A vehicle door anti-pinch system, a vehicle door anti-pinch method, and a vehicle

Abstract

The embodiment of the application relates to the technical field of vehicles, and discloses a vehicle door anti-pinch system, a vehicle door anti-pinch method and a vehicle. The vehicle door anti-pinch system comprises a vehicle body, a vehicle door, a vehicle door driving subsystem, a control subsystem, a shielding detection signal transmitter and a shielding detection signal receiver. The shielding detection signal transmitter and the shielding detection signal receiver are arranged on the vehicle door and the vehicle body respectively. The transmission angle of the shielding detection signal transmitter is adjustable and / or the receiving angle of the shielding detection signal receiver is adjustable. The control subsystem is configured to adjust the transmission angle of the shielding detection signal transmitter and / or adjust the receiving angle of the shielding detection signal receiver according to the current opening and closing position of the vehicle door. When the detection signal meets preset anti-pinch conditions, the vehicle door driving subsystem is controlled to perform an anti-pinch operation. The technical scheme of the application can solve the problems of limited arrangement position and limited sensing range of the vehicle door anti-pinch sensing device in the prior art.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, specifically to a door anti-pinch system, a door anti-pinch method, and a vehicle. Background Technology

[0002] Currently, some vehicles are equipped with anti-pinch sensors between the doors and door frames. These sensors detect the presence of objects between the door and the frame, triggering the anti-pinch function before an object is trapped, thus achieving active door anti-pinch protection. However, existing anti-pinch sensors are typically located between the upper and lower edges of the side doors, the left and right edges of the tailgate, and the tailgate frame. This presents limitations in the placement and sensing range of the sensors. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the purpose of this application is to provide a door anti-pinch system, a door anti-pinch method and a vehicle, which aims to solve the problems of limited placement and limited sensing range of the door anti-pinch sensing device in the prior art.

[0004] In a first aspect, this application provides a vehicle door anti-pinch system, including a vehicle body, a vehicle door, a vehicle door drive subsystem, a control subsystem, an obstruction detection signal transmitter and an obstruction detection signal receiver. The vehicle door is closably mounted on the vehicle body, and the vehicle door drive subsystem is used to drive the vehicle door to perform opening and closing actions. The occlusion detection signal transmitter and the occlusion detection signal receiver are respectively disposed on the vehicle door and the vehicle body, and the transmission angle of the occlusion detection signal transmitter is adjustable and / or the reception angle of the occlusion detection signal receiver is adjustable; The control subsystem is configured to: acquire the current opening / closing position of the door, adjust the transmission angle of the obstruction detection signal transmitter and / or adjust the reception angle of the obstruction detection signal receiver according to the current opening / closing position, so that the obstruction detection signal transmitter and the obstruction detection signal receiver are aligned; and also to acquire the obstruction detection signal received by the obstruction detection signal receiver, and when the obstruction detection signal meets the preset anti-pinch conditions, control the door drive subsystem to perform an anti-pinch operation.

[0005] By adopting the above technical solution, by setting the obstruction detection signal transmitter and the obstruction detection signal receiver on the car door and the car body respectively, a door anti-pinch sensing device is formed between the car door and the car body. The door anti-pinch sensing device can detect whether there is an obstruction between the car door and the car body, and trigger the door anti-pinch function before the obstruction is pinched, thereby realizing active door anti-pinch.

[0006] By configuring the occlusion detection signal transmitter to have an adjustable transmission angle and / or configuring the occlusion detection signal receiver to have an adjustable reception angle, and dynamically adjusting the angle according to the current opening and closing position of the car door, the occlusion detection signal transmitter and the occlusion detection signal receiver are kept aligned. This allows the occlusion detection signal transmitter and the occlusion detection signal receiver to be installed at various positions on the car door, solving the problems of limited placement and limited sensing range of the existing car door anti-pinch sensing device.

[0007] Furthermore, since the occlusion detection signal transmitter is configured to have an adjustable transmission angle and / or the occlusion detection signal receiver is configured to have an adjustable reception angle, the occlusion detection signal transmitter and the occlusion detection signal receiver can be adapted by adjusting the angle. This allows the door anti-pinch sensing device to be better and easier to adapt to various electric doors, which helps to reduce the difficulty of vehicle development, reduce vehicle development costs, and shorten the vehicle development cycle.

[0008] In some embodiments, the door is connected to the vehicle body via a door hinge, and the occlusion detection signal transmitter and the occlusion detection signal receiver are respectively disposed on the side of the door away from the door hinge and on the vehicle body.

[0009] By adopting the above technical solution, the occlusion detection signal transmitter and the occlusion detection signal receiver are respectively set between the side of the car door away from the door hinge and the car body, so that the occlusion detection area covers the area most likely to cause pinching injury when the car door is closed, effectively reducing the risk of pinching injury when the car door is closed.

[0010] In some embodiments, the door anti-pinch system further includes a transmitter drive subsystem for adjusting the transmission angle of the occlusion detection signal transmitter and / or a receiver drive subsystem for adjusting the reception angle of the occlusion detection signal receiver.

[0011] By adopting the above technical solution, and by setting up a dedicated transmitter drive subsystem and / or receiver drive subsystem to perform angle adjustment, it is helpful to achieve precise control of the angle of the occlusion detection signal transmitter and / or occlusion detection signal receiver.

[0012] In some embodiments, the occlusion detection signal transmitter is an infrared signal transmitter, and the occlusion detection signal receiver is an infrared signal receiver.

[0013] By employing the above technical solution, and utilizing the characteristics of infrared light being invisible and having strong resistance to visible light interference, stable anti-pinch detection can be achieved without affecting the user's visual experience, while also reducing the impact of ambient light changes on the detection results.

[0014] In some embodiments, the occlusion detection signal transmitter is a light curtain transmitter, and the occlusion detection signal receiver is a light curtain receiver.

[0015] By employing the above technical solution, a light curtain detection area can be formed by using a light curtain transmitter and a light curtain receiver. Compared with the traditional point-to-point light detection solution, the light curtain detection area can cover a larger detection range, improving the comprehensiveness and reliability of anti-pinch detection.

[0016] In some embodiments, the vehicle door includes the vehicle's rear door and / or side door.

[0017] The door anti-pinch system, which adopts the above technical solution, has the advantage of wide applicability.

[0018] Secondly, embodiments of this application provide a method for preventing door pinching, which is applied to the door pinching system described in any of the above claims. The method includes the following steps: Get the current open / closed position of the car door; Based on the current opening / closing position, adjust the transmission angle of the occlusion detection signal transmitter and / or adjust the reception angle of the occlusion detection signal receiver to keep the occlusion detection signal transmitter and the occlusion detection signal receiver aligned. Obtain the occlusion detection signal received by the occlusion detection signal receiver; When the occlusion detection signal meets the preset anti-pinch conditions, the door drive subsystem is controlled to perform an anti-pinch operation.

[0019] By adopting the above technical solution, the transmission angle of the obstruction detection signal transmitter and / or the reception angle of the obstruction detection signal receiver are dynamically adjusted according to the current opening and closing position of the car door, so that the obstruction detection signal transmitter and the obstruction detection signal receiver are always aligned. This enables continuous and accurate anti-pinch detection during the opening and closing of the car door, effectively ensuring the anti-pinch sensing range and solving the problems of limited placement and sensing range of the anti-pinch sensing device in the prior art.

[0020] In some embodiments, the following steps are also included: The occlusion detection signal is judged in the first stage: the occlusion event is identified according to the occlusion detection signal. If the duration of the occlusion event is greater than or equal to the first time, the occlusion event is determined to be a suspected occlusion state. A second-level judgment is made on the suspected occlusion state: if the duration of the suspected occlusion state is greater than or equal to the second time, or if the suspected occlusion state occurs at least twice within the third time, then the occlusion detection signal is determined to meet the preset anti-pinch condition. Wherein, the first time is less than the second time, and the first time is less than the third time.

[0021] By adopting the above technical solution and setting a two-level judgment mechanism, while ensuring that real obstructions can be identified in time and trigger the anti-pinch operation, it can effectively filter out instantaneous interference signals, reduce the possibility of the anti-pinch operation being falsely triggered, and take into account both the reliability and sensitivity of the door anti-pinch system.

[0022] In some embodiments, after the car door is completely closed, the occlusion detection signal transmitter is controlled to transmit an occlusion detection signal, and the signal strength of the detection signal received by the occlusion detection signal receiver is obtained; If the signal strength meets the preset signal abnormality conditions, an abnormality alert signal will be issued.

[0023] By adopting the above technical solution, a self-test is performed after the car door is closed to detect the signal strength of the obstruction detection signal transmitter and the obstruction detection signal receiver. This can promptly detect abnormalities such as component aging, dirt, or malfunctions, and alert the user when an abnormality is detected, thus ensuring the long-term reliability and safety of the car door anti-pinch system.

[0024] Thirdly, embodiments of this application provide a vehicle including the door anti-pinch system described in any of the above claims; and / or including a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the door anti-pinch method described in any of the above claims.

[0025] By adopting the above technical solution and integrating the above door anti-pinch system and / or door anti-pinch method into the vehicle, it is possible to effectively prevent passengers from being pinched or items from being damaged during the door closing process, thereby effectively improving the user experience and safety. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application will be described below.

[0027] Figure 1 This is a schematic diagram of the structure of the anti-pinch system for car doors disclosed in an embodiment of this application; Figure 2 This is a schematic diagram of the operation of the anti-pinch system for car doors disclosed in the embodiments of this application; Figure 3 This is a control block diagram of the door anti-pinch system disclosed in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of the occlusion detection signal transmitter disclosed in the embodiments of this application; Figure 5This is a schematic diagram of the structure of the occlusion detection signal receiver disclosed in an embodiment of this application; Figure 6 This is a flowchart of the anti-pinch method for car doors disclosed in the embodiments of this application; Figure 7 This is a schematic diagram of the vehicle disclosed in the embodiments of this application.

[0028] Explanation of reference numerals in the attached diagram: 10-Vehicle body; 20-Door; 30-Door frame; 40-Obstruction detection signal transmitter; 50-Obstruction detection signal receiver; 60-Door hinge; 70-Control subsystem; 80-Door drive subsystem; 90-Transmitter drive subsystem; 501-Housing housing; 502-Window; 503-Receiver module; 1000-Vehicle; 2000-Memory; 3000-Processor; 4000-Light beam; 5000-Angle. Detailed Implementation

[0029] The terms “first,” “second,” etc., are used for descriptive purposes only and have no sequential or technical meaning, nor should they be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0030] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Among them, "fixed connection" means that the two are connected to each other and the relative positional relationship remains unchanged after the connection.

[0031] The embodiments of this application are described below with reference to the accompanying drawings.

[0032] As described in the background section, some vehicles are equipped with infrared sensors between the door and the door frame. These sensors detect the presence of objects between the door and the frame, thus enabling an active anti-pinch function that can be triggered before an object is pinched. However, existing infrared sensors positioned between the door and the frame suffer from limitations in placement and sensing range.

[0033] This application proposes a door anti-pinch system to solve the problems of limited placement and limited sensing range of the door anti-pinch sensing device in the prior art.

[0034] Please see Figures 1 to 3 , Figure 1 This is a schematic diagram of the structure of the anti-pinch system for car doors disclosed in an embodiment of this application; Figure 2 This is a schematic diagram of the operation of the anti-pinch system for car doors disclosed in the embodiments of this application; Figure 3This is a control block diagram of a door anti-pinch system disclosed in an embodiment of this application. In some embodiments, the door anti-pinch system includes a vehicle body 10, a door 20, a door drive subsystem 80, a control subsystem 70, an obstruction detection signal transmitter 40, and an obstruction detection signal receiver 50. The door 20 is closably mounted on the vehicle body 10, and the door drive subsystem 80 drives the door 20 to perform opening and closing actions. The obstruction detection signal transmitter 40 and the obstruction detection signal receiver 50 are respectively disposed on the door 20 and the vehicle body 10. The transmission angle of the obstruction detection signal transmitter 40 is adjustable and / or the transmission angle of the obstruction detection signal receiver 50 is adjustable. The receiving angle is adjustable; the control subsystem 70 is configured to: acquire the current opening / closing position of the door 20, adjust the transmission angle of the obstruction detection signal transmitter 40 and / or adjust the receiving angle of the obstruction detection signal receiver 50 according to the current opening / closing position, so that the obstruction detection signal transmitter 40 and the obstruction detection signal receiver 50 are aligned; and also to acquire the obstruction detection signal received by the obstruction detection signal receiver 50, and control the door drive subsystem 80 to perform an anti-pinch operation when the obstruction detection signal meets the preset anti-pinch conditions.

[0035] By adopting the above technical solution, by setting the obstruction detection signal transmitter 40 and the obstruction detection signal receiver 50 on the door 20 and the body 10 respectively, an anti-pinch sensing device for the door 20 is formed between the door 20 and the body 10. The anti-pinch sensing device for the door 20 can detect whether there is an obstruction between the door 20 and the body 10, and trigger the anti-pinch function of the door 20 before the obstruction is pinched, thereby realizing the active anti-pinch function of the door 20.

[0036] By configuring the occlusion detection signal transmitter 40 to have an adjustable transmission angle and / or configuring the occlusion detection signal receiver 50 to have an adjustable reception angle, and dynamically adjusting the angle according to the current opening and closing position of the door 20, the occlusion detection signal transmitter 40 and the occlusion detection signal receiver 50 are kept aligned. This allows the occlusion detection signal transmitter 40 and the occlusion detection signal receiver 50 to be installed at various positions on the door 20, solving the problems of limited placement and limited sensing range of the anti-pinch sensing device on the door 20 in the prior art.

[0037] Furthermore, since the occlusion detection signal transmitter 40 is configured to have an adjustable transmission angle and / or the occlusion detection signal receiver 50 is configured to have an adjustable receiving angle, the occlusion detection signal transmitter 40 and the occlusion detection signal receiver 50 can be adapted by adjusting the angle, so that the anti-pinch sensing device of the door 20 can be better and easier to be adapted to various electric doors 20, which helps to reduce the difficulty of vehicle development, reduce vehicle development costs and shorten the vehicle development cycle.

[0038] As a specific example, the door drive subsystem 80 typically includes a drive motor and a transmission mechanism, which can be a gear rack or linkage mechanism, used to output power to drive the door 20 to open or close.

[0039] The control subsystem 70 can be constructed using one or more controllers from the vehicle, or it can be constructed using one or more modules from the vehicle's controllers, such as using a body 10 domain controller and a door 20 motor controller. The control subsystem 70 is connected to the door 20 position sensor and can obtain the current opening / closing position of the door 20. The door 20 position sensor can be a Hall sensor, an angle sensor, or a motor encoder.

[0040] The occlusion detection signal receiver 50 converts the received occlusion detection signal into an electrical signal and transmits it to the control subsystem 70 via the vehicle's hardwire or bus. The door 20 position sensor collects the current opening angle or position of the door 20 in real time and sends the data to the control subsystem 70 via the vehicle's hardwire or bus.

[0041] The control subsystem 70 calculates the required transmission angle and / or reception angle based on the current opening and closing position of the door 20, and then sends control signals to the angle adjustment actuator of the obstruction detection signal transmitter 40 and / or obstruction detection signal receiver 50 to dynamically adjust the angle.

[0042] When the control subsystem 70 determines that the received obstruction detection signal meets the preset anti-pinch conditions, it can send an anti-pinch command to the motor controller of the door drive subsystem 80 through the vehicle's hardwire or bus. The motor controller then controls the drive motor to reverse or stop, thereby realizing the anti-pinch operation.

[0043] It should be noted that maintaining alignment between the occlusion detection signal transmitter 40 and the occlusion detection signal receiver 50 means that the occlusion detection signal emitted by the occlusion detection signal transmitter 40 is aligned with the signal receiving area of ​​the occlusion detection signal receiver 50.

[0044] Please see Figure 1 and Figure 2 In some embodiments, the door 20 is connected to the body 10 via the door hinge 60, and the occlusion detection signal transmitter 40 and the occlusion detection signal receiver 50 are respectively disposed on the side of the door 20 away from the door hinge 60 and on the body 10.

[0045] By adopting the above technical solution, by setting the occlusion detection signal transmitter 40 and the occlusion detection signal receiver 50 respectively between the side of the door 20 away from the door hinge 60 and the body 10, the occlusion detection area covers the area where the door 20 is most likely to cause pinching injury when it is closed, effectively reducing the risk of pinching injury when the door 20 is closed.

[0046] As a preferred example, the door 20 is connected to the door frame 30 of the vehicle body 10 via a door hinge 60. The door 20 can rotate around the axis of the door hinge 60. One of the obstruction detection signal transmitter 40 and the obstruction detection signal receiver 50 is located at the edge of the door 20 away from the door hinge 60, and the other is located on the side frame of the door frame 30 away from the door hinge 60. The area between the edge of the door 20 away from the door hinge 60 and the side frame of the door frame 30 away from the door hinge 60 is the area where the door 20 is most likely to cause pinching injury when it is closed. By reasonably arranging the positions of the obstruction detection signal transmitter 40 and the obstruction detection signal receiver 50, the risk of pinching injury when the door 20 is closed is effectively reduced.

[0047] In some embodiments, the door anti-pinch system further includes a transmitter drive subsystem 90 for adjusting the transmission angle of the occlusion detection signal transmitter 40 and / or a receiver drive subsystem for adjusting the reception angle of the occlusion detection signal receiver 50.

[0048] By adopting the above technical solution, and by setting up a dedicated transmitter drive subsystem 90 and / or receiver drive subsystem to perform angle adjustment, it is helpful to achieve precise control of the angle of the occlusion detection signal transmitter 40 and / or occlusion detection signal receiver 50.

[0049] In practical implementation, the transmitter drive subsystem 90 and the receiver drive subsystem can be implemented with reference to the door drive subsystem 80, using a motor and transmission mechanism to adjust the angle of the occlusion detection signal transmitter 40 and the occlusion detection signal receiver 50.

[0050] Taking the transmitter drive subsystem 90 as an example, the transmitter drive subsystem 90 can be located inside the obstruction detection signal transmitter 40. The transmission angle of the obstruction detection signal transmitter 40 is adjusted by driving the internal components of the transmitter 40 to rotate. Alternatively, the transmitter drive subsystem 90 can be located between the obstruction detection signal transmitter 40 and the door 20. The transmission angle of the obstruction detection signal transmitter 40 is adjusted by driving the entire obstruction detection signal transmitter 40 to rotate.

[0051] More specifically, the obstruction detection signal transmitter 40 can be mounted on the vehicle door 20 in a rotatable manner, such as by hinges. The transmitter drive subsystem 90 includes a transmitter drive motor fixedly mounted on the vehicle door and a transmission mechanism disposed between the transmitter drive motor and the obstruction detection signal transmitter 40. The transmission mechanism can be a gear drive mechanism or a linkage drive mechanism. The transmitter drive motor outputs power, which is transmitted to the obstruction detection signal transmitter 40 through the transmission mechanism, driving the obstruction detection signal transmitter 40 to rotate around its own rotation axis.

[0052] As a preferred solution, to reduce implementation difficulty, the occlusion detection signal transmitter 40 is mounted on the door 20, and the occlusion detection signal receiver 50 is mounted on the door frame 30. The transmission angle of the occlusion detection signal transmitter 40 is adjustable. By adjusting the transmission angle of the occlusion detection signal transmitter 40, it is easier to align the occlusion detection signal transmitter 40 and the occlusion detection signal receiver 50.

[0053] In specific implementation, the occlusion detection signal transmitter 40 can be an infrared light transmitter, a light curtain transmitter, a lidar transmitter, or other types of transmitter, and the occlusion detection signal receiver 50 can be an infrared signal receiver, a light curtain receiver, a lidar receiver, or other types of receiver.

[0054] In some embodiments, the occlusion detection signal transmitter 40 is an infrared signal transmitter, and the occlusion detection signal receiver 50 is an infrared signal receiver.

[0055] By employing the above technical solution, and utilizing the characteristics of infrared light being invisible and having strong resistance to visible light interference, stable anti-pinch detection can be achieved without affecting the user's visual experience, while also reducing the impact of ambient light changes on the detection results.

[0056] In some embodiments, the occlusion detection signal transmitter 40 is a light curtain transmitter, and the occlusion detection signal receiver 50 is a light curtain receiver.

[0057] By employing the above technical solution, a light curtain detection area can be formed by using a light curtain transmitter and a light curtain receiver. Compared with the traditional point-to-point light detection solution, the light curtain detection area can cover a larger detection range, improving the comprehensiveness and reliability of anti-pinch detection.

[0058] In some embodiments, the door 20 includes the vehicle's tailgate and / or side door. Using the above-described technical solution, the door anti-pinch system has a wide range of applications.

[0059] In practical implementation, anti-pinch sensing devices for the side door 20 can be installed between the upper edge of the side door and the side door frame, between the lower edge of the side door and the side door frame, and between the edge of the side door away from the side door hinge and the side door frame. Anti-pinch sensing devices for the tailgate 20 can also be installed between the lower edge of the tailgate and the tailgate frame, between the left edge of the tailgate and the tailgate frame, and between the right edge of the tailgate and the tailgate frame.

[0060] Please see Figures 1 to 3 Taking the tailgate as an example, the anti-pinch system for vehicle doors will be explained. The anti-pinch system applied to the tailgate includes the vehicle body 10, the tailgate, a tailgate drive subsystem, a control subsystem 70, an obstruction detection signal transmitter 40, an obstruction detection signal receiver 50, and a transmitter drive subsystem 90. The tailgate is closable and mounted on the tailgate frame of the vehicle body 10 via tailgate hinges. The obstruction detection signal transmitter 40 is mounted on the lower edge of the tailgate, and the obstruction detection signal receiver 50 is mounted on the lower frame of the tailgate frame. The tailgate drive subsystem, transmitter drive subsystem 90, obstruction detection signal receiver 50, and obstruction detection signal transmitter 40 are all electrically connected to the control subsystem 70. The occlusion detection signal transmitter 40 is an infrared light curtain transmitter, and the occlusion detection signal receiver 50 is an infrared light curtain receiver. The infrared light curtain receiver receives the infrared light signal emitted by the infrared light curtain transmitter. The transmitter drive subsystem 90 can adjust the angle 5000 between the light curtain 4000 emitted by the infrared light curtain transmitter and the back door, so that the light curtain emitted by the infrared light curtain transmitter can be aligned with the receiving area of ​​the infrared light curtain transmitter.

[0061] During the descent of the rear door, the transmitter drive subsystem 90 can adjust the angle of the light curtain emitted by the infrared light curtain transmitter, ensuring that the light curtain is always mapped onto the infrared light curtain receiver. The infrared light curtain transmitter is controlled by the control subsystem 70, and the control logic is as follows: The control subsystem 70 reads the rear door angle sensor to obtain the current opening and closing angle of the rear door and determines whether a closing command has been received. If the rear door is in the closing process, it plans the target closing trajectory of the rear door based on the current opening and closing angle, calculates the target angle to which the infrared light curtain transmitter should rotate according to the synchronization ratio coefficient, and controls the transmitter drive subsystem 90 to drive the infrared light curtain transmitter to rotate so that the infrared light curtain transmitter is always aligned with the infrared light curtain receiver. At the same time, the infrared anti-pinch detection algorithm is executed. If an obstruction is detected, the rear door movement is immediately stopped and the rear door is controlled to open in the opposite direction. If no obstruction is detected, the rear door continues to close according to the planned trajectory and speed. If the rear door is not currently in the closing process, the infrared light curtain transmitter is rotated to the preset standby angle. After a short delay at the end of each control cycle, the above process is repeated.

[0062] In practical implementation, the calibration parameters of the infrared light curtain transmitter can be pre-stored in the control subsystem 70 so that the horizontal unfolding angle of the light curtain reaches the calibration angle; the back door motion parameters can be pre-stored in the control subsystem 70, including the back door closing speed and the back door closing trajectory. During the descent of the back door, the light curtain of the infrared light curtain transmitter is always mapped onto the effective receiving area of ​​the infrared light curtain receiver.

[0063] Please see Figure 4 , Figure 4 This is a schematic diagram of the obstruction detection signal transmitter 40 disclosed in an embodiment of this application. The obstruction detection signal transmitter 40 can be a spherical infrared sensor transmitter, which is installed near the latch of the tailgate. The transmitting module inside the spherical infrared sensor transmitter can be laterally adjusted to form a suitable light curtain. During the actual vehicle development stage, the lateral unfolding angle of the light curtain can be calibrated according to the tailgate shape.

[0064] As a preferred example, the spherical infrared sensor transmitter employs a fully sealed spherical optical housing, which can be made of high-transmittance infrared optical resin. Internally, it integrates an infrared emitting chip, a carrier modulation drive circuit, a spherical focusing lens, and a regulated power supply module. The transmitter's main control unit receives signals from the back-door control unit and utilizes its built-in PWM modulation module to generate a pulsed square wave signal with a fixed carrier frequency. Furthermore, an adjustable duty cycle pulse modulation mode can be used to reduce device power consumption while maintaining infrared light emission intensity. During operation, the carrier modulation signal is transmitted to the infrared emitting chip via a constant current drive circuit, driving the chip to emit infrared light.

[0065] In practical implementation, the infrared light emitted by the infrared emitting chip is 940nm infrared light carrying a 38kHz carrier wave characteristic. This infrared light can effectively avoid the frequency bands of ambient natural light, car lights and light signals of vehicle equipment, thus avoiding interference at the source.

[0066] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of the occlusion detection signal receiver 50 disclosed in this application embodiment. The occlusion detection signal receiver 50 is installed on the lower frame of the back door frame. The occlusion detection signal receiver 50 includes a housing 501 and a plurality of receiving modules 503. An elongated window 502 is formed on the housing 501, and the plurality of receiving modules 503 are arranged sequentially at intervals along the window 502.

[0067] As a preferred example, the occlusion detection signal receiver 50 integrates an infrared photodiode, a narrowband filter circuit, a carrier demodulation circuit, a signal amplification and shaping circuit, and an electromagnetic interference suppression unit. To improve anti-interference capability, a narrowband infrared filter can also be installed in window 502 to receive only infrared light corresponding to the infrared wavelength emitted by the infrared emitting chip.

[0068] The obstruction detection signal receiver 50 works as follows: It receives modulated infrared light signals via an infrared photodiode, converts these signals into analog electrical signals, and eliminates stray light from non-target directions. The analog electrical signal is pre-amplified and then sent to a carrier synchronization demodulation circuit. The demodulated signal is processed by a shaping circuit and converted into a standard digital level signal, which is transmitted to the rear door control unit in real time. When there is no obstruction, a stable high-level signal is output; when there is an obstruction, no effective modulated light signal is received, and a low-level obstruction signal is output. Preferably, the carrier synchronization demodulation circuit locks the transmitter's 38kHz carrier frequency, demodulating only signals modulated at the same frequency, filtering out interference signals from ambient natural light, vehicle lights, and other infrared devices, and outputting a pure pulse electrical signal.

[0069] In practical implementation, the anti-pinch sensor device for the car door 20 can adopt the following anti-interference design: Optical anti-interference design: The occlusion detection signal transmitter 40 emits directional focused light to reduce the infrared light divergence angle, prevent stray light from mixing in, and improve the purity of the effective signal. Dual narrowband filter protection: Both the transmitter port of the occlusion detection signal transmitter 40 and the receiver end of the occlusion detection signal receiver 50 are equipped with 940nm narrowband infrared filters, allowing only the target wavelength infrared light to pass through, shielding visible light, ultraviolet light, and stray infrared light interference. Light-shielding isolation structure: Both the occlusion detection signal transmitter 40 and the occlusion detection signal receiver 50 are equipped with side light shields to block crosstalk between adjacent zones and prevent direct interference from lateral ambient light. Circuit and carrier anti-interference design: Carrier frequency locked modulation and demodulation: The obstruction detection signal transmitter and receiver use a fixed carrier frequency to achieve frequency domain isolation and prevent non-carrier signal triggering; Constant current drive and regulated power supply: The obstruction detection signal transmitter 40 uses constant current drive to avoid unstable light intensity caused by vehicle power supply voltage fluctuations; LC filter and transient suppression circuit are added to the power supply end to eliminate vehicle electromagnetic interference. Differential signal transmission: The receiver output signal adopts differential transmission mode to improve the signal transmission anti-electromagnetic interference capability and adapt to the complex electromagnetic compatibility conditions of automobiles.

[0070] Please see Figure 6 , Figure 6 This is a flowchart of a door anti-pinch method disclosed in an embodiment of this application. This door anti-pinch method is applied to any of the aforementioned door anti-pinch systems, and includes the following steps: S100: Obtain the current open / closed position of door 20; S200: Adjust the transmission angle of the occlusion detection signal transmitter 40 and / or the reception angle of the occlusion detection signal receiver 50 according to the current opening and closing position, so that the occlusion detection signal transmitter 40 and the occlusion detection signal receiver 50 are kept aligned. S300: Acquire the occlusion detection signal received by the occlusion detection signal receiver 50; S400: When the obstruction detection signal meets the preset anti-pinch conditions, control the door drive subsystem 80 to perform the anti-pinch operation.

[0071] By adopting the above technical solution, the transmission angle of the occlusion detection signal transmitter 40 and / or the reception angle of the occlusion detection signal receiver 50 are dynamically adjusted according to the current opening and closing position of the door 20, so that the occlusion detection signal transmitter 40 and the occlusion detection signal receiver 50 are always aligned. This enables continuous and accurate anti-pinch detection during the opening and closing of the door 20, effectively ensuring the anti-pinch sensing range and solving the problems of limited placement and sensing range of the anti-pinch sensing device in the prior art.

[0072] In practice, the door anti-pinch method described above is executed by the control subsystem 70 of the door anti-pinch system.

[0073] In some embodiments, the door anti-pinch method further includes the following steps: The first-level judgment is made on the occlusion detection signal: the occlusion event is identified based on the occlusion detection signal. If the duration of the occlusion event is greater than or equal to the first time, the occlusion event is determined to be a suspected occlusion state. A second-level judgment is made on the suspected occlusion state: if the duration of the suspected occlusion state in the same detection area is greater than or equal to the second time, or if the same detection area has at least two suspected occlusion states in the third time, then the occlusion detection signal is determined to meet the preset anti-pinch condition. Among them, the first time is less than the second time, and the first time is less than the third time.

[0074] By adopting the above technical solution and setting a two-level judgment mechanism, while ensuring that real obstructions can be identified in time and trigger the anti-pinch operation, it can effectively filter out instantaneous interference signals, reduce the possibility of the anti-pinch operation being falsely triggered, and take into account both the reliability and sensitivity of the door anti-pinch system.

[0075] In practice, the first, second, and third time points can be set according to actual needs and can be calibrated during the vehicle design phase.

[0076] As a specific example, the first-level judgment of the occlusion detection signal includes the following steps: continuously sampling the occlusion detection signal at a period of 20ms; if the occlusion event is identified in 3 consecutive samples, the occlusion event is determined to be a suspected occlusion state.

[0077] The second-level judgment of suspected obstruction includes the following steps: If the duration of the suspected obstruction in the same detection area is greater than or equal to 100ms, or if the same detection area experiences at least two suspected obstruction states within 200ms, then a valid obstruction is confirmed, and the obstruction detection signal is determined to meet the preset anti-pinch condition. At least two suspected obstruction states within 200ms in the same detection area indicate that the obstruction in that detection area gradually forms as the door moves.

[0078] In practice, if the signal strength of the occlusion detection signal is less than 30% of the threshold, it can be identified as an occlusion event.

[0079] In the above technical solution, an anti-interference design is formed through control methods to avoid false triggering caused by external interference such as flying insects, dust, and momentary light spots. Furthermore, it can also prevent false triggering caused by obstruction of the angle adjustment of the detection signal transmitter 40 and / or the angle adjustment of the detection signal receiver 50.

[0080] In some embodiments, after the door 20 is fully closed, the occlusion detection signal transmitter 40 is controlled to transmit an occlusion detection signal, and the signal strength of the detection signal received by the occlusion detection signal receiver 50 is obtained. If the signal strength meets the preset abnormal signal conditions, an abnormality alert signal will be issued.

[0081] By adopting the above technical solution, a self-test is performed after the door 20 is closed to detect the signal strength of the obstruction detection signal transmitter 40 and the obstruction detection signal receiver 50. This can promptly detect abnormalities such as component aging, dirt, or malfunctions, and remind the user when an abnormality is detected, thus ensuring the long-term reliability and safety of the door anti-pinch system.

[0082] As a specific example, after the tailgate is fully closed, the control subsystem 70 controls the obstruction detection signal transmitter 40 to operate, and the obstruction detection signal receiver 50 detects the corresponding signal strength. If the signal strength is detected to be lower than 80% of the initial value for three consecutive times, it is determined that there is component aging or malfunction, and a fault pop-up window is displayed on the vehicle's infotainment system to prompt the user to repair it. The initial value can be the factory calibration value or the self-learning value at the first power-on.

[0083] As a specific example, the anti-pinch operation includes the following steps: the control subsystem 70 sends a command to the tailgate motor controller to control the tailgate to open in the reverse direction at 30% of the rated speed for 15-20cm and then stop to avoid continuous pinching; simultaneously, a signal is sent to the vehicle system to issue a pop-up window and a prompt sound to remind the user to remove the obstruction.

[0084] In practice, when a user issues a tailgate closing command via the vehicle infotainment system or tailgate button, the control subsystem 70 receives the tailgate closing command, first drives the tailgate motor to start, and simultaneously turns on the obstruction detection signal transmitter 40 and the obstruction detection signal receiver 50, entering the anti-pinch monitoring state.

[0085] In some embodiments, the door anti-pinch method further includes the following steps: the control subsystem 70 reads ambient temperature and light intensity data every 100ms; when the ambient temperature is ≤-10℃, it determines that the LED luminous efficiency has decreased, and increases the drive current of the occlusion detection signal transmitter 40 from 20mA to 30mA through the PWM signal to improve the signal strength; when the light intensity is ≥50000lux, it controls the operational amplifier gain of the occlusion detection signal receiver 50 to increase by 15% to avoid the signal being overwhelmed by strong light; when electromagnetic interference is detected, it temporarily switches the transmission frequency of the occlusion detection signal transmitter 40 to 8kHz or 12kHz to avoid interference frequencies.

[0086] In some embodiments, this application discloses a vehicle including the door anti-pinch system described in any of the preceding claims.

[0087] By adopting the above technical solution and integrating the anti-pinch system into the vehicle 1000, the system can effectively prevent passengers from being pinched or items from being damaged during the closing process of the door 20, thereby effectively improving the user experience and safety.

[0088] Please see Figure 7 , Figure 7 This is a schematic diagram of a vehicle 1000 disclosed in an embodiment of this application. The vehicle 1000 includes a processor 3000 and a memory 2000. The memory 2000 stores a computer program. When the computer program is executed by the processor 3000, the processor 3000 performs the door anti-pinch method described in any of the above claims.

[0089] By adopting the above technical solution and integrating the door anti-pinch method into the vehicle 1000, it is possible to effectively prevent passengers from being pinched or items from being damaged during the closing process of the door 20, thereby effectively improving the user experience and safety.

[0090] In specific implementation, vehicle 1000 can be, but is not limited to, pure electric vehicle (PEV / BEV), hybrid electric vehicle (HEV), range-extended electric vehicle (REEV), plug-in hybrid electric vehicle (PHEV), new energy vehicle, etc.

[0091] It should be understood that the application of this application is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims. Those skilled in the art can understand that implementing all or part of the processes of the above embodiments and making equivalent changes according to the claims of this application still fall within the scope of this application.

Claims

1. A door anti-pinch system, characterized in that, Includes a vehicle body (10), a door (20), a door drive subsystem (80), a control subsystem (70), an obstruction detection signal transmitter (40), and an obstruction detection signal receiver (50). The door (20) is closably mounted on the vehicle body (10), and the door drive subsystem (80) is used to drive the door (20) to perform opening and closing actions. The occlusion detection signal transmitter (40) and the occlusion detection signal receiver (50) are respectively disposed on the door (20) and the body (10). The transmission angle of the occlusion detection signal transmitter (40) is adjustable and / or the reception angle of the occlusion detection signal receiver (50) is adjustable. The control subsystem (70) is configured to: acquire the current opening / closing position of the door (20), adjust the transmission angle of the obstruction detection signal transmitter (40) and / or adjust the receiving angle of the obstruction detection signal receiver (50) according to the current opening / closing position, so that the obstruction detection signal transmitter (40) and the obstruction detection signal receiver (50) are aligned; and also to acquire the obstruction detection signal received by the obstruction detection signal receiver (50), and when the obstruction detection signal meets the preset anti-pinch conditions, control the door drive subsystem (80) to perform an anti-pinch operation.

2. The door anti-pinch system as described in claim 1, characterized in that, The door (20) is connected to the body (10) via a door hinge (60). The occlusion detection signal transmitter (40) and the occlusion detection signal receiver (50) are respectively located on the side of the door (20) away from the door hinge (60) and on the body (10).

3. The door anti-pinch system as described in claim 1 or 2, characterized in that, It also includes a transmitter drive subsystem (90) for adjusting the transmission angle of the occlusion detection signal transmitter (40) and / or a receiver drive subsystem for adjusting the reception angle of the occlusion detection signal receiver (50).

4. The door anti-pinch system as described in claim 3, characterized in that, The occlusion detection signal transmitter (40) is an infrared signal transmitter, and the occlusion detection signal receiver (50) is an infrared signal receiver.

5. The door anti-pinch system as described in claim 4, characterized in that, The occlusion detection signal transmitter (40) is a light curtain transmitter, and the occlusion detection signal receiver (50) is a light curtain receiver.

6. The door anti-pinch system as described in claim 1, characterized in that, The door (20) includes the rear door and / or side door of the vehicle.

7. A method for preventing door pinching, characterized in that, The door anti-pinch method is applied to the door anti-pinch system as described in any one of claims 1 to 6, and the door anti-pinch method includes the following steps: Get the current open / closed position of the car door (20); According to the current opening and closing position, adjust the transmission angle of the occlusion detection signal transmitter (40) and / or adjust the receiving angle of the occlusion detection signal receiver (50) so that the occlusion detection signal transmitter (40) and the occlusion detection signal receiver (50) are aligned. Obtain the occlusion detection signal received by the occlusion detection signal receiver (50); When the occlusion detection signal meets the preset anti-pinch conditions, the door drive subsystem (80) is controlled to perform an anti-pinch operation.

8. The door anti-pinch method as described in claim 7, characterized in that, It also includes the following steps: The occlusion detection signal is judged in the first stage: the occlusion event is identified according to the occlusion detection signal. If the duration of the occlusion event is greater than or equal to the first time, the occlusion event is determined to be a suspected occlusion state. A second-level judgment is made on the suspected occlusion state: if the duration of the suspected occlusion state is greater than or equal to the second time, or if the suspected occlusion state occurs at least twice within the third time, then the occlusion detection signal is determined to meet the preset anti-pinch condition. Wherein, the first time is less than the second time, and the first time is less than the third time.

9. The door anti-pinch method as described in claim 7, characterized in that, It also includes the following steps: After the car door (20) is completely closed, the occlusion detection signal transmitter (40) is controlled to transmit an occlusion detection signal, and the signal strength of the occlusion detection signal received by the occlusion detection signal receiver (50) is obtained. If the signal strength meets the preset signal abnormality conditions, an abnormality alert signal will be issued.

10. A vehicle, characterized in that, The system includes a door anti-pinch system as described in any one of claims 1-6; and / or includes a processor (3000) and a memory (2000), the memory (2000) storing a computer program that, when executed by the processor (3000), causes the processor (3000) to perform the door anti-pinch method as described in any one of claims 7-9.

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