Vehicle door anti-pinch intelligent response system based on pressure distribution analysis

Abstract

The invention discloses a vehicle door anti-pinch intelligent response system based on pressure distribution analysis. The vehicle door anti-pinch intelligent response system comprises a pressure distribution detection module, a shielding detection module, a vehicle door state judgment module and a control and analysis module. The system recognizes and early warns shelters in an opening and closing path of a vehicle door on the basis of sheltering detection in the stage that the vehicle door is ready to be closed, judges whether clamping or clamping risks exist or not on the basis of dot-matrix pressure distribution analysis in the stage that the vehicle door is in butt joint, and gives an alarm or intervenes in response by combining whether the vehicle door has the active door closing execution capacity or not. Through staged collaborative analysis of the vehicle door state, shielding information and pressure distribution, the method can effectively avoid human body clamping injury, article damage or vehicle door structure damage caused by forcibly closing the door under the condition that an operator does not know the situation or the view is limited, and is suitable for various structural forms such as an electric door, an electric suction door and a common manual vehicle door.

Description

Technical Field

[0001] This invention relates to the field of intelligent response system for preventing door pinching based on pressure distribution analysis. Background Technology

[0002] With the continuous improvement of vehicle electrification and intelligence, the safety of car doors during the closing process, as one of the most frequently interacted components between the vehicle and its occupants, has gradually gained attention. To reduce the risk of pinching injuries to people, animals, or objects during door closing, various forms of door anti-pinch technology have been applied in existing vehicles.

[0003] Currently, a common type of anti-pinch door solution relies on the operating status of the door drive system. For example, it detects changes in motor current, load, or resistance during the closing process of electric or soft-close doors to infer whether a pinch has occurred. When the door encounters abnormal resistance during closing, the system triggers an alarm or controls the door to move in the opposite direction. This type of solution is relatively simple to implement and easy to integrate with the door drive system, and has already been applied in some vehicle models. However, this technology is essentially a reactive approach, only responding after the door has made significant contact with a person or object and generated substantial resistance. It lacks the ability to proactively identify obstructions in the door's path before closing, and is prone to response delays or misjudgments in high-frequency pinch scenarios such as with flexible objects or clothing edges.

[0004] Another existing approach involves placing trigger-based or simple sensing devices in the door opening and closing area to restrict or interrupt the door closing action when a person or object is detected entering the door gap. This type of approach can achieve active protection before the door closes to a certain extent, but it typically relies on detection signals from a single point or a limited area, making it difficult to comprehensively perceive the spatial distribution of obstructions or clamps, and also difficult to distinguish between different types of obstructing objects. Furthermore, this type of approach often assumes that the door has full active closing capability, making it insufficiently adaptable to ordinary manual door closing structures or door types with limited closing capabilities.

[0005] In real-world scenarios, the risk of being trapped in a car door often doesn't occur when the operator is aware of an obstruction, but rather more frequently during the door-closing process when the operator is unaware. For example, when visibility is limited or the other side of the door is not visible, the operator may struggle to detect whether a person, animal, or object is within the door's opening and closing path. In scenarios where multiple people are getting on and off the vehicle simultaneously, it's common for one passenger to have already exited while another passenger is still partially inside the door's opening and closing mechanism. Furthermore, when carrying a lot of personal belongings or clothing, or when attention is diverted, flexible objects such as clothing edges or backpack straps are easily overlooked. In these situations, the operator, often aiming to "ensure the door is properly closed and prevent it from being slack," may unknowingly increase the force of closing the door, causing trapping injuries to people, animals, or objects in unseen areas, or even damaging the door structure itself.

[0006] Existing technologies have significant shortcomings in dealing with scenarios involving unintentional forceful door slamming. On one hand, anti-pinch methods relying solely on closing resistance or a single trigger signal are insufficient to effectively intervene before pinching occurs. On the other hand, the lack of timing analysis of door status and closing intent means that obstruction detection or trigger signals may be triggered even when the door is open or stationary, making them susceptible to interference from occupant activity or environmental factors, leading to unnecessary alarms or false interventions. Furthermore, existing solutions generally lack the ability to analyze the contours of obstructed or pinching areas, making it difficult to provide users with intuitive and interpretable risk warnings.

[0007] In view of the safety hazards caused by forcefully closing doors when the operator is unaware, has limited visibility, or makes a mistake, a door anti-pinch intelligent response system based on pressure distribution analysis is proposed. Summary of the Invention

[0008] The purpose of this invention is to provide a door anti-pinch intelligent response system based on pressure distribution analysis to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a door anti-pinch intelligent response system based on pressure distribution analysis, comprising a pressure distribution detection module, a triggering component, an obstruction detection module, a door state judgment module, and a control and analysis module. The pressure distribution detection module is disposed on one side of the door opening / closing portion and is used to detect the pressure distribution between the door opening / closing portions during the door opening / closing process. The triggering component is disposed on the side opposite to the pressure distribution detection module, and after the door opening / closing portions are connected, the triggering component is configured to correspond to the outer shape of the pressure distribution detection module, and cooperates with the pressure distribution detection module to generate a pressure detection signal. The obstruction detection module is disposed on the door opening / closing portion and determines whether there is an obstruction within the path of the door opening / closing portion by the spatial change relationship of the transmitted and received detection signals. The door state judgment module is disposed on one movable end of the door opening / closing portion and determines whether the door is in a stationary state and whether there is an intention to close the door by detecting the displacement change trend. The control and analysis module is connected to the pressure distribution detection module, the obstruction detection module, and the door status judgment module. When it detects a door closing operation intention and there is still an obstruction in the docking path of the door opening and closing part, it outputs a warning message. Alternatively, after the door opening and closing part docks, it determines whether clamping has occurred based on the pressure distribution detected by the pressure distribution detection module. Both the pressure distribution detection module and the obstruction detection module are distributed in a dot matrix form. The control and analysis module determines the contour range of the obstruction area or the pressure area based on the triggered dot matrix distribution.

[0010] Preferably, the door state determination module is used to obtain the intention to close the door. The determination of the intention to close the door is based on at least one or a combination of the following methods: Based on the signal change characteristics of the obstruction detection module, when the transmitted and received detection signals show a continuous change trend or instantaneous change characteristics related to the door movement within the door opening and closing path, it is determined that there is an intention to close the door; Based on the state detection signals of the door shaft, hinge, or transmission parts, when the door is detected to rotate, displace, or drive, it is determined that there is an intention to close the door; Based on the triggering state of the door control switch, electric door control signal, or actuator, when a door closing control command or drive signal is detected, it is determined that there is an intention to close the door; The control and analysis module triggers a warning message when it detects the intention to close the door and there is still an obstruction within the door opening and closing docking path, and does not trigger a warning message when the door is stationary and no intention to close the door is detected.

[0011] Preferably, when the control and analysis module detects a risk of door closure failure, it executes different response methods depending on whether the door has an active closing mechanism. Specifically: when the door has an active closing mechanism, after triggering a warning message or determining that there is a risk of being pinched, the module controls the door closing process to pause, decelerate, or reverse to prevent the door from continuing to close, and simultaneously alarms the vehicle's infotainment system; when the door does not have an active closing mechanism, after triggering a warning message or determining that there is a risk of being pinched, the module outputs an alarm prompt in the form of sound, light, or human-machine interaction.

[0012] Preferably, the control and analysis module analyzes the pressure distribution information collected by the pressure distribution detection module. When the pressure distribution detected during the docking process of the door opening and closing part is uniformly distributed, the door is determined to be in a normal closed state. When the pressure distribution is detected to be obviously abnormal, concentrated or abrupt in a local area of ​​the door opening and closing part, it is determined that there is a clamping or clamping risk, and this state is treated as a door closing risk.

[0013] Preferably, the receiving and transmitting units of the obstruction detection module are integrated and set on one of the two sides of the door opening and closing part. By transmitting and receiving on the same side to detect the corresponding position information on the opposite side, the obstruction detection module determines whether there is an obstruction in the path of the door opening and closing part and the distance and distribution of the obstruction to the transmitting end based on the comparison between the transmitting and receiving signals and the instantaneous reasonable position of the door opening and closing part.

[0014] Preferably, the receiving and transmitting units of the obstruction detection module are respectively located on one of the two sides of the door opening and closing part. By transmitting and receiving on the opposite side, the relative position information of the two sides of the door opening and closing part is obtained. The obstruction detection module determines whether there is an obstruction in the path of the door opening and closing part and the distance and distribution of the obstruction to the transmitting end based on the comparison between the transmitting and receiving signals and the instantaneous reasonable position of the door opening and closing part.

[0015] Preferably, the receiving and transmitting units of the obstruction detection module are integrated and respectively set on both sides of the door opening and closing part. By transmitting and receiving on the opposite side, the relative position information of the two sides of the door opening and closing part is obtained. The obstruction detection module determines whether there is an obstruction in the path of the door opening and closing part and the distance and distribution of the obstruction to the transmitting end based on the comparison between the transmitting and receiving signals and the instantaneous reasonable position of the door opening and closing part.

[0016] Preferably, when the control and analysis module detects an obstruction or a pressure state, it performs correlation analysis on the triggered detection units, and according to the triggering relationship, triggering order and triggering density of adjacent detection units, it merges the continuously triggered detection units into the same recognition area, and determines the contour range of the obstruction or pressure area based on the distribution range of the detection units in the recognition area.

[0017] Preferably, the control and analysis module comprehensively analyzes the dot matrix detection data collected by the pressure distribution detection module and the obstruction detection module, wherein: based on the pressure exerted on the pressure distribution detection module by the outer trigger component during the door opening and closing process, the module analyzes the pressure magnitude and trend of each detection unit to form dot matrix distribution information reflecting the shape characteristics of the pressure area; based on the distance measurement data obtained by the obstruction detection module corresponding to each position within the door opening and closing path, the module analyzes the spatial distribution differences of the obstruction relative to the side where the detection unit is located or the two sides of the door opening and closing part, forming dot matrix distance information reflecting the spatial position and thickness characteristics of the obstruction; the control and analysis module fuses the above pressure dot matrix distribution information and distance dot matrix distribution information, constructs the corresponding spatial coordinate relationship in the background, and uses it to identify the shape characteristics of foreign objects within the door opening and closing path or in the clamping state, and determines the type of foreign object based on the shape characteristics, outputting corresponding reminder information, voice broadcast information and / or door control commands.

[0018] A response method for a vehicle door anti-pinch intelligent response system based on pressure distribution analysis includes the following steps: S1, Vehicle door opening or stationary state monitoring step: When the vehicle door is in an open or stationary state, obstruction detection is performed within the opening and closing path of the vehicle door; When an obstruction is detected, the obstruction is identified but no vehicle-mounted system alert is triggered, only the monitoring state is maintained; When no obstruction is detected, no alert is triggered, and the vehicle-mounted system continues to monitor the vehicle door status; S2, Door closing state warning step: When a door closing intention is detected, obstruction detection is performed within the opening and closing path of the vehicle door; When an obstruction is detected within the opening and closing path of the vehicle door, a vehicle-mounted system alert is triggered to indicate a risk of door closing; When no obstruction is detected, no alert is triggered, and the vehicle door is allowed to enter the closing process; S3, Door closing or docking process anti-pinch response step: During the door closing or docking process, the docking position of the opening and closing part of the vehicle door is detected by a pressure distribution detection module; When a clamping object is detected, the clamping object is analyzed and a vehicle-mounted system alert is triggered, wherein: When the car door is equipped with an electric suction door or an active docking actuator, the door is prohibited from continuing to dock and an alert is triggered; when the car door does not have an active docking actuator and docking has been completed, only an alert is triggered; when no object is detected, no alert is triggered, and the car door is allowed to close or dock normally.

[0019] Compared with existing technologies, the beneficial effects of this invention are as follows: By introducing an intelligent response mechanism combining door status judgment, obstruction detection, and pressure distribution analysis in the door opening and closing area, this invention enables the system to identify and handle potential risks during the door closing process in stages, even before the operator is aware of the presence of a human, animal, or object in the door path. Specifically, during the door preparation closing stage, obstruction detection provides early detection and warning of invisible foreign objects in the closing path. During the door docking stage, pressure distribution matrix accurately identifies local abnormal pressure, thereby avoiding injuries to the human body, damage to objects, or damage to the door structure caused by the operator unknowingly slamming the door shut for the purpose of tightening. At the same time, the system adopts differentiated alarm or intervention methods based on whether the door has the ability to actively close. It is applicable to door structures with actuators, such as electric doors and electric suction doors, as well as ordinary manual door closing scenarios. While ensuring safety, it avoids false alarms and excessive intervention, solving the problems of existing door anti-pinch technologies, such as difficulty in timely response to unknowing forceful door closing, high risk of clamping in invisible areas, and insufficient adaptability to different door structures. Attached Figure Description

[0020] Figure 1 This is a flowchart of the intelligent response system of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see Figure 1This invention provides a technical solution: an intelligent response system for preventing door pinching based on pressure distribution analysis, comprising a pressure distribution detection module, a triggering component, an obstruction detection module, a door status judgment module, and a control and analysis module. The pressure distribution detection module is located on one side of the door opening / closing section and is used to detect the pressure distribution between the door opening / closing sections during the door opening / closing process. The triggering component is located on the opposite side of the pressure distribution detection module, and after the door opening / closing sections are connected, the triggering component corresponds to the outer shape of the pressure distribution detection module, cooperating with the pressure distribution detection module to generate a pressure detection signal. The obstruction detection module is located on the door opening / closing section and determines whether there is an obstruction within the path of the door opening / closing section by the spatial change relationship of the transmitted and received detection signals. The door status judgment module is located at one movable end of the door opening / closing section and determines whether the door is in a stationary state and whether there is an intention to close the door by detecting the displacement change trend. The control and analysis module is connected to the pressure distribution detection module, the obstruction detection module, and the door status judgment module. When it detects a door closing operation intention and there is still an obstruction in the docking path of the door opening and closing part, it outputs a warning message. Alternatively, after the door opening and closing part docks, it determines whether clamping has occurred based on the pressure distribution detected by the pressure distribution detection module. Both the pressure distribution detection module and the obstruction detection module are distributed in a dot matrix form. The control and analysis module determines the contour range of the obstruction area or the pressure area based on the triggered dot matrix distribution.

[0023] This invention provides a door anti-pinch intelligent response system based on pressure distribution analysis, including a pressure distribution detection module, a triggering component, an obstruction detection module, a door state judgment module, and a control and analysis module. The system is installed in the relative docking area of ​​the door opening and closing part, and is used to identify and respond to the obstruction risk within the door opening and closing part path and the pinch risk after docking throughout the entire process of the door moving from the open state to the preparation to close and docking to close.

[0024] The pressure distribution detection module is located on one side of the door opening and closing section, such as on the inner side of the door frame, the inner side of the door edge, or the inner lining structure of one of these. Preferably, it is arranged in a form that can be attached, embedded, or modularly replaced in the area where force may be received. The pressure distribution detection module is used to detect the pressure distribution between the door opening and closing sections during the door opening and closing process. This pressure distribution is not limited to single-point triggering but reflects the distribution changes of the pressure-bearing area along the length and height directions of the connection, thus providing a basis for judging "normal uniform fit" and "local abnormal clamping." A triggering component is located on the side opposite the pressure distribution detection module. After the door opening and closing sections are connected, the triggering component is positioned to correspond to the outer shape of the pressure distribution detection module, ensuring a relatively stable force contact relationship during door connection. The triggering component can be an elastic strip structure, a compressible sealing structure, a segmented triggering structure, or a triggering structure with a force-guiding shape. It can effectively transmit the external pressure to the pressure distribution detection module when the door connection or clamping occurs, causing the pressure distribution detection module to generate a pressure detection signal and output it to the control and analysis module.

[0025] The obstruction detection module is installed in the door opening and closing part to form a detection coverage of obstructions within the door opening and closing part path. The obstruction detection module can be arranged in the mounting position on the door frame side, the door side, or near the sealing edge. It determines whether there are obstructions within the door opening and closing part path by the spatial change relationship of the transmitting and receiving detection signals. The detection signals can realize distance measurement, on / off judgment, or a combination of both, so as to identify the situation that "there is still a human body or object in the door gap path" before the door closes.

[0026] To avoid meaningless alarms when the door is open or stationary, the door status judgment module is located at the movable end of the door opening and closing part. It determines whether the door is stationary and whether there is an intention to close the door by detecting displacement change trends. These displacement change trends can originate from changes in the door's own displacement / angle, driving trends, or control signal triggering. The output of the door status judgment module is used to trigger and control obstruction detection and subsequent responses. The control and analysis module is connected to the pressure distribution detection module, obstruction detection module, and door status judgment module, respectively. It is preferably located within the door controller, body domain controller, or independent safety control unit. By uniformly managing and logically judging the dot-matrix detection data input from each detection module, it outputs a warning message when a door closing intention is detected and there is still an obstruction within the door opening and closing part's path, thus indicating a risk of door closure before it closes.

[0027] After the door opening and closing section enters the docking area, the control and analysis module further determines whether clamping has occurred based on the pressure distribution detected by the pressure distribution detection module. If abnormal, concentrated, or abrupt pressure is observed in a localized area, it is identified as clamping or a clamping risk, and corresponding warning or control signals are output. To improve the location and interpretability of obstruction and clamping areas, both the pressure distribution detection module and the obstruction detection module are distributed in a dot matrix format. The dot matrix can be arranged into multiple detection units along the length and height directions of the door docking edge. The control and analysis module can determine the contour range of the obstruction or pressure area based on the triggered dot matrix distribution, thereby providing a data foundation for subsequent identification prompts, risk classification, or linkage with in-vehicle human-machine interaction devices. This system is not limited to any type of car door. It can be used for conventional hinged side doors, sliding electric doors, docking doors, and door structures with electric suction doors or active docking actuators. By arranging pressure distribution detection and obstruction detection on both sides of the docking area and coordinating them through the control and analysis module, the system can identify obstruction risks and issue warnings before the door closes, and promptly identify pinching risks and output response information after docking. This achieves anti-pinch safety protection that is more in line with actual vehicle usage scenarios.

[0028] Specifically, the door status judgment module is used to obtain the intention to close the door. The determination of the intention to close the door is based on at least one or a combination of the following methods: Based on the signal change characteristics of the obstruction detection module, when the transmitted and received detection signals show a continuous change trend or instantaneous change characteristics related to the door movement within the door opening and closing path, it is determined that there is an intention to close the door; Based on the status detection signals of the door shaft, hinge, or transmission parts, when the door is detected to rotate, displace, or drive, it is determined that there is an intention to close the door; Based on the triggering state of the door control switch, electric door control signal, or actuator, when a door closing control command or drive signal is detected, it is determined that there is an intention to close the door; The control and analysis module triggers a warning message when it detects the intention to close the door and there is still an obstruction within the door opening and closing docking path, and does not trigger a warning message when the door is stationary and no intention to close the door is detected.

[0029] In this embodiment, the control and analysis module is used to execute different response methods based on whether the vehicle door has an active closing capability when a risk of door closure is detected. This allows the system to be applicable to vehicles with manual closing doors, electric doors, and vehicles equipped with electric suction doors or active docking mechanisms. The active closing capability refers to the vehicle door itself having an execution structure for driving door movement or completing the final docking, such as an electric sliding mechanism, an electric suction door drive mechanism, a docking motor, or other controllable drive devices.

[0030] When the vehicle door is equipped with an active closing mechanism, the control and analysis module, upon detecting a risk of obstruction before closing or determining a risk of pinching during closing or docking, can output control commands through the communication interface with the door drive control unit to intervene in the door closing process. The intervention method is not limited to a single form and may include pausing the current closing action, reducing the closing speed, or controlling the door to open in the opposite direction to prevent further closing or docking, thereby avoiding pinching injuries to people or objects. Simultaneously, the control and analysis module can integrate with the vehicle's infotainment system to output alarm information, such as through instrument displays, voice announcements, or prompts, to alert the user of the current closing risk, allowing the user to intuitively perceive the system's intervention status.

[0031] When the car door lacks an active closing mechanism, meaning the closing process relies primarily on manual pushing or cannot be directly intervened in by the control unit, the control and analysis module, upon detecting a risk of obstruction or trapping, does not forcibly control the door's movement. Instead, it alerts the user through sound, light, or human-machine interaction alarm prompts. These alarm prompts may include in-vehicle audio alerts, instrument panel or central control screen displays, voice reminders, or partial indicator lights on the door, guiding the user to actively stop closing the door or reopen it, thereby eliminating the risk of obstruction or trapping.

[0032] Through the aforementioned differentiated response methods, the control and analysis module can flexibly adapt response strategies according to different vehicle models and door structure conditions without changing the original mechanical structure of the door. This allows the system to fully utilize the door structure with active execution capabilities to achieve automatic intervention, and to provide effective reminders to achieve safety protection in scenarios without active execution capabilities, thereby improving the system's versatility and adaptability.

[0033] In this embodiment, when the control and analysis module detects a risk of the door closing, it does not adopt a uniform response strategy. Instead, it selects different response methods based on whether the door has the capability to actively close, thus taking into account both safety and feasibility under different vehicle models and door structures. Whether the door has the capability to actively close can be preset or dynamically identified according to the vehicle configuration, for example, by determining whether there is an electric drive interface, an electric suction door control interface, or a docking actuator control signal in the door controller.

[0034] When a vehicle door is equipped with an active closing mechanism, the active closing mechanism may include, but is not limited to, an electric sliding door drive mechanism, an electric suction door drive mechanism, a docking motor, a power-assisted closing device, or other execution units capable of controlling the door's movement state during the closing process. In this type of door structure, when the control and analysis module triggers a warning message during the door closing preparation stage, or determines a risk of pinching during the closing or docking process, it can output a control command to the door drive control unit to actively intervene in the door closing process. Specifically, the control command may include controlling the door to pause the current closing action, reducing the door closing speed, or driving the door to perform a reverse opening action, to prevent the door from continuing to close or completing the docking, thereby avoiding pinching and causing injury to a person or object. At the same time, the control and analysis module can link with the vehicle's infotainment system, simultaneously outputting alarm information while executing the above control actions, such as through instrument display, voice broadcast, prompt tone, or central control interface prompts, to clearly inform the user that the system has intervened in the current door closing process.

[0035] When a car door lacks an active closing mechanism—meaning the closing process relies primarily on manual pushing or cannot be directly altered electronically—the control and analysis module, upon detecting a risk of obstruction before closing or a risk of pinching during closing, does not apply forced control to the door's movement. Instead, it guides the user through audible, visual, or human-machine interactive alarm prompts. These alarm prompts may include in-vehicle buzzer alerts, warning messages displayed on the instrument panel or central control screen, voice prompts, or flashing indicator lights on the door, alerting the user to the existing safety risk and prompting them to actively stop closing the door or reopen it. Through these methods, even in door structures lacking active closing capabilities, the risk of pinching can be effectively reduced through timely and clear reminders.

[0036] In this embodiment, to accurately identify the risk of door closure, the control and analysis module does not rely on a single signal source. Instead, it comprehensively judges whether there is an intention to close the door and the real-time status of the closing process based on sensor information related to the door's movement state. The types of sensors that the door status judgment module can use include, but are not limited to, one or more of the following: angle detection sensors, displacement detection sensors, electrical signal detection sensors, or status switch sensors.

[0037] Specifically, angle detection sensors, such as Hall angle sensors, rotary encoders, or door shaft angle sensors, can be installed at the door hinge locations to continuously collect data on changes in the door's rotation angle relative to the vehicle body. The control and analysis module analyzes the amount and rate of angle change; when a continuous decreasing trend in angle is detected within a short period, it can determine that a door-closing intention exists. For vehicles equipped with electric drive mechanisms or electric suction doors, the control and analysis module can also directly collect control signals, motor current changes, or drive enable status of the door drive motor. When a drive signal is triggered or the current characteristics change in a manner consistent with door-closing conditions, this serves as an important basis for identifying door-closing risks. Furthermore, in some designs, door lock status signals, limit switch signals, or status information output by the door control module can also be used to assist in determining whether the door is in the process of preparing to close or closing.

[0038] Regarding the obstruction detection module, the sensors used also have various optional implementations. The obstruction detection module can employ ultrasonic ranging sensors, infrared through-beam or reflective sensors, laser time-of-flight ranging sensors, capacitive proximity sensors, or composite sensing units combining acoustic and optical components. It acquires obstruction information by detecting the spatial state within the door opening / closing path. Different types of sensors can output distance information, echo time information, signal strength information, or on / off status information. The control and analysis module compares and analyzes these detected signals with the instantaneous reasonable position of the door in its current open / closed state to determine whether an obstruction exists within the door opening / closing path.

[0039] To accurately distinguish between the "open state," "ready to close state," and "closing process state" of a car door, the control and analysis module performs quantitative analysis on the door opening and closing trends based on the signals collected by the door state judgment module, and outputs the result of determining the closing operation intention. The closing trend recognition is based on time series analysis, and its algorithm and related formulas are explained below.

[0040] I. Acquisition and Preprocessing of Door Displacement and Angle Signals

[0041] The opening and closing state of a car door can be characterized by detecting changes in the door's angle or equivalent displacement. Let the equivalent opening and closing displacement of the door at time t be:

[0042] (1)

[0043] in,

[0044] · This represents the equivalent displacement or door gap distance of the car door at time t relative to its fully open position.

[0045] ·t represents the sampling time.

[0046] The equivalent displacement x(t) can be directly obtained from a door hinge angle sensor, rotary encoder, Hall angle unit or displacement sensor, or obtained from the angle signal through geometric conversion.

[0047] To reduce the impact of noise and mechanical vibration on the judgment results, the acquired displacement signal is filtered to obtain a smoothed displacement signal:

[0048] (2)

[0049] in,

[0050] · This is the filtered displacement signal.

[0051] · The sampling period is

[0052] • N is the length of the moving average window.

[0053] II. Calculation of Door Closing Speed ​​and Acceleration

[0054] After obtaining the filtered displacement signal, the instantaneous closing speed of the door is calculated:

[0055] (3)

[0056] in,

[0057] · This represents the closing speed of the car door at time t.

[0058] ·when This indicates that the car door is moving in the closing direction.

[0059] The closing acceleration of the car door can then be calculated:

[0060] (4)

[0061] in,

[0062] · It indicates the trend of changes in the door closing speed, reflecting whether the closing action is accelerated.

[0063] III. Criteria for Determining a Closing Trend

[0064] The control and analysis module determines whether there is an intention to close the door based on the changing trends of displacement, velocity, and acceleration. The door-closing trend determination is valid if any of the following conditions are met:

[0065] 1. Criteria for determining a continuous closing trend:

[0066] And it holds true for M consecutive sampling periods (5).

[0067] in,

[0068] · This is a closing speed threshold used to exclude slight shaking.

[0069] M represents the number of consecutive judgments.

[0070] 2. Criteria for determining an accelerating closing trend:

[0071] (6)

[0072] in,

[0073] · The acceleration threshold is used to identify rapid door pushing or actively driven door closing actions.

[0074] 3. Criteria for determining door gap shrinkage:

[0075] (7)

[0076] · This represents the minimum effective displacement change.

[0077] When any of the above conditions are met, the control and analysis module determines that the door has the intention to close and generates a closing trend indicator signal.

[0078] IV. Identification and Locking of Stationary States

[0079] To avoid false alarms when the car door is open or stationary, the car door is considered stationary when the following conditions are met:

[0080] And duration (8)

[0081] in,

[0082] · The static velocity threshold,

[0083] · This is the time for confirming the stationary state.

[0084] When stationary, even if the occlusion detection module detects an obstruction, the system will only monitor without triggering an alert.

[0085] V. Door closing trend-assisted determination based on drive signals (applicable to electric doors)

[0086] For vehicles equipped with electric doors or electric suction doors, auxiliary judgment can also be made based on drive signals. A closing tendency is determined when the drive command of the door control actuator meets the following conditions:

[0087] (9)

[0088] in,

[0089] · This indicates the status of the door closing drive command output by the door control unit.

[0090] Alternatively, when the drive motor current or torque is detected to meet the following conditions:

[0091] (10)

[0092] in,

[0093] · This is the motor drive current.

[0094] · This is the driving threshold.

[0095] VI. Execution Logic After Determining the Closing Trend

[0096] After the closing trend is determined to be established, the control and analysis module enters the door closing risk monitoring state and executes response operations based on the outputs of the obstruction detection module and the pressure distribution detection module. When an obstruction is detected in the door opening and closing path or a pinching risk is detected during docking, the system executes response methods such as pausing, deceleration, reversing, or alarm prompts, depending on whether the door has the ability to actively close. When no obstruction or pinching risk is detected, no response is triggered, and the door is allowed to continue to close or dock.

[0097] By differentiating the response method from whether the door has the capability to actively close, the control and analysis module can achieve adaptive safety responses for different types of doors without altering the original mechanical structure. On one hand, for doors with active closing capabilities, the system can fully leverage the control advantages of the actuator to directly intervene in the closing process. On the other hand, for doors without active closing capabilities, the system provides risk notification and safety guidance through appropriate human-machine interaction prompts, thereby improving the versatility and feasibility of the entire anti-pinch intelligent response system across different vehicle platforms.

[0098] Specifically, when the control and analysis module detects a risk of door closure failure, it executes different response methods depending on whether the door has an active closing mechanism. Specifically: when the door has an active closing mechanism, after triggering a warning message or determining that there is a risk of being pinched, the module controls the door closing process to pause, decelerate, or reverse to prevent the door from continuing to close, and simultaneously alarms the vehicle's infotainment system; when the door does not have an active closing mechanism, after triggering a warning message or determining that there is a risk of being pinched, the module outputs an alarm prompt in the form of sound, light, or human-machine interaction.

[0099] In this embodiment, when the control and analysis module detects a risk of the door closing, it does not adopt a uniform response method. Instead, it selects different response execution strategies based on whether the door has the capability to actively close, thereby adapting to different vehicle models and door structures. Whether the door has the capability to actively close can be identified during system initialization or operation, for example, by reading vehicle configuration parameters, the door controller's functional configuration, or detecting whether the door drive unit can respond to control commands such as pause, deceleration, or reverse. When it is confirmed that the door has a controllable active actuator, the control and analysis module marks the door as having the capability to actively close; when it cannot be confirmed through the above methods, the door is marked as not having the capability to actively close.

[0100] When the vehicle door has the capability to actively close, upon triggering a warning message or determining a risk of clamping, the control and analysis module outputs a closing intervention command to the door drive control unit via the control interface to actively control the door's closing process. This control can manifest as pausing the current closing action, keeping the door stationary at its current open / closed position until the risk is eliminated or the user resumes operation; or it can reduce the closing speed, extending the reaction time during the closing process to reduce potential clamping force; if a high risk of clamping or a clear clamping action is detected, the module can also control the door to perform a reverse opening action, changing the door's movement from closed to open to quickly release the clamping area. While executing any of the above control actions, the control and analysis module can work in conjunction with the vehicle's infotainment system to synchronously output alarm information, such as displaying prompts on the instrument panel or central control screen, or informing the user of the existing door closing risk and system intervention through voice announcements or alerts.

[0101] When the car door lacks the ability to automatically close, meaning that closing the door primarily relies on manual pushing or cannot be directly altered by electronic control, the control and analysis module, upon detecting a closing risk, does not forcibly intervene in the door's movement. Instead, it outputs an alarm prompt to the user through human-machine interaction. This alarm prompt can take the form of sound, light, or a graphical interface, such as an in-vehicle buzzer, voice reminder, warning information displayed on the instrument panel or central control screen, or indicator lights on the door edge or door frame area. This guides the user to actively stop closing the door or reopen it to eliminate the risk of obstruction or trapping.

[0102] During the execution of the above response method, the control and analysis module continuously receives detection signals from the obstruction detection module and the pressure distribution detection module, and updates the current risk status based on the output of the door status judgment module. When the detected obstruction or clamping risk is eliminated and the door returns to a safe state, the control and analysis module deactivates the alarm and allows the door to continue performing closing or opening actions under new operating instructions, thereby ensuring a balance between safety protection and normal use of the system.

[0103] Specifically, the control and analysis module analyzes the pressure distribution information collected by the pressure distribution detection module. When the pressure distribution detected during the docking process of the door opening and closing part is uniformly distributed, it is determined that the door is in a normal closed state. When the pressure distribution is detected to be obviously abnormal, concentrated or abrupt in a local area of ​​the door opening and closing part, it is determined that there is a clamping or clamping risk, and this state is treated as a door closing risk.

[0104] In this embodiment, the control and analysis module performs real-time analysis on the pressure distribution information collected by the pressure distribution detection module to distinguish between the force situation of the door opening and closing part in the normal closed state and the abnormal force situation when there is a clamped object. The pressure distribution detection module is arranged into multiple detection units along the docking area of ​​the door opening and closing part. Each detection unit can output a pressure detection signal at its corresponding position, thereby forming pressure distribution information reflecting the overall force state of the door opening and closing part. The control and analysis module does not use the pressure value of a single detection unit as the basis for judgment, but rather performs a comprehensive analysis of the overall characteristics and local changes of the pressure distribution based on the spatial distribution relationship of multiple detection units.

[0105] During the docking process of the door opening and closing section, when the pressure values ​​output by each detection unit are within a similar range, and the pressure change trend along the length and height of the door opening and closing section remains continuous and smooth, the control and analysis module determines that the pressure distribution is uniformly distributed overall. In this state, a normal contact relationship is formed between the triggering component and the pressure distribution detection module, indicating that the door opening and closing section is not obstructed or clamped by foreign objects, and the door is in a normal closed or docking state. At this time, the system does not trigger any clamping-related alarms or control responses, allowing the door to continue closing or remain closed.

[0106] When a significant anomaly is detected in the pressure distribution within a localized area of ​​the door's opening and closing mechanism, the control and analysis module determines this state as indicating a potential for clamping or a risk of clamping. This anomaly can manifest as follows: the pressure value of a detection unit in a certain area is significantly higher than the surrounding area, creating a localized pressure concentration; it can also manifest as a sudden change in pressure value within a short period, leading to discontinuous pressure changes between adjacent detection units; or it can manifest as some detection units failing to reach the expected pressure state during door engagement, while the pressure in adjacent areas abnormally increases, resulting in an asymmetrical force distribution. Any of these situations indicates that a person, clothing, or other object may be clamped between the door's opening and closing mechanisms, or that there is an imminent risk of clamping.

[0107] Upon detecting the aforementioned abnormal pressure distribution, the control and analysis module treats this state as a door closing risk and implements an appropriate response based on whether the door has the capability to actively close. When the door has the capability to actively close, the control and analysis module can pause, decelerate, or reverse the closing process to prevent the door from continuing to close or completing the docking. When the door does not have the capability to actively close, the control and analysis module outputs alarm prompts in the form of sound, light, or human-machine interaction to remind the user of the risk and guide the user to actively stop the closing operation or reopen the door. Through the above methods, the control and analysis module can reliably identify the clamping risk based on pressure distribution information and take reasonable handling strategies under different door structure conditions.

[0108] In this embodiment, to detect the pressure distribution during the opening and closing of the vehicle door, the pressure distribution detection module can employ various types of pressure sensors, and the specific sensor type is not limited to a single form. Depending on the installation method, cost requirements, and detection accuracy needs, the pressure distribution detection module can be configured using one or more combinations of flexible pressure sensors, piezoresistive pressure sensors, piezoelectric sensors, or strain gauge sensors.

[0109] Among them, flexible pressure sensors are suitable for large-area attachment along the mating edges of car door opening and closing parts. They are usually composed of a flexible substrate and conductive materials. When subjected to external force, their resistance value changes with the pressure. They can be arranged into multiple detection units in the form of thin films or strips. Piezoresistive pressure sensors can use force-sensitive resistor elements to reflect the magnitude of the force by detecting changes in resistance. They are suitable for dot-matrix distributed detection. Piezoelectric sensors can output signals by detecting changes in charge generated when subjected to force. They are suitable for applications that are more sensitive to pressure changes. Strain gauge sensors can indirectly reflect pressure changes by detecting small deformations of triggering components or load-bearing structures. They are suitable for designs with high structural strength or those that require isolation from direct forces.

[0110] In one specific embodiment, the pressure distribution detection module can be implemented using a flexible piezoresistive force-sensitive sensor array. This force-sensitive sensor array is arranged into multiple independent detection units along the mating area of ​​the door opening and closing section. Each detection unit exhibits a high resistance state when no external force is applied, and its resistance decreases as the pressure increases when subjected to pressure. Each detection unit is connected to the control and analysis module through a voltage divider circuit, forming multiple analog signal inputs.

[0111] In this embodiment, the control and analysis module provides a stable reference voltage, such as 5V or 3.3V, to each detection unit, forming a voltage divider structure through series current-limiting resistors. Let the equivalent resistance of a single detection unit be... The current limiting resistor is Then the output voltage signal Vout of the detection unit can be expressed as:

[0112]

[0113] in,

[0114] · For reference voltage,

[0115] · As the magnitude of the force varies,

[0116] · It is a fixed resistor.

[0117] When the car door is properly connected and there are no clamping objects, the pressure on each detection unit is relatively uniform, and its output voltage signal is distributed within a similar range, such as concentrated in the 1.5V to 2.0V range. When there are clamping objects in the car door connection area, the pressure on the detection unit corresponding to the clamping position increases significantly, its resistance value decreases significantly, and the corresponding output voltage signal changes significantly, such as dropping to below 0.8V. Meanwhile, the output voltage of the detection units in adjacent areas remains within the original range, thus forming a significant non-uniform characteristic in voltage distribution.

[0118] In actual operation, the workflow of the pressure distribution detection module can be summarized as follows: After the door enters the closing or docking stage, each pressure detection unit synchronously collects the force signal and outputs the corresponding analog voltage signal; the control and analysis module samples the voltage signal of each detection unit through the analog-to-digital conversion unit to form a pressure distribution data matrix; then, the pressure distribution data is compared laterally and analyzed over time. When the output signal of each detection unit is detected to be evenly distributed and changes smoothly, the door is determined to be in a normal closed state; when the output signal of a local detection unit is detected to be significantly different from the surrounding area, or when a sudden change occurs in a short period of time, it is determined that there is a clamping or clamping risk, and this state is treated as a door closing risk.

[0119] In this way, the pressure distribution detection module can not only detect single-point pressure, but also reflect the overall and local stress state of the door opening and closing part through the coordinated work of multiple detection units, so that the control and analysis module can reliably distinguish between normal docking and abnormal clamping based on the pressure distribution characteristics.

[0120] Specifically, the receiving and transmitting units of the obstruction detection module are integrated and respectively located on both sides of the door opening and closing part. By transmitting and receiving signals from opposite sides, the relative position information of the two sides of the door opening and closing part is obtained. Based on the comparison between the transmitted and received signals and the instantaneous reasonable position of the door opening and closing part, the obstruction detection module determines whether there are obstructions in the path of the door opening and closing part, as well as the distance and distribution of the obstructions from the transmitting end.

[0121] Specifically, the receiving and transmitting units of the obstruction detection module are respectively located on one side of the door opening and closing part. By transmitting and receiving on the opposite side, the relative position information of the two sides of the door opening and closing part is obtained. The obstruction detection module determines whether there is an obstruction in the path of the door opening and closing part and the distance and distribution of the obstruction to the transmitting end based on the comparison between the transmitting and receiving signals and the instantaneous reasonable position of the door opening and closing part.

[0122] Specifically, the receiving and transmitting units of the obstruction detection module are integrated and respectively set on both sides of the door opening and closing part. By transmitting and receiving on the opposite side, the relative position information of the two sides of the door opening and closing part is obtained. The obstruction detection module determines whether there is an obstruction in the path of the door opening and closing part and the distance and distribution of the obstruction to the transmitting end based on the comparison between the transmitting and receiving signals and the instantaneous reasonable position of the door opening and closing part.

[0123] In this embodiment, the obstruction detection module is used to detect whether there are obstructions within the door's opening and closing path when the door moves from an open state to a state preparing to close and during the closing process. Its core purpose is to identify whether a person or object is within the door gap path before the door actually clamps the door, thus providing a basis for early warning or subsequent anti-pinch response. Due to significant differences in vehicle models, door structures, and installation space conditions, the obstruction detection module is not limited to a single deployment method but provides multiple deployment options for the receiving and transmitting units to adapt to different application scenarios and improve detection reliability.

[0124] In one deployment configuration, the receiving and transmitting units of the obstruction detection module are respectively positioned on both sides of the door opening / closing section, for example, one side on the door frame side and the other side on the door side. The transmitting unit transmits a detection signal to the opposite side, which is then received by the receiving unit on the opposite side. The obstruction detection module can obtain the relative position information between the two sides of the door opening / closing section. When the door is normally open / closed and there are no obstructions in the path, the transmitted signal can be received by the opposite side according to the expected path, and its corresponding propagation time, signal strength, or phase information forms a stable correspondence with the current opening / closing position of the door. When there is an obstruction in the path of the door opening / closing section, the propagation path of the detection signal is partially blocked or reflected, causing changes in the time or intensity characteristics of the received signal. The control and analysis module compares this change with the instantaneous reasonable position of the door in the current open / closed state to determine whether there is an obstruction in the path of the door opening / closing section, and further determines the distance between the obstruction and the transmitting end, as well as its distribution along the direction of the door opening / closing section. This deployment method is suitable for scenarios that require relatively precise positioning of the obstructed area, and is especially suitable for applications where the gap between the car door opening and closing parts is large or where children, limbs, and other targets need to be identified in advance.

[0125] In another deployment method, the receiving and transmitting units of the obstruction detection module are located on the same side of the door opening and closing section, for example, integrated simultaneously on the door frame side or the door side. Detection is completed by transmitting a detection signal to the opposite area and receiving the reflected signal. With this deployment method, the obstruction detection module does not require separate wiring or installation of devices on both sides of the door and door frame, resulting in a simpler structure suitable for vehicles with limited installation space or cost sensitivity. During normal door opening and closing, the reflection path and echo characteristics of the detection signal in an unobstructed state exhibit stable regularity; when an obstruction exists in the door opening and closing path, the propagation distance, echo intensity, or return time of the reflected signal changes. The control and analysis module determines the presence of an obstruction based on the reference relationship between the reflected signal and the current door opening and closing position, and estimates the distance and distribution of the obstruction relative to the transmitting end. Although this deployment method has slightly lower positioning accuracy than the through-beam structure, it can still meet the requirement of identifying obstruction risks before the door closes.

[0126] In a further deployment, the receiving and transmitting units of the obstruction detection module are respectively located on both sides of the door opening and closing portion, with both the door side and the door frame side possessing both transmitting and receiving capabilities, thus forming a dual-sided transmission and reception detection structure. In this deployment, the control and analysis module can acquire detection signal data from the door frame side to the door side and from the door side to the door frame side, respectively. By fusing and analyzing the bidirectional detection results, it can not only determine whether there are obstructions within the door opening and closing path, but also calculate the spatial position of the obstruction in the door thickness direction and the equivalent thickness information of the obstruction by analyzing the difference in detection distances on both sides. This deployment helps distinguish between obstructions close to the door frame side and those close to the door side, and improves the accuracy of identifying three-dimensional obstructions, human limbs, or objects with significant thickness. It is suitable for vehicles with high safety requirements or applications with complex door closing control logic.

[0127] Regardless of the deployment method used, the detection results of the obstruction detection module are used in conjunction with the output of the door status judgment module. The control and analysis module only uses the obstruction detection results as a basis for warning or risk judgment when it detects an intention to close the door, thereby avoiding unnecessary alerts when the door is open or stationary. Before closing, when the obstruction detection module determines that there is an obstruction in the door's opening and closing path, the control and analysis module triggers a corresponding warning. During the closing process, the obstruction detection results can also serve as auxiliary information for the pressure distribution detection module to judge the risk of pinching, providing more comprehensive data support for subsequent risk handling. Through the above-mentioned multiple deployment methods and their collaborative working mechanism, the obstruction detection module can reliably identify obstruction risks under different door structures and application conditions, thereby improving the completeness of the technical solution of the entire intelligent door anti-pinch response system.

[0128] In this embodiment, the obstruction detection module determines the presence, spatial location, and distribution of obstructions by transmitting detection signals into the path of the door opening and closing portion and receiving return signals. Depending on the detection medium and signal processing method used, the detection signal type output by the obstruction detection module may include one or more of time-of-flight information, echo time information, and signal strength information. The control and analysis module compares these signal characteristics with the instantaneous reasonable position of the door opening and closing portion in the current state to determine whether an obstruction exists.

[0129] In a common implementation, the obstruction detection module employs a time-of-flight-based distance determination method. The transmitting unit emits a short-pulse detection signal into the path of the door opening / closing section. Upon encountering an obstruction or an opposite structure, the detection signal is reflected and returns to the receiving unit. The control and analysis module calculates the detection distance based on the time of flight of the detection signal from transmission to reception; the calculation relationship can be expressed as:

[0130]

[0131] Where d represents the distance between the transmitting unit and the reflecting point, and c represents the propagation speed of the detection signal in the medium. This indicates the round-trip flight time of the detected signal.

[0132] In an unobstructed state, the detection distance remains consistent with the theoretical gap distance of the door in its current open / closed state. However, when an obstruction exists in the door's opening / closing path, the detection signal is reflected by the obstruction before reaching the opposite structure, resulting in a shortened flight time and a significantly smaller calculated detection distance than the theoretical gap distance. Based on the difference between the detection distance and the instantaneous reasonable position, the control and analysis module can determine whether an obstruction exists in the door's opening / closing path and determine the relative distance between the obstruction and the transmitter.

[0133] In another implementation, the obstruction detection module uses changes in echo time or echo intensity as the basis for judgment. In this method, the transmitting unit continuously or periodically transmits detection signals into the path of the door opening and closing section, and the receiving unit receives echo signals from different reflecting interfaces. The control and analysis module analyzes the time and amplitude distribution of the echo signals. In the unobstructed state, the main echo corresponds to the opposite door frame or door structure, and its echo time and echo intensity remain stable. When an obstruction exists in the path, a new echo component will appear before the main echo, or the original echo intensity will significantly attenuate. The control and analysis module can determine the presence of an obstruction by identifying echo time advancement, echo intensity changes, or multi-echo structures, and estimate the spatial location and distribution range of the obstruction by combining the echo distribution.

[0134] In one specific embodiment, the obstruction detection module can be implemented using a short-range time-of-flight (ToF) sensor, such as an infrared or laser-based ToF sensor, which is respectively set on the door frame side and the door side, or set on the same side to form a reflective detection structure. The ToF sensor periodically outputs a digital or analog signal corresponding to the detection distance, for example, outputting a voltage signal proportional to the distance or outputting a distance value through a communication interface. Under normal unobstructed conditions, the distance signal output by the sensor remains stable within the range corresponding to the current opening / closing position of the door; when an obstruction exists, the output distance signal undergoes a sudden change or continuously deviates from the reference value, for example, changing from the original 80 mm to the 30 mm to 50 mm range. The control and analysis module samples and filters this distance signal and compares it with the instantaneous reasonable position of the current door state. When the difference exceeds a preset threshold and persists for a certain period, it is determined that an obstruction exists.

[0135] In practical operation, the signal processing flow of the obstruction detection module can be summarized as follows: When the door is open or stationary, the obstruction detection module continuously collects detection signals but does not trigger any alerts; when the door status judgment module determines that there is an intention to close the door, the control and analysis module initiates the judgment logic of the obstruction detection result, analyzing signals such as flight time, echo time, or echo intensity; when the detection result indicates that there is an obstruction in the door opening and closing path, the control and analysis module outputs a corresponding warning or enters the subsequent anti-pinch response process. Through this method, the obstruction detection module can reliably identify the risk of obstruction before the door closes and provides effective pre-judgment conditions for subsequent pressure distribution-based clamping identification.

[0136] Specifically, when the control and analysis module detects an obstruction or a pressure state, it performs correlation analysis on the triggered detection units. Based on the triggering relationship, triggering order, and triggering density of adjacent detection units, it groups the continuously triggered detection units into the same recognition area and determines the contour range of the obstruction or pressure area based on the distribution range of the detection units in the recognition area.

[0137] In this embodiment, the pressure distribution detection module is distributed in a dot matrix pattern in the door opening and closing docking area. The control and analysis module determines the contour range of the pressure area based on the triggered dot matrix distribution, and further uses it for clamping judgment, position indication, and subsequent identification and analysis. Since the door docking area is usually a long strip or curved strip structure, the pressure dot matrix can be arranged in two dimensions along the length and height directions of the door opening and closing part, so that each detection unit corresponds to a small spatial area on the door docking edge. The control and analysis module acquires the pressure signal of each detection unit in a multi-channel sampling method, converts it into a pressure value matrix or equivalent pressure matrix, thereby mapping the original "discrete voltage / resistance change signal" into spatial distribution data that can be used for contour recognition.

[0138] The construction of pressure matrix data can be achieved through the following process: The control and analysis module reads the analog voltage signals or digital output signals of all pressure detection units during the sampling period and performs baseline calibration. Baseline calibration is used to eliminate initial pressure bias caused by trigger component pre-tightening, sealing strip rebound, or assembly tolerances, ensuring that the pressure values ​​of each detection unit fall within a relatively consistent range under the "normally closed, unclamped" state. After calibration, the pressure change or normalized pressure value of each detection unit is calculated, forming a two-dimensional matrix P(i,j), where iii represents the matrix index along the length of the door opening / closing section, j represents the matrix index along the height direction, and P(i,j) represents the pressure value or equivalent pressure value at the corresponding position. Subsequently, the control and analysis module performs thresholding on the pressure matrix to obtain a binary map of the pressurized region. Thresholding can be set based on an absolute pressure threshold, a relative pressure threshold, or a difference threshold with the neighborhood average, thereby distinguishing between "effective pressurized units" and "non-pressurized units." After obtaining the binary pressurized map, the control and analysis module can further perform neighborhood connectivity analysis, merging spatially adjacent pressurized units into pressurized connected regions to eliminate isolated noise points and obtain continuous pressurized areas.

[0139] In terms of contour determination, the control and analysis module can extract the boundaries of the compressed connected components to obtain the contour range of the compressed region. Boundary extraction is achieved by scanning the outer edge points of the compressed binary map, that is, determining the points that satisfy the condition of "being a compressed unit and having at least one neighboring unit that is not a compressed unit" as boundary points, and outputting the set of boundary points in the order of the point index. Furthermore, the control and analysis module can calculate the geometric feature parameters of the compressed region, such as the length span, width span, area (number of compressed units), center position, and pressure intensity distribution characteristics of the compressed region. Based on the above geometric feature parameters, the system can prompt "which height segment and which length segment of the door mating edge is being clamped" on the vehicle side, and also provide a basis for subsequent foreign object shape recognition and graded response.

[0140] To ensure the traceability and intuitive interpretation of the dot matrix data by the vehicle infotainment system, this embodiment preferably establishes an encoding method for each pressure detection unit. The dot matrix encoding can employ "row and column numbering encoding," where the length direction index is denoted as iii, the height direction index as jjj, and each detection unit is encoded as Ci,jC_{i,j}Ci,j. When the door mating edge is curved or irregularly shaped, "arc length mapping" or "segment numbering" can be added to the row and column numbering to ensure the encoding corresponds to the actual physical location. For example, if the door mating edge is divided into several segments along its length, and detection units are arranged at fixed intervals within each segment, with the segment number denoted as sss, the segment sequence number as kkk, and the height layer number as hhh, then the detection unit encoding can be represented as Cs,k,hC_{s,k,h}Cs,k,h. Through this encoding method, the control and analysis module can output the "triggered dot matrix encoding set" and use it to locate the contour range of the pressure area.

[0141] In terms of identification methods, the control and analysis module can make a preliminary judgment on the type of foreign object being clamped based on the morphological characteristics of the pressure area contour. Specifically, when the pressure area presents a "slender, continuous strip that is continuously distributed along a certain height layer," it usually corresponds to clamping caused by the edge of clothing, soft strips, or the outward turning of the sealing strip; when the pressure area presents a "concentrated block shape, large area, and obvious pressure peak," it usually corresponds to the clamping of human fingers, children's limbs, or hard objects; when the pressure area presents a "discrete point shape and random distribution," it may correspond to local assembly deviation of the sealing strip or short-term impact noise. The control and analysis module can suppress such cases through time continuity constraints. To improve the stability of identification, the control and analysis module can also perform time-series tracking of the pressure area contour, that is, compare the changes in the center position, area, and boundary of the pressure area within multiple sampling periods. When the pressure area appears rapidly and persists for a short period of time, the clamping risk is determined to be higher; when the pressure area appears instantaneously and disappears rapidly without a continuous trend, it is determined to be a low-risk pressure disturbance.

[0142] Through the aforementioned methods of determining, encoding, and recognizing pressure dot matrix contours, the control and analysis module can transform the multi-channel signals output by the pressure distribution detection module into spatially meaningful pressure area contour results, and further output interpretable encoding information and recognition results, providing basic data support for door closure risk handling, location prompts, and subsequent graded responses.

[0143] In this embodiment, the occlusion detection module also describes the spatial state within the door opening and closing path in a dot matrix manner. The control and analysis module constructs occlusion distribution data based on the detection results of multiple detection points, and determines the contour range and spatial characteristics of the occlusion area accordingly. Unlike the pressure distribution detection module, which focuses on the force state of "contact or clamping," the occlusion detection module focuses on spatially sensing whether there is an object within the door opening and closing path before the door is engaged or before significant pressure is generated. Therefore, its dot matrix data reflects the spatial distribution of distance changes, echo changes, or signal on / off states.

[0144] When the obstruction detection module is deployed at multiple points, each transmitting and receiving unit forms a detection point array along the length and height directions of the door opening / closing area. The control and analysis module acquires the distance, time-of-flight, or echo intensity information corresponding to each detection point within the sampling period and maps them uniformly into an obstruction detection matrix D(i,j), where iii represents the point index along the length direction of the door opening / closing area, j represents the point index along the height direction, and D(i,j) represents the detection distance or equivalent distance parameter corresponding to that point. In the unobstructed state, the distance data of each detection point matches the theoretical gap model of the door in the current opening / closing state, forming a continuous and smooth spatial distribution. When an obstruction exists within the path of the door opening / closing area, the detection point corresponding to the obstruction will experience abrupt changes in distance, early echo, or signal attenuation, thus forming a significant abnormal region in the distance matrix.

[0145] The control and analysis module compares the real-time acquired occlusion detection matrix with the baseline gap model, extracts detection points with distance deviations exceeding a threshold, and marks them as "effective occlusion points." Subsequently, the system performs spatial connectivity analysis on the effective occlusion points, merging adjacent or near-adjacent effective occlusion points into occlusion connectivity regions to obtain the overall contour of the occlusion area. This contour not only reflects the projection range of the obstruction within the door opening and closing path but also reflects the distribution characteristics of the obstruction along the length and height directions, thus distinguishing between different situations such as "single-point protruding occlusion" and "large-scale occupancy occlusion."

[0146] Regarding dot matrix encoding, the occlusion detection dot matrix can adopt an encoding method consistent with or compatible with the pressure dot matrix to facilitate subsequent data fusion. Each occlusion detection point can be encoded using its row and column index in the dot matrix, for example, encoded as... Where i corresponds to the position in the length direction and j corresponds to the position in the height direction. When the occlusion detection module adopts a dual-side transceiver structure, the control and analysis module can also establish "dual-source coding" for the same spatial point, that is, record the detection results from the door side and the door frame side respectively, for example... and This provides the basic data for subsequent three-dimensional spatial analysis.

[0147] During occlusion contour recognition, the control and analysis module not only focuses on the two-dimensional projected contour of the occluded area but can also further calculate the spatial depth characteristics of the occluded object based on the detection distance data. When the occlusion detection module has both transmission and reception capabilities on the door side and the door frame side, the system can acquire the distance information of the occluded object relative to both sides. By analyzing the distance difference between the two sides, the equivalent thickness or spatial position offset of the occluded object in the door seam direction can be estimated. Thus, the control and analysis module can construct three-dimensional occlusion feature data containing information in the length, height, and thickness directions, which can be used to distinguish between occlusions close to the door frame side, occlusions close to the door side, and occlusions located in the middle area.

[0148] In terms of recognition logic, the control and analysis module can perform preliminary classification of occluded objects based on the morphological features, spatial scale, and temporal variation trends of the occluded area contour. For example, when the occluded area occupies multiple consecutive points in the height direction and shows a locally concentrated distribution in the length direction, it may correspond to a human head or torso near a door gap; when the occluded area has a small span in the height direction but extends continuously in the length direction, it may correspond to an arm, leg, or foot protruding from a door gap; when the occluded area is small in volume, thin in depth, and located near the edge of the door gap, it may correspond to clothing, backpack straps, or other flexible objects. The control and analysis module can combine the stability and movement trends of the occluded area over multiple sampling periods to evaluate the credibility of the above recognition results, and use this as an important basis for subsequent graded responses.

[0149] By using the contour determination, encoding, and recognition methods of the aforementioned occlusion detection dot matrix, the occlusion detection module can transform the originally dispersed distance or echo signals into occlusion area information with clear spatial meaning, complementing the pressure area information output by the pressure distribution detection module. Based on the collaborative analysis of these two types of dot matrix data, the control and analysis module can identify risks in advance during the door's preparation for closing and further confirm the clamping status during the closing or docking phase, thereby significantly improving the overall performance of the entire door anti-pinch intelligent response system in terms of safety and reliability.

[0150] Specifically, the control and analysis module comprehensively analyzes the dot matrix detection data collected by the pressure distribution detection module and the obstruction detection module. Specifically: Based on the pressure exerted on the pressure distribution detection module by the outer trigger component during the door opening and closing process, the module analyzes the pressure magnitude and trend of each detection unit, forming dot matrix distribution information reflecting the shape characteristics of the pressure area; Based on the distance measurement data obtained by the obstruction detection module corresponding to each position within the door opening and closing path, the module analyzes the spatial distribution differences of the obstruction relative to the side where the detection unit is located or the two sides of the door opening and closing, forming dot matrix distance information reflecting the spatial position and thickness characteristics of the obstruction; The control and analysis module fuses the above pressure dot matrix distribution information and distance dot matrix distribution information, constructing a corresponding spatial coordinate relationship in the background to identify the shape characteristics of foreign objects within the door opening and closing path or under clamping conditions, and determines the type of foreign object based on the shape characteristics, outputting corresponding reminder information, voice broadcast information, and / or door control commands.

[0151] In this embodiment, the control and analysis module performs a fusion analysis on the spatial and force states within the door opening and closing path based on the dot matrix data collected by the pressure distribution detection module and the obstruction detection module, thereby achieving shape recognition, risk classification, and intelligent response for obstructions or clamped objects. This fusion analysis is not a simple superposition of the detection results, but rather a correlation modeling of spatial and force information based on the physical quantity characteristics reflected by different detection modules. This allows the system to distinguish between situations where "obstruction exists but contact has not yet occurred" and situations where "contact or clamping has occurred," and further determine the type and degree of danger of the obstructed or clamped object.

[0152] During the fusion analysis, the control and analysis module first processes the occlusion dot matrix data output by the occlusion detection module to obtain the spatial contour, position distribution, and distance information of the occluded area within the door opening and closing path. Simultaneously, it processes the pressure dot matrix data output by the pressure distribution detection module to obtain the contour range, pressure intensity distribution, and time variation characteristics of the pressure-bearing area. By aligning the contours of the occluded and pressure-bearing areas in a unified spatial coordinate system, the control and analysis module can determine whether the obstruction has contacted the door opening and closing part, and the correspondence between the contact area and the occluded area. When only occlusion dots exist without obvious pressure dots, the system classifies it as a "potential occlusion state"; when the occlusion dots and pressure dots overlap or are highly correlated in spatial position, the system classifies it as a "clamping state or clamping risk state."

[0153] Building upon this foundation, the control and analysis module further performs morphological analysis on the obstructing or clamped object based on the geometric features and spatial scale of the lattice profile. Specifically, the system can extract characteristic parameters of the obstructing or clamped object based on the distribution range of the profile in the height, length, and thickness directions, such as height span, length span, equivalent thickness, profile continuity, and the degree of concentration of compressive strength. Through combined analysis of the above characteristic parameters, the control and analysis module can distinguish different types of objects, such as the entire human body, human limbs, rigid objects, or flexible objects. When the profile occupies a large area in the height direction, has a significant thickness, and high compressive strength, the system can determine that it is a risk of clamping a human body or important parts; when the profile is slender, has a small thickness, and the compressive strength is relatively dispersed, the system can determine that it is clamped by a flexible object such as clothing or backpack straps; when the profile is regular, has clear boundaries, and has a stable thickness, the system can determine that it is clamped by a rigid object.

[0154] Based on the identification results, the control and analysis module classifies the risks of occlusion or clamping. Risk classification comprehensively considers factors such as object type, pressure intensity, spatial location, and stage of occurrence. For example, situations involving the human body or limbs are classified as high-risk, situations involving rigid objects but not the human body are classified as medium-risk, and situations involving flexible objects or slight occlusion are classified as low-risk. Different risk levels correspond to different response strategies to ensure a balance between safety and user experience.

[0155] In terms of response methods, the control and analysis module can output corresponding prompts or control commands based on the risk level and vehicle configuration. At high-risk levels, the system can output clear voice, image, or text prompts through the vehicle's infotainment system, and control the door to stop, decelerate, or reverse when the door has the capability to close automatically. At medium-risk levels, the system can output warning prompts and suggest that the user confirm before continuing the door-closing operation. At low-risk levels, the system can only output mild reminders or record the status in the background without making obvious interventions. Furthermore, the control and analysis module can also integrate with the vehicle's existing camera system to mark identified obstructed areas or clamping positions on the infotainment display interface, helping users intuitively understand the source of the risk.

[0156] Through the aforementioned multi-source dot matrix fusion, morphological recognition, risk classification, and intelligent prompting mechanisms, the vehicle door anti-pinch intelligent response system can accurately identify and reasonably handle potential risks at different door closing stages. This not only improves anti-pinch safety but also avoids unnecessary false alarms and excessive intervention, thus achieving a good balance between safety, reliability, and user experience.

[0157] In this embodiment, the intelligent response method for preventing door pinching is based on the collaborative work of a pressure distribution detection module, an obstruction detection module, and a door status judgment module. It identifies and responds to risk states in stages throughout the entire process of opening, preparing to close, and closing the door. This method uses changes in door status as the main thread, organically integrating detection, identification, analysis, and response processes to ensure safety while avoiding unnecessary intervention.

[0158] When the vehicle door is open or stationary, the system enters the first monitoring phase. During this phase, the obstruction detection module and pressure distribution detection module remain operational, continuously collecting spatial and force information within the door's opening and closing path. However, the control and analysis module does not trigger any vehicle-mounted alerts or door-closing intervention operations. When the obstruction detection module detects an object within the door's opening and closing path, the system only records the obstruction data in the background and analyzes its stability and trends using time series data for subsequent phase judgments. When no obstruction is detected, the system maintains normal monitoring. By not triggering active alerts during this phase, false alarms caused by normal human activity when the door is open or stationary can be avoided.

[0159] When the door status judgment module detects a displacement change in the door from an open or stationary state towards the closing direction, and the displacement trend conforms to the characteristics of a door closing operation, the system enters the door closing preparation stage. In this stage, the control and analysis module begins to effectively judge the obstruction detection results, comparing the dot matrix data output by the obstruction detection module with the instantaneous reasonable position of the door in its current open / closed state. When an obstruction is detected within the door opening / closing path, the control and analysis module analyzes the spatial contour, positional distribution, and distance information of the obstructed area, and combines this with historical data to determine whether the obstruction is persistent. If it is confirmed that the obstruction is still within the door closing path, the system triggers a warning prompt, guiding the user to pause the door closing operation or remove the obstruction through sound, light, or human-machine interaction via the vehicle's infotainment system; when no obstruction is detected, the system does not output any prompts, allowing the door closing operation to continue.

[0160] As the vehicle door continues to close and enters or is about to dock, the system enters the door-closing docking phase. During this phase, the pressure distribution detection module becomes the primary judgment criterion, while the control and analysis module performs real-time analysis of the pressure matrix data. When the pressure distribution is detected to be generally uniform, the system determines that the door is in a normal closing process and does not trigger any response. When abnormal concentration, abrupt changes, or discontinuities in the pressure distribution are detected in a localized area, the system determines that there is a risk of clamping. At this point, the control and analysis module fuses the pressure matrix contour with the occlusion matrix information obtained in the previous occlusion detection phase to comprehensively assess the spatial location, morphological characteristics, and degree of danger of the clamped object, and determines the risk level accordingly.

[0161] During risk response, the control and analysis module executes different response strategies based on whether the door has the capability to actively close and the current risk level. When the door has the capability to actively close, the system, upon determining a risk of clamping or that clamping has already occurred, controls the door closing process to pause, decelerate, or reverse to prevent further closing, and simultaneously outputs an alarm prompt through the vehicle's infotainment system. When the door does not have the capability to actively close, the system, upon determining a risk of clamping or that clamping has already occurred, outputs clear audible, visual, or interactive prompts through the vehicle's infotainment system to remind the user to address the clamping situation promptly. If no clamping or clamping risk is detected, the system does not trigger any intervention or prompts, allowing the door to close completely.

[0162] Through the aforementioned phased detection, identification, analysis, and response process, the method can effectively manage the risks of obstruction and clamping throughout the entire process of door opening, preparation for closing, and door closing docking. This ensures the safety of personnel and goods while avoiding excessive interference with normal use, thereby achieving intelligent and refined control of the door anti-pinch function.

[0163] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A vehicle door anti-pinch intelligent response system based on pressure distribution analysis, comprising a pressure distribution detection module, a triggering component, an obstruction detection module, a vehicle door status judgment module, and a control and analysis module, characterized in that: A pressure distribution detection module is located on one side of the door opening / closing section to detect the pressure distribution between the door opening / closing sections during the docking process. A triggering component is located on the opposite side of the pressure distribution detection module. After the door opening / closing sections dock, the triggering component is positioned to correspond to the outer shape of the pressure distribution detection module and works with the pressure distribution detection module to generate a pressure detection signal. An obstruction detection module is located in the door opening / closing section and determines whether there is an obstruction in the door opening / closing path by analyzing the spatial changes in the transmitted and received detection signals. A door status judgment module is located at the movable end of the door opening / closing section and determines whether the door is stationary and whether there is an intention to close the door by detecting the displacement change trend. A control and analysis module is connected to the pressure distribution detection module, the obstruction detection module, and the door status judgment module. When a door closing intention is detected and there is still an obstruction in the docking path of the door opening / closing section, a warning message is output. Alternatively, after the door opening / closing sections dock, the module determines whether clamping has occurred based on the pressure distribution detected by the pressure distribution detection module. Both the pressure distribution detection module and the occlusion detection module are distributed in a dot matrix form. The control and analysis module determines the contour range of the occlusion area or the pressure area based on the triggered dot matrix distribution.

2. The intelligent response system for preventing door pinching based on pressure distribution analysis according to claim 1, characterized in that, The door state determination module is used to obtain the intention to close the door. The determination of the intention to close the door is based on at least one of the following methods or a combination thereof: Based on the signal change characteristics of the occlusion detection module, when the transmit and receive detection signals show a continuous change trend or instantaneous change characteristics related to the door movement within the door opening and closing part path, it is determined that there is an intention to close the door. Based on the status detection signals of the door hinges, transmission parts, or other components, when the door is detected to be rotating, displacing, or having a driving tendency, it is determined that there is an intention to close the door. Based on the triggering state of the door control switch, electric door control signal, or actuator, when a door closing control command or drive signal is detected, it is determined that there is an intention to close the door. The control and analysis module triggers a warning message when it detects an intention to close the door and there is still an obstruction in the docking path of the door opening and closing part; it does not trigger a warning message when the door is stationary and no intention to close the door is detected.

3. The intelligent response system for preventing door pinching based on pressure distribution analysis according to claim 1, characterized in that, When the control and analysis module detects a risk of door closure failure, it executes different response methods depending on whether the door has an active closing mechanism. Specifically: When the door has an active closing mechanism, after triggering a warning message or determining that there is a risk of being pinched, the module controls the door closing process to pause, decelerate, or reverse to prevent the door from continuing to close, and simultaneously alarms the vehicle's infotainment system. When the door does not have an active closing mechanism, after triggering a warning message or determining that there is a risk of being pinched, the module outputs an alarm prompt in the form of sound, light, or human-machine interaction.

4. The intelligent response system for preventing door pinching based on pressure distribution analysis according to claim 1, characterized in that, The control and analysis module analyzes the pressure distribution information collected by the pressure distribution detection module. When the pressure distribution detected during the docking process of the door opening and closing part is uniformly distributed, it is determined that the door is in a normal closed state. When the pressure distribution is detected to be obviously abnormal, concentrated or abrupt in a local area of ​​the door opening and closing part, it is determined that there is a clamping or clamping risk, and this state is treated as a door closing risk.

5. The intelligent response system for preventing door pinching based on pressure distribution analysis according to claim 1, characterized in that, The receiving and transmitting units of the obstruction detection module are integrated on one of the two sides of the door opening and closing part. By transmitting and receiving on the same side to detect the corresponding position information on the opposite side, the obstruction detection module determines whether there is an obstruction in the path of the door opening and closing part and the distance and distribution of the obstruction to the transmitting end based on the comparison between the transmitting and receiving signals and the instantaneous reasonable position of the door opening and closing part.

6. The intelligent response system for preventing door pinching based on pressure distribution analysis according to claim 1, characterized in that: The receiving and transmitting units of the obstruction detection module are respectively located on one side of the door opening and closing part. By transmitting and receiving on the opposite side, the relative position information of the two sides of the door opening and closing part is obtained. The obstruction detection module determines whether there is an obstruction in the path of the door opening and closing part and the distance and distribution of the obstruction to the transmitting end based on the comparison between the transmitting and receiving signals and the instantaneous reasonable position of the door opening and closing part.

7. The intelligent response system for preventing door pinching based on pressure distribution analysis according to claim 1, characterized in that: The receiving and transmitting units of the obstruction detection module are integrated and respectively set on both sides of the door opening and closing part. By transmitting and receiving on the opposite side, the relative position information of the two sides of the door opening and closing part is obtained. The obstruction detection module determines whether there is an obstruction in the path of the door opening and closing part and the distance and distribution of the obstruction to the transmitting end based on the comparison between the transmitting and receiving signals and the instantaneous reasonable position of the door opening and closing part.

8. The intelligent response system for preventing door pinching based on pressure distribution analysis according to claim 1, characterized in that: When the control and analysis module detects an obstruction or a pressure condition, it performs correlation analysis on the triggered detection units. Based on the triggering relationship, triggering order, and triggering density of adjacent detection units, it groups the continuously triggered detection units into the same recognition area and determines the contour range of the obstruction or pressure area based on the distribution range of the detection units in the recognition area.

9. A door anti-pinch intelligent response system based on pressure distribution analysis according to claims 4-7, characterized in that, The control and analysis module comprehensively analyzes the dot matrix detection data collected by the pressure distribution detection module and the obstruction detection module. Specifically: Based on the pressure exerted on the pressure distribution detection module by the outer trigger component during the door opening and closing process, the module analyzes the pressure magnitude and trend of each detection unit to form dot matrix distribution information reflecting the shape characteristics of the pressure area; Based on the distance measurement data obtained by the obstruction detection module corresponding to each position within the door opening and closing path, the module analyzes the spatial distribution differences of the obstruction relative to the side where the detection unit is located or the two sides of the door opening and closing, forming dot matrix distance information reflecting the spatial position and thickness characteristics of the obstruction; The control and analysis module fuses the above pressure dot matrix distribution information and distance dot matrix distribution information, constructs the corresponding spatial coordinate relationship in the background, and uses it to identify the shape characteristics of foreign objects within the door opening and closing path or in the clamping state. Based on the shape characteristics, the module determines the type of foreign object and outputs corresponding reminder information, voice broadcast information, and / or door control commands.

10. A response method for a door anti-pinch intelligent response system based on pressure distribution analysis according to any one of claims 1-9, comprising the following steps: S1, Door opening or stationary state monitoring step: When the door is in an open or stationary state, obstruction detection is performed within the door opening and closing path; When an obstruction is detected, the obstruction is identified but no vehicle-mounted system reminder is triggered, only the monitoring state is maintained; When no obstruction is detected, no reminder is triggered, and the vehicle-mounted system continues to monitor the door status; S2, Door closing state warning step: When a door closing operation intention is detected, obstruction detection is performed within the door opening and closing path; When an obstruction is detected within the door opening and closing path, a vehicle-mounted system reminder is triggered to indicate a risk of door closing; When no obstruction is detected, no reminder is triggered, and the door is allowed to enter the closing process; S3, Door closing or docking process anti-pinch response step: During the door closing or docking process, the docking position of the door opening and closing part is detected by the pressure distribution detection module; When an object is detected being held in place, the object is analyzed and a vehicle-mounted alert is triggered, including: When the car door is equipped with an electric suction door or an active docking actuator, the door is prohibited from continuing to dock and an alert is triggered; when the car door does not have an active docking actuator and docking has been completed, only an alert is triggered; when no object is detected, no alert is triggered, and the car door is allowed to close or dock normally.

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