronic device; or by a controller (e.g., EWM) for controlling an electric windshield.

[0045] S210, when the vehicle is detected to be powered on and no target signal is detected, controls the electric windshield to move in the first direction.

[0046] The target signals include a zero-position signal and / or a torque signal. The zero-position signal can be a zero-position learning completion signal, indicating that the zero-position has been successfully identified and stored, or it can be used to indicate the zero-position of the electric windshield. The torque signal can be a torque learning completion signal, indicating that a position-torque mapping curve has been successfully established. The first direction is used to represent either upward or downward movement.

[0047] In the embodiments of this application, when the vehicle is detected to be powered on and initialized, the learning state of the electric windshield is judged. If the loss of key parameters (zero position and / or torque curve) is detected, the windshield needs to be controlled to perform a directional movement for self-learning of the zero position.

[0048] In one embodiment, the zero position is used to represent the mechanical lowest point of the physical operable range of the electric windshield, in which case the electric windshield is controlled to move downward when the vehicle is detected to be powered on and no target signal is detected.

[0049] For example, after the vehicle is powered on, the "zero position learning status bit" and "torque learning status bit" of the electric windshield are both detected to be 0 (not learned). The drive motor is then activated to control the electric windshield to begin descending in order to find the lowest mechanical point (zero position).

[0050] In another embodiment, the zero position is used to represent the mechanical lowest point of the physical operable range of the electric windshield, in which case the electric windshield is controlled to move upward when the vehicle is detected to be powered on and no target signal is detected.

[0051] For example, after the vehicle is powered on, the "zero position learning status bit" and "torque learning status bit" of the electric windshield are both detected to be 0 (not learned). The drive motor is then activated to control the electric windshield to start rising in order to find the highest mechanical point (zero position).

[0052] One implementation also includes: When the vehicle is detected to be powered on but no target signal is detected, a prompt message is output; Controlling the electric windshield to move in the first direction includes: In response to the confirmation of the prompt message, the electric windshield is controlled to move in the first direction.

[0053] The prompt information is used to prompt the user whether to perform self-learning of the zero position. In essence, it is information in the form of visual, auditory or tactile input that the vehicle actively outputs to the user through interactive functions. Its core function is to inform the user of the fault status of the electric windshield.

[0054] In the embodiments of this application, when the vehicle is detected to be powered on and initialized, the learning state of the electric windshield is judged. If the loss of key parameters (zero position and / or torque curve) is detected, a prompt message is first output, and the user waits for the operation of the prompt message. If the user selects to confirm the self-learning of the zero position, the windshield is controlled to perform a directional movement for the self-learning of the zero position.

[0055] For example, after the vehicle is powered on, if the "zero position learning status bit" and "torque learning status bit" of the electric windshield are both 0 (not learned), a prompt message is generated and displayed on the screen, such as the text: "Windshield automatic function is disabled, do you want to restore it immediately?" If the user selects yes, the message "Start the engine and press the windshield rise switch for more than 5 seconds" is displayed. If the user starts the engine and the windshield rise switch is pressed for more than 5 seconds, the drive motor runs and controls the electric windshield to start rising to find the highest mechanical point (zero position).

[0056] Optionally, the vehicle may be equipped with a timeout timer. After the prompt message is output, if no user confirmation of the prompt message is detected within the preset time of the timeout timer, the recovery process will automatically exit.

[0057] Optionally, if no user confirmation is detected after three consecutive outputs of prompt messages, then when a fault is detected in the electric windshield again, no prompt message will be output to avoid disturbing the user. Instead, a prompt message will only be output when the user selects to control the electric windshield or uses related functions of the electric windshield.

[0058] Optionally, upon the first detection of a fault, a primary warning (brief description) is output. If the user ignores the warning several times consecutively, and the same fault is detected again upon vehicle power-on, a more detailed and prominent secondary warning (such as adding a warning sound or flashing icon) is output, along with simplified operation instructions (such as "Press and hold the windshield rise button for more than 5 seconds to directly start recovery"). This strategy adapts to different users' attention levels and operational intentions, balancing safety reminders with user experience.

[0059] In the above implementation, when the vehicle is detected to be powered on but no zero-position signal and / or torque signal is detected, it is determined that the zero-position signal or torque signal of the electric windshield is lost. At this time, the electric windshield cannot be controlled normally, so a prompt message is output to encourage the user to choose to perform self-learning repair on the electric windshield. Because this solution only initiates self-learning of the electric windshield after receiving confirmation from the user, it provides the user with the right to know and the right to control, preventing the user from controlling the electric windshield when its status is abnormal, and preventing automatic operations from being performed without the user's knowledge or expectation, thus improving the user experience.

[0060] One implementation also includes: When the vehicle is detected to be powered on but no target signal is detected, the vehicle's current voltage is obtained; Output prompts, including: When the vehicle's current voltage is detected to be greater than or equal to a preset voltage threshold, a prompt message is output.

[0061] The current voltage represents the voltage of the vehicle's battery, which is the energy source for all electronic control units, actuators, and lighting loads in the vehicle. The preset voltage threshold is a pre-stored voltage threshold value used to determine whether the current power supply capacity has the minimum energy required to support the subsequent self-learning process. For example, the preset voltage threshold can be set to 13V.

[0062] For example, after the vehicle is powered on, the "zero position learning status bit" and "torque learning status bit" of the electric windshield are both detected to be 0 (not learned). During the self-test, the battery voltage is detected to be 13.2V (higher than the preset voltage threshold of 13V). At this time, a prompt message is generated and displayed on the screen, such as the text: "Windshield automatic function is malfunctioning. Do you want to restore it immediately?" If the user selects "yes", the message "Start the engine and press the windshield rise switch for more than 5 seconds" is displayed. If the user starts the engine and the windshield rise switch is pressed for more than 5 seconds, the drive motor will run to control the electric windshield to start rising in order to find the highest mechanical point (zero position).

[0063] Optionally, if the vehicle is powered on and the "zero position learning status bit" of the electric windshield is 0 (not learned) and the "torque learning status bit" is 0 (not learned), and the battery voltage is detected to be 12.8V (lower than the preset voltage threshold of 13V) during the self-test, then the current voltage is low and it is necessary to prioritize powering other controllers to ensure the vehicle's driving function.

[0064] In the above implementation, before outputting the prompt message, the vehicle's current voltage is detected, and output is only performed if it is greater than or equal to a preset voltage threshold. Because this solution checks the vehicle's current voltage before executing the critical self-recovery process, it ensures that zero-position self-learning and torque self-learning are performed under conditions of sufficient and stable power. This prevents unexpected interruptions in the learning process, inaccurate data learning, or hardware damage that may occur due to insufficient voltage, thereby guaranteeing the completion rate, reliability, and hardware safety of the self-recovery process.

[0065] S220 acquires the electrical signal of the target motor during the movement of the electric windshield in the first direction.

[0066] The target motor is used to drive the electric windshield. Electrical signals are physical quantities used to represent the electrical state or motion behavior of the target motor during operation.

[0067] Optionally, the signal can be modulated for each pulse width of the target motor, or at a specific phase point. S230 determines the first position, second position, and torque curve when the electrical signal is used to represent the stall signal.

[0068] In one implementation, when the first direction is downward, the first position is the lowest mechanical point, i.e., the zero position, and the second position is the highest mechanical point.

[0069] In another implementation, when the first direction is upward, the first position is the highest mechanical point, i.e., the zero position, and the second position is the lowest mechanical point.

[0070] In the embodiments of this application, if the electrical signal of the target motor is detected to indicate a stall signal, that is, the target motor is stalled, it can be determined that the position of the electric windshield is at the limit position of the physical operating range, that is, the first position or the second position, and the torque curve during operation can be determined.

[0071] One implementation also includes: When the current value is detected to exceed the preset current threshold, the duration for which the current value exceeds the preset current threshold is determined; When the duration is greater than or equal to a preset time threshold, the electrical signal is determined to be a stall signal.

[0072] For example, suppose the preset current threshold is 2A and the preset time threshold is 500ms. When controlling the electric windshield to go down or up, if the current current value of the motor is detected to be 2.5A (greater than the preset current threshold of 2A), a timer is started. If the current value of the motor is detected to be greater than 2A within 500ms, it is determined that the motor is stalled, and the electrical signal is a stall signal.

[0073] Optionally, when controlling the electric windshield to descend or ascend, if a current value of 3A is detected, but the current value only lasts for 50ms, the current value may be affected by circuit fluctuations or interference, and it cannot be determined that the signal is a stall signal.

[0074] In the above implementation, after detecting that the motor current exceeds a preset threshold, it is further determined whether the duration of this state reaches a preset time threshold to identify the stall signal. This solution, through a dual determination combining current amplitude and duration, can effectively distinguish true mechanical stall and shield against current fluctuations or interference. Therefore, it can improve the accuracy and anti-interference capability of motor stall detection, providing a reliable and stable triggering benchmark for zero-position positioning and torque learning, thereby ensuring the accuracy of the entire self-learning process and laying the foundation for the normal operation of the subsequent electric windshield.

[0075] In one implementation, the above method includes: When a stall signal is detected in the electrical signal, the current position of the electric windshield is determined as the first position; Control the electric windshield to move in the second direction; When the electrical signal is detected as a stall signal again, the current position of the electric windshield is determined as the second position; The torque curve is determined based on the first and second positions.

[0076] Wherein, when the first direction is used to indicate a downward movement, the second direction is used to indicate an upward movement; when the first direction is used to indicate an upward movement, the second direction is used to indicate a downward movement.

[0077] In the embodiments of this application, when the electric windshield is controlled to run in the first direction to the physical limit, the current position is determined as the first position, and the electric windshield is controlled to run in the opposite direction (second direction) to reach the second position; then, the torque curve is determined based on the data collected within this range, using the two physical limits (the first position and the second position) as boundaries.

[0078] In the above implementation, by sequentially detecting stall signals in two opposite directions, the two mechanical limit positions (first position and second position) of the electric windshield are determined, and a torque curve is generated accordingly. Since this scheme uses the stall signals to determine the first and second physical references, driving the windshield to complete one full stroke, the calibration of the mechanical stroke and self-learning of dynamic torque are achieved during the control of the electric windshield. Therefore, without relying on external calibration equipment or complex manual intervention, it can automatically reconstruct complete control parameters after parameter loss, improving the system's self-recovery capability and reliability.

[0079] In one implementation, the above method includes: During the process of controlling the electric windshield to move between the first position and the second position, the operating data of the electric windshield is acquired; The torque curve is determined based on the operating data.

[0080] The operational data includes the target motor's position and current information.

[0081] In the embodiments of this application, when the electric windshield is controlled to run in the first direction to the physical limit, the current position is determined as the first position, and the electric windshield is controlled to run in the opposite direction (second direction) to reach the second position; then, the torque curve is determined based on the data collected within this range, using the two physical limits (the first position and the second position) as boundaries.

[0082] It should be understood that the process of the electric windshield moving between the first position and the second position may include moving from the first position to the second position and then moving from the second position back to the first position.

[0083] In the above implementation, the electric windshield is controlled to operate between a first position and a second position, while simultaneously collecting the position and current information of the target motor as operating data. The torque curve is then determined based on this operating data. By determining the torque curve using real-time physical data (position and current) of the electric windshield throughout its entire operating stroke, the determined torque curve accurately reflects the actual resistance characteristics. Therefore, it provides accurate and adaptive parameter data for subsequent windshield control (such as anti-pinch function), thereby improving the accuracy and safety of control.

[0084] In one implementation, the above method includes: Determine the mapping relationship between location information and current information; The torque curve is determined based on the mapping relationship.

[0085] Among them, the current information is proportional to the output torque of the target motor.

[0086] For example, the electric windshield is controlled to rise at a constant speed from a first position (encoder value 0) to a second position (encoder value 5000). Data is collected every 5ms, reading the motor encoder value (e.g., 1250) and the motor current value (e.g., 1.8A), forming a data pair (1250, 1.8) and storing it in an array. After the windshield completes its operation, the array stores approximately 1000 such data pairs. A curve fitting function is then called, using these 1000 points as input. Finally, a torque curve is generated, representing the current distribution from position 0 to 5000.

[0087] It should be understood that for an electric motor, under constant magnetic field conditions, the torque it produces is positively correlated with the current value. The relationship between position and current can be replaced by the relationship between position and motor torque.

[0088] Optionally, the data usually needs to be preprocessed before fitting, such as removing outliers, filtering and smoothing, and possibly creating two curves based on the direction of motion (ascending / descending) because the direction of the gravitational load is different.

[0089] Optionally, when performing curve fitting, the data can be filtered out, removing the first 100 and the last 100 data points for acceleration and deceleration phases.

[0090] In the above implementation, a mapping relationship between position information and current information is determined, and a torque curve is determined based on this mapping relationship, where the current information is proportional to the output torque of the target motor. The mapping relationship established in this scheme relates the physical essence of mechanical position and driving torque, enabling the determined torque curve to accurately and reliably characterize the real-time load characteristics of the motor throughout its entire operating stroke in driving the electric windshield. Therefore, it provides a direct and reliable criterion for torque-based precise control (such as anti-pinch function), improving the safety and accuracy of control.

[0091] S240 controls the operation of the electric windshield based on the first position, the second position, and the torque curve.

[0092] In the embodiments of this application, after determining the first position, the second position and the torque curve, the zero-position self-learning and torque self-learning of the electric windshield are completed, and the automatic control function can be executed at this time; when performing the automatic control function, control is performed based on the above parameters.

[0093] For example, when it is detected that the user presses the windshield rise switch and the vehicle power off switch, it is determined that the current command to be executed is to turn on the cleaning mode. At this time, the motor is controlled to drive the windshield to rise to the highest position (e.g., the second position).

[0094] Optionally, during the process of driving the windshield to rise, the torque / current corresponding to different positions on the torque curve is used to determine whether an obstacle is not encountered during the rising process (i.e., the anti-pinch function of the electric windshield).

[0095] Optionally, the automatic control functions of the electric windshield may include: anti-pinch function, automatic descent function, motor thermal protection function, memory function, etc.

[0096] In the above embodiments, compared to the prior art, where the vehicle loses its zero position or torque information due to abnormal power failure, making it impossible to determine the current position of the electric windshield after the vehicle is powered on again, thus failing to control the electric windshield normally, resulting in high maintenance costs and affecting user experience, this solution controls the operation of the electric windshield when the vehicle loses its zero position or torque information due to abnormal power failure. It determines whether a stall has occurred by acquiring the electrical signal of the motor driving the electric windshield, thereby determining the limit positions of the windshield's movement range (i.e., the first and second positions) and the torque curve, and then controls the normal operation of the electric windshield based on these parameters. Therefore, this solution can complete the mechanical positioning and self-learning of the electric windshield's torque curve by utilizing the stall signal generated by the motor at the mechanical limit when the electric windshield experiences an abnormal power failure, without relying on specialized equipment or complex manual calibration, ensuring normal use of the electric windshield even in the event of an abnormal power failure.

[0097] The following is combined with Figure 3 Another vehicle control method provided in the embodiments of this application will be described in detail.

[0098] Figure 3 This is a schematic flowchart illustrating another vehicle control method provided in an embodiment of this application. Figure 3 As shown, method 300 includes S301 to S308, which are described in detail below.

[0099] For example, Figure 3 The method 300 shown can be executed by a vehicle; or by a processor in the vehicle; or by a chip in the processor of the vehicle; or by a software platform integrated in an electronic device.

[0100] S301 controls the CEM to perform a self-test after detecting that the vehicle is powered on.

[0101] For example, when the system detects that the user has pressed the start button, the vehicle is powered on, and the CEM begins a power-on self-test, initializes communication between the buses, and reads its own stored state.

[0102] Alternatively, the implementation of S301 can be found in [reference needed]. Figure 2 The relevant descriptions in S210 will not be repeated here.

[0103] S302, determine whether the CEM has detected a zero-position unlearned state signal or a torque unlearned state signal; if yes, execute S304; if no, execute S303.

[0104] For example, the CEM receives a message from the EWM via the CAN bus, where both the "zero-position learning flag" and the "torque learning flag" are 0, indicating that self-learning data has been lost. If the "zero-position learning flag" is detected as 0, it indicates a zero-position not-learned status signal; if the "torque learning flag" is detected as 0, it indicates a torque-learned status signal. If either the "zero-position learning flag" or the "torque learning flag" is detected as 0, S304 is executed to perform zero-position self-learning; if no such flag is detected, no prompt message is output, and the system waits for user operation before executing S303.

[0105] Alternatively, the implementation of S302 can be found in [reference needed]. Figure 2 The relevant descriptions in S210 will not be repeated here.

[0106] S303, awaiting user action.

[0107] For example, after the prerequisites are met, a waiting loop is entered, continuously scanning input channels such as steering wheel buttons, central control screen touch or voice commands, and waiting for user response.

[0108] S304: Determine if the voltage is greater than 13V; if yes, proceed to S305; if no, proceed to S303.

[0109] For example, CEM reads the battery voltage through the analog-to-digital conversion channel, and after filtering, the current voltage value is 13.8V, which is greater than the preset 13V threshold. If this is determined, the power supply condition is met, and S305 is executed to perform zero-position self-learning and torque self-learning. If the voltage is less than or equal to 13V, S303 is executed.

[0110] Alternatively, the implementation of S304 can be found in [reference needed]. Figure 2 The relevant descriptions in S210 will not be repeated here.

[0111] S305 outputs a prompt message.

[0112] For example, the CEM sends a command to the instrument cluster, and the display shows the message: "Windshield calibration required. Please start the engine and press and hold the windshield up button for more than 5 seconds to restore calibration."

[0113] Alternatively, the implementation of S305 can be found in [reference needed]. Figure 2 The relevant descriptions in S210 will not be repeated here.

[0114] S306, determine whether the windshield rise button has been pressed for more than 5 seconds; if yes, proceed to S307; if no, proceed to S303.

[0115] For example, the CEM detects that the "windshield riser switch" signal from the body control module changes from high level to low level (pressed) and starts timing. The condition is met after the low level signal is maintained for more than 5000 milliseconds.

[0116] Alternatively, the implementation of S306 can be found in [reference needed]. Figure 2 The relevant descriptions in S210 will not be repeated here.

[0117] S307 controls the CEM to send 3 frames of zero-position self-learning signals to the EWM, so that the EWM drives the electric windshield to descend to the lowest mechanical point to perform zero-position learning.

[0118] For example, CEM continuously sends three frames of messages with ID 0x321 and data containing "zero position learning command" to EWM via CAN bus. After receiving the message, EWM controls the motor to reverse and drives the windshield to descend until the stall protection is triggered, and records the position at this time as zero position.

[0119] Alternatively, the implementation of S307 can be found in [reference needed]. Figure 2 The relevant descriptions in S220 will not be repeated here.

[0120] After detecting the zero-position learning status signal, S308 controls the CEM to send 3 frames of torque self-learning signals to the EWM, so that the EWM drives the electric windshield to rise from the lowest mechanical point to the highest point, and then run back to the lowest point to perform torque learning.

[0121] For example, after receiving the "zero-point learning complete" message returned by EWM, CEM sends three more consecutive messages with ID 0x322 and data containing "torque learning command". EWM controls the motor to rotate forward, driving the windshield to rise uniformly from the lowest point to the highest point, and then descend back to the lowest point, recording the current-position curve during this process.

[0122] Alternatively, the implementation of S308 can be found in [reference needed]. Figure 2 The relevant descriptions in S230 will not be repeated here.

[0123] In the above embodiments, compared to the prior art, where the vehicle loses its zero position or torque information due to abnormal power failure, making it impossible to determine the current position of the electric windshield after the vehicle is powered on again, thus failing to control the electric windshield normally, resulting in high maintenance costs and affecting user experience, this solution controls the operation of the electric windshield when the vehicle loses its zero position or torque information due to abnormal power failure. It determines whether a stall has occurred by acquiring the electrical signal of the motor driving the electric windshield, thereby determining the limit positions of the windshield's movement range (i.e., the first and second positions) and the torque curve, and then controls the normal operation of the electric windshield based on these parameters. Therefore, this solution can complete the mechanical positioning and self-learning of the electric windshield's torque curve by utilizing the stall signal generated by the motor at the mechanical limit when the electric windshield experiences an abnormal power failure, without relying on specialized equipment or complex manual calibration, ensuring normal use of the electric windshield even in the event of an abnormal power failure.

[0124] The following is combined with Figure 4 A schematic diagram of a vehicle control architecture provided in an embodiment of this application is described in detail.

[0125] Figure 4 This is a schematic diagram of a vehicle control architecture provided in an embodiment of this application. Figure 4 As shown, the vehicle's control architecture 400 includes an operation switch 410, a system power mode control module 421, a vehicle speed control module 422, an engine control module 423, a left-hand handle switch control module 430, a multimedia host 440, a central electronic control module 450, an electric windshield control module 460, a display screen 470, and an electric windshield 480.

[0126] The operation switch 410 can also be called a physical button, button or switch. The operation switch 410 and the left handlebar switch control module 430 can also be collectively referred to as the user input layer or the first-level input interface. It can be used to receive the driver's direct physical commands for vehicle functions (including electric windshield raising and lowering, cleaning mode triggering and long press confirmation operation in the self-recovery process) and send the physical commands to the left handlebar switch control module 430.

[0127] The system power mode control module 421, also known as the power management module or part of the body controller, can be used to monitor and report the power status of the vehicle (such as ACC, ON position), providing key signals for the central electronic control module 450 to determine the "vehicle power-on" condition.

[0128] The vehicle speed control module 422, also known as the anti-lock braking system / electronic stability program control module or part of the vehicle controller, can be used to provide vehicle speed signals in real time, ensuring that the central electronic control module 450 is only allowed to trigger the windshield's self-learning process under safe conditions such as when the vehicle is stationary (vehicle speed is 0).

[0129] The engine control module 423, also known as the engine control unit, can be used to control the starting and running of the engine. Its status signals (such as engine speed) can be used by the central electronic control module 450 to determine whether the power supply is sufficient (such as whether the engine is running to drive the generator) and can serve as a prerequisite for executing the self-learning process.

[0130] The left-hand handle switch control module 430, also known as the left-hand handle combination switch controller or the left-side electronic control unit of the steering handle, can be used as a node for collecting and processing electrical signals in the driver's left-hand operating area. It receives and processes the original physical command electrical signals from the operating switches 410 (such as the windshield lift rocker switch, power off switch, etc.), converts them into standard digital messages that conform to the vehicle's internal network communication protocol, and sends them to the central electronic control module 450, thereby accurately transmitting the user's physical operating intentions to the vehicle control system.

[0131] The multimedia host 440 can also be called the infotainment system host or central control screen controller; it can be used as an advanced user interaction interface to receive the user's mode selection and setting of the electric windshield function through the touch screen or knob, and transmit this digital command to the central electronic control module 450.

[0132] The central electronic control module 450, also known as the central gateway, body domain controller, or main controller, can be used as the core decision-making unit of the architecture. It is responsible for receiving signals from various input and status modules, performing vehicle power-on self-test, fault status diagnosis (such as detecting loss of zero position / torque self-learning status), voltage condition judgment, human-machine interaction logic management, and generating final control commands (such as zero position and torque self-learning commands) to be sent to the actuator module.

[0133] The electric windshield control module 460, also known as the electric windshield controller or EWM, can be used as a dedicated actuator driver. It receives self-learning instructions from the central electronic control module 450, directly drives the electric windshield motor to perform lifting and lowering actions, monitors the motor current and position in real time, and completes low-level control algorithms such as zero-position locking and torque curve learning. At the same time, it feeds back the self-learning status signal to the central electronic control module 450.

[0134] The display screen 470, also known as a combination instrument or instrument panel, can be used as the main human-machine interface to receive instructions from the central electronic control module 450 and display various prompts to the user, including fault prompts, self-recovery operation step guidance, self-learning process status, and completion confirmation.

[0135] The electric windshield 480 can also be called an electric lifting windshield or an adjustable windshield; it can be used as the final controlled actuator to perform physical lifting and lowering movements under the drive of the electric windshield control module 460.

[0136] The above text combined Figures 1 to 4 This application provides a detailed description of a vehicle control method based on its embodiments; the following will be combined with... Figure 5 and Figure 6 The apparatus embodiments of this application are described in detail below. It should be understood that the apparatus in the embodiments of this application can perform the various methods described in the foregoing embodiments of this application, that is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0137] Figure 5 This is a schematic diagram of a vehicle control device provided in an embodiment of this application. The vehicle control device 500 includes a control module 510 and a processing module 520.

[0138] The control module is used to control the electric windshield to move in a first direction when the vehicle is detected to be powered on and no target signal is detected. The target signal includes a zero position signal and a torque signal. The first direction is used to indicate either upward or downward movement. The processing module is used to determine the first position, the second position, and the torque curve based on the stall signal of the motor of the electric windshield; and to control the operation of the electric windshield based on the first position, the second position, and the torque curve.

[0139] Optionally, as an embodiment, the processing module 520 is specifically used to: when the electrical signal is detected as a stall signal, determine the current position of the electric windshield as a first position; control the electric windshield to run in a second direction, the second direction being used to indicate a direction opposite to the first direction; when the electrical signal is detected as a stall signal again, determine the current position of the electric windshield as a second position; and determine the torque curve based on the first position and the second position.

[0140] Optionally, as an embodiment, the processing module 520 is specifically used to: acquire the operating data of the electric windshield during the operation of the electric windshield between the first position and the second position, the operating data including the position information and current information of the target motor; and determine the torque curve based on the operating data.

[0141] Optionally, as an embodiment, the processing module 520 is specifically used to: determine the mapping relationship between position information and current information; and based on the mapping relationship, determine the torque curve, wherein the current information is proportional to the output torque of the target motor.

[0142] Optionally, as an embodiment, the processing module 520 is further configured to: when the current current value is detected to exceed a preset current threshold, determine the duration for which the current current value exceeds the preset current threshold; and when the duration is greater than or equal to a preset time threshold, determine that the electrical signal is a stall signal.

[0143] Optionally, as an embodiment, the processing module 520 is further configured to: output a prompt message when the vehicle is detected to be powered on and no target signal is detected, the prompt message being used to prompt the user whether to perform self-learning of the zero position; and control the electric windshield to move in a first direction, including: in response to the confirmation operation of the prompt message, controlling the electric windshield to move in the first direction.

[0144] Optionally, as an embodiment, the processing module 520 is further configured to: obtain the current voltage of the vehicle when the vehicle is detected to be powered on and no target signal is detected; and output prompt information, including: outputting prompt information when the current voltage of the vehicle is detected to be greater than or equal to a preset voltage threshold.

[0145] It should be noted that the control device 500 of the aforementioned vehicle is embodied in the form of a functional unit. The term "module" here can be implemented in software and / or hardware, without specific limitations.

[0146] For example, a "module" can be a software program, hardware circuit, or a combination of both that implements the above functions. Hardware circuits may include application-specific integrated circuits (ASICs), electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functions.

[0147] Therefore, the units of the various examples described in the embodiments of this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0148] Figure 6 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0149] For example, vehicle 600 includes processor 610, memory 620 and executable program code 630.

[0150] For example, vehicle 600 includes one or more processors 610 that can support the vehicle control method in the method embodiment. The processor 610 can be a general-purpose processor or a special-purpose processor. For example, processor 610 can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0151] For example, the processor 610 can be used to control the vehicle 600, execute software programs, and process data from the software programs. The vehicle 600 may also include a communication unit for receiving and transmitting signals.

[0152] For example, the vehicle 600 may include one or more memories 620 storing executable program code 630. The executable program code 630 can be run by the processor 610 to generate instructions, causing the processor 610 to execute the vehicle control method described in the above method embodiments according to the instructions. For example, the processor 610 executes the following according to the instructions: when the vehicle is detected to be powered on and no target signal is detected, it controls the electric windshield to move in a first direction, the target signal including a zero position signal and / or a torque signal, the first direction being used to indicate either an upward or downward direction, and the zero position signal being used to indicate the zero position of the electric windshield; during the movement of the electric windshield in the first direction, it acquires the electrical signal of the target motor, the target motor being used to drive the electric windshield; when the electrical signal is used to indicate a stall signal, it determines a first position, a second position, and a torque curve; based on the first position, the second position, and the torque curve, it controls the operation of the electric windshield.

[0153] Optionally, the memory 620 may also store data. Optionally, the processor 610 may also read data stored in the memory 620, which may be stored at the same memory address as the executable program code 630, or the data may be stored at a different memory address than the executable program code 630.

[0154] For example, the processor 610 and memory 620 can be configured separately or integrated together, for example, integrated on the system-on-chip (SOC) of the terminal device.

[0155] For example, the memory 620 can be used to store the relevant program of the vehicle control method provided in the embodiments of this application, and the processor 610 can be used to call the executable program code 630 stored in the memory 620 when controlling the vehicle to execute the vehicle control method of the embodiments of this application. This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method of any of the foregoing embodiments.

[0156] The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives, and magneto-optical disks, read-only memory (ROMs), random access memory (RAMs), erasable programmable read-only memory (EPROMs), electrically erasable programmable read-only memory (EEPROMs), dynamic random access memory (DRAMs), video random access memory (VRAMs), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and / or data.

[0157] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement the vehicle control method in the above embodiments.

[0158] In addition, the electronic device provided in the embodiments of this application may specifically be a chip, component or module. The electronic device may include a connected processor and a memory. The memory is used to store instructions. When the electronic device is running, the processor may call and execute the instructions to make the chip execute the vehicle control method in the above embodiments.

[0159] The vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding vehicle control method provided above, and will not be repeated here.

[0160] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0161] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0162] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that, The vehicle includes an electric windshield, and the control method includes: When the vehicle is detected to be powered on and no target signal is detected, the electric windshield is controlled to move in a first direction. The target signal includes a zero position signal and / or a torque signal. The first direction is used to indicate either an upward or downward direction. The zero position signal is used to indicate the zero position of the electric windshield. During the process of the electric windshield moving in the first direction, an electrical signal of the target motor is acquired, and the target motor is used to drive the electric windshield. When the electrical signal is used to represent a stall signal, a first position, a second position, and a torque curve are determined. The operation of the electric windshield is controlled based on the first position, the second position, and the torque curve.

2. The control method according to claim 1, characterized in that, When the electrical signal is used to represent a stall signal, determining the first position, the second position, and the torque curve includes: When the electrical signal is detected to be the stall signal, the current position of the electric windshield is determined as the first position; The electric windshield is controlled to move in a second direction, which indicates a direction opposite to the first direction. When the electrical signal is detected as the stall signal again, the current position of the electric windshield is determined as the second position; The torque curve is determined based on the first position and the second position.

3. The control method according to claim 2, characterized in that, Determining the torque curve based on the first position and the second position includes: During the process of controlling the electric windshield to move between the first position and the second position, the operating data of the electric windshield is acquired, and the operating data includes the position information and current information of the target motor; The torque curve is determined based on the operating data.

4. The control method according to claim 3, characterized in that, Determining the torque curve based on the operating data includes: Determine the mapping relationship between the location information and the current information; Based on the mapping relationship, the torque curve is determined, and the current information is proportional to the output torque of the target motor.

5. The control method according to claim 1, characterized in that, The control also includes: When the current value is detected to exceed a preset current threshold, the duration for which the current value exceeds the preset current threshold is determined; When the duration is greater than or equal to a preset time threshold, the electrical signal is determined to be the stall signal.

6. The control method according to any one of claims 1 to 5, characterized in that, The control method further includes: When the vehicle is detected to be powered on and no target signal is detected, a prompt message is output. The prompt message is used to prompt the user whether to perform self-learning on the zero position. The control of the electric windshield to move in the first direction includes: In response to the confirmation operation of the prompt information, the electric windshield is controlled to move in the first direction.

7. The control method according to claim 6, characterized in that, The control method further includes: When the vehicle is detected to be powered on but no target signal is detected, the current voltage of the vehicle is acquired; The output prompt information includes: When the current voltage of the vehicle is detected to be greater than or equal to a preset voltage threshold, the prompt message is output.

8. A vehicle control device, characterized in that, The vehicle includes an electric windshield, and the device includes: The control module is used to control the electric windshield to move in a first direction when the vehicle is detected to be powered on and no target signal is detected. The target signal includes a zero position signal and a torque signal. The first direction is used to indicate either an upward or downward direction. The processing module is used to determine a first position, a second position, and a torque curve based on the stall signal of the motor of the electric windshield; and to control the operation of the electric windshield based on the first position, the second position, and the torque curve.

9. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the control method as described in any one of claims 1 to 7.

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