A vehicle window anti-pinch control method and device and vehicle

Abstract

The application relates to the technical field of vehicles and discloses a window anti-pinch control method and device and a vehicle. The method comprises the following steps: acquiring a real-time ripple count value of a window motor and a real-time capacitance value output by a capacitance sensor installed near the window; based on a ripple-capacitance reference curve calibrated in advance, determining a reference capacitance value corresponding to the real-time ripple count value and calculating a capacitance difference value between the real-time capacitance value and the reference capacitance value; and based on the capacitance difference value and a real-time ripple signal of the window motor, controlling the window to perform corresponding anti-pinch control operations. The application solves the problem that the existing ripple anti-pinch technology cannot prevent in advance and causes a touch object to be pressed at the moment of contact because the technology can only be triggered after physical contact.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, specifically to a method, device, and vehicle for preventing window pinching. Background Technology

[0002] Anti-pinch windows are an indispensable part of automotive safety systems, designed to prevent injuries caused by pinching during window closing. Currently, anti-pinch technology counts window positions by collecting current ripple pulses generated during DC motor commutation. When a change in ripple frequency caused by a change in motor load is detected, the anti-pinch function is triggered to reverse. This technology is widely used in various vehicle models.

[0003] However, the ripple anti-pinch technology is a contact-based or post-triggered strategy. Its triggering premise is that the obstacle has already made physical contact with the window and the motor load has changed. Therefore, it cannot achieve early prevention when a person is close to the window but has not yet made contact. At the moment of contact, it is easy to generate a noticeable pressure sensation, which is difficult to meet higher-level safety and comfort needs. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method, device and vehicle for controlling anti-pinch of vehicle windows, in order to solve the problem that existing anti-pinch technology can only be triggered after physical contact, thus failing to prevent it in advance and causing a feeling of pressure on the body at the moment of contact.

[0005] In a first aspect, embodiments of the present invention provide a method for controlling the anti-pinch function of a vehicle window, the method comprising: Acquire the real-time ripple count value of the window motor and the real-time capacitance value output by the capacitive sensor installed near the window; Based on a pre-calibrated ripple-capacitance reference curve, a reference capacitance value corresponding to the real-time ripple count value is determined, and the capacitance difference between the real-time capacitance value and the reference capacitance value is calculated. Based on the capacitance difference and the real-time ripple signal of the window motor, the window is controlled to perform corresponding anti-pinch control operations.

[0006] Furthermore, before determining the reference capacitance value corresponding to the real-time ripple count value based on a pre-calibrated ripple-capacitance reference curve, the method further includes: The window is controlled to perform at least one reference control stroke in an unloaded state, wherein the reference control stroke is a process of moving from the fully open position to the fully closed position and maintaining a stall for a preset time, and then moving from the fully closed position to the fully open position. During the at least one reference control stroke, the original ripple signal of the window motor is acquired, and a mapping relationship between the ripple count value and the window position feature value is established based on the original ripple signal. Obtain the capacitance value output by the capacitance sensor under different characteristic values ​​of the window position; Using the positional feature value corresponding to each ripple count value in the original ripple signal as the abscissa and the capacitance value corresponding to the window position feature value as the ordinate, curve fitting is performed to generate the ripple-capacitance reference curve.

[0007] Furthermore, establishing the mapping relationship between the ripple count value and the window position feature value based on the original ripple signal includes: The zero-point reference ripple count value of the window motor in the fully closed position is obtained, wherein the zero-point reference ripple count value is the ripple count value recorded when the window motor is controlled to rotate forward until the motor current reaches the stall current threshold. The full-stroke reference ripple count value of the window motor in the fully open position is obtained, wherein the full-stroke reference ripple count value is the ripple count value recorded when the window motor is controlled to rotate in the reverse direction until the motor current is detected to reach the stall current threshold again. Based on the zero-point reference ripple count value and the full-range reference ripple count value, each ripple count value in the original ripple signal is normalized to obtain the window position feature value corresponding to each ripple count value. Based on the window position feature value corresponding to each ripple count value, a mapping relationship between the ripple count value and the window position feature value is established.

[0008] Furthermore, after generating the ripple-capacitance reference curve, the method further includes: Monitor the cumulative number of cycles in which the vehicle window performs the raising and lowering operation; When the cumulative number of cycles reaches a preset cycle threshold, the static capacitance value of the capacitance sensor at the current stationary position is detected. Obtain the reference capacitance value corresponding to the current stationary position in the ripple-capacitance reference curve, and calculate the deviation between the static capacitance value and the reference capacitance value; The adaptive calibration mechanism is triggered based on the deviation value, and the ripple count value and capacitance value at each position are re-acquired to update the ripple-capacitance reference curve, resulting in the updated ripple-capacitance reference curve.

[0009] Furthermore, the step of controlling the window to perform corresponding anti-pinch control operations based on the capacitance difference and the real-time ripple signal of the window motor includes: Obtain the real-time ripple signal of the window motor; Extract the pulse frequency of the real-time ripple signal and obtain the reference pulse frequency of the window motor; Calculate the rate of change of frequency based on the pulse frequency and the reference pulse frequency; When the frequency change rate is greater than or equal to a preset change rate threshold, an emergency anti-pinch mechanism is triggered, and corresponding anti-pinch control operations are performed using the first window control parameters; or, when the frequency change rate is less than a preset change rate threshold, an early warning anti-pinch mechanism is triggered, and the window is controlled to perform corresponding anti-pinch control operations based on the capacitance difference.

[0010] Furthermore, controlling the window to perform corresponding anti-pinch control operations based on the capacitance difference includes: Obtain the preset capacitance difference threshold corresponding to the real-time ripple count value; When the capacitance difference is greater than or equal to the preset capacitance difference threshold, the distance between the vehicle window and the clamping target is determined based on the capacitance difference. The control parameters of the second window are determined based on the interval distance, and the corresponding anti-pinch control operation is performed using the control parameters of the second window.

[0011] Furthermore, the method also includes: Obtain the real-time temperature value output by the temperature sensor installed near the vehicle window; The capacitance compensation coefficient is determined based on the real-time temperature value, and the real-time capacitance value is corrected based on the compensation coefficient to obtain the corrected real-time capacitance value. The capacitance difference is calculated by replacing the real-time capacitance value with the corrected real-time capacitance value.

[0012] Furthermore, before obtaining the preset capacitance difference threshold corresponding to the real-time ripple count value, the method further includes: Obtain the capacitance value corresponding to different ripple count values ​​in the ripple-capacitance reference curve; The percentage change in capacitance generated when different pre-calibrated clamping targets approach the capacitance sensor is obtained. The preset capacitance difference threshold corresponding to different ripple count values ​​is obtained by multiplying the capacitance value by the capacitance change percentage.

[0013] Secondly, embodiments of the present invention provide a vehicle window anti-pinch control device, the device comprising: The acquisition module is used to acquire the real-time ripple count value of the window motor and the real-time capacitance value output by the capacitance sensor installed near the window. The determination module is used to determine the reference capacitance value corresponding to the real-time ripple count value based on a pre-calibrated ripple-capacitance reference curve, and to calculate the capacitance difference between the real-time capacitance value and the reference capacitance value. The control module is used to control the window to perform corresponding anti-pinch control operations based on the capacitance difference and the real-time ripple signal of the window motor.

[0014] Thirdly, embodiments of the present invention provide a computer device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0015] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that cause a computer to perform the method described in the first aspect or any of its corresponding embodiments.

[0016] The method provided in this application has the following beneficial effects: The method provided in this application acquires the real-time ripple count value of the window motor and the real-time capacitance value output by the capacitive sensor installed near the window, providing accurate position information and non-contact proximity sensing information for fusion judgment, thus providing a data foundation for layered anti-pinch measures. By determining the reference capacitance value corresponding to the real-time ripple count value based on a pre-calibrated ripple-capacitance reference curve and calculating the capacitance difference between the real-time capacitance value and the reference capacitance value, capacitance interference can be effectively eliminated, obtaining a pure capacitance change that only reflects the degree of proximity of the human body or obstacle, thereby significantly improving the accuracy and reliability of proximity detection. By controlling the window to perform corresponding anti-pinch control operations based on the capacitance difference and the real-time ripple signal of the window motor, a graded response mechanism is realized: the capacitance difference is used to perform early warning deceleration or early stop before physical contact to avoid the feeling of pressure on the body, while the real-time ripple signal is used to trigger an emergency reversal as a safety backup when actual contact occurs, thereby significantly improving the comfort and safety of the anti-pinch process while ensuring regulatory compliance. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic flowchart of a vehicle window anti-pinch control method according to some embodiments of the present invention; Figure 2 This is a schematic diagram of the overall anti-pinch control process after the system is powered on and initialized according to some embodiments of the present invention; Figure 3 This is a schematic diagram of a two-path process for generating an initial threshold according to some embodiments of the present invention; Figure 4 This is a flowchart illustrating another anti-pinch control method for vehicle windows according to some embodiments of the present invention; Figure 5 This is a schematic diagram of a dual-mode architecture for an adaptive calibration process according to some embodiments of the present invention; Figure 6 This is a structural block diagram of a window anti-pinch control device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0020] According to embodiments of the present invention, a method, device and vehicle for preventing window pinching are provided. It should be noted that the steps shown in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be executed in a different order than that shown here.

[0021] This embodiment provides a method for preventing window pinching. Figure 1 This is a flowchart of a window anti-pinch control method according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps: Step S101: Obtain the real-time ripple count value of the window motor and the real-time capacitance value output by the capacitive sensor installed near the window.

[0022] In this embodiment, the window motor refers to a DC motor that drives the window glass to rise and fall, which generates current ripple related to its rotational speed during operation; the real-time ripple count value refers to the number of pulses at the current moment obtained by the main controller after the current ripple signal of the window motor is monitored in real time by circuits such as sampling resistors, filtered, amplified and converted into a square wave, and then counted by the main controller. This value can be used to estimate the real-time position of the window; the capacitance sensor refers to an electrode integrated in the window sealing strip, which can form a detection electric field. When an object such as a human body approaches, it will cause a change in the electric field and cause a change in the capacitance value; the real-time capacitance value refers to the raw capacitance reading output by the capacitance sensor at the current moment, which is accurately measured by the capacitance-to-digital converter (CDC) and sent to the main controller.

[0023] During window operation, the ripple detection module continuously acquires the motor current signal through a sampling resistor connected in series in the window motor power supply circuit. The AC ripple component in this signal is filtered and amplified, then shaped into a clean square wave pulse by a comparator. The main controller's input capture unit or external interrupt pin counts the rising edge of each square wave pulse to obtain the real-time ripple count value. Simultaneously, the capacitance-to-digital converter (CDC) in the capacitance sensor measures the absolute capacitance value of the detection electrode inside the window seal at a fixed sampling rate (e.g., once every 10 milliseconds) and sends this digital value to the main controller via the I²C or SPI bus. The main controller reads this value as the real-time capacitance value. These two signal paths operate in parallel and are synchronized, providing raw data for subsequent fusion decisions.

[0024] Step S102: Based on the pre-calibrated ripple-capacitance reference curve, determine the reference capacitance value corresponding to the real-time ripple count value, and calculate the capacitance difference between the real-time capacitance value and the reference capacitance value.

[0025] In this embodiment, the pre-calibrated ripple-capacitance reference curve refers to a reference curve obtained by controlling the window to run at a constant speed for a complete journey under no-load conditions without any foreign object interference during the vehicle manufacturing or system initialization phase. This involves synchronously collecting the capacitance sensor readings at the positions corresponding to each ripple count value, and fitting the ripple count value (or its corresponding positional characteristic value) as the abscissa and the capacitance value as the ordinate. This curve represents the inherent background value of the capacitance under fixed conditions. The reference capacitance value refers to the theoretical capacitance value at the window position corresponding to the current real-time ripple count value, obtained by querying the aforementioned ripple-capacitance reference curve, i.e., C_base(pos). The capacitance difference refers to the absolute value of the difference between the real-time capacitance value and the reference capacitance value, calculated using the following formula:

[0026] in, This is the capacitance difference; The reference capacitance value; This is the real-time capacitance value. This difference effectively eliminates fixed interference and reflects the true capacitance change caused by the proximity of external objects such as humans.

[0027] The main controller first reads pre-calibrated and stored ripple-capacitance reference curve data from memory (such as non-volatile flash memory). This curve is typically stored as an array or lookup table, with the index being the ripple count value or its normalized positional characteristic value, and the corresponding value being the reference capacitance value at that location. Then, the main controller uses the real-time ripple count value as an index to perform a lookup operation in the reference curve data: if the real-time ripple count value exactly matches a discrete index point, the corresponding reference capacitance value is read directly; if it lies between two discrete index points, a linear interpolation method is used to calculate the reference capacitance value at that location. Next, the main controller subtracts the reference capacitance value obtained from the lookup table from the real-time capacitance value and takes the absolute value of the difference to obtain the capacitance difference ΔC. This capacitance difference is used to determine whether a human body is approaching and the degree of approach.

[0028] Step S103: Based on the capacitance difference and the real-time ripple signal of the window motor, control the window to perform the corresponding anti-pinch control operation.

[0029] In this embodiment, based on the capacitance difference and the real-time ripple signal of the window motor, the window is controlled to perform corresponding anti-pinch control operations, including: Step A1: Obtain the real-time ripple signal of the window motor.

[0030] Specifically, the real-time ripple signal refers to the original current ripple waveform signal extracted in real time from the power supply circuit of the car window motor through a detection circuit such as a sampling resistor. This signal has not been shaped and retains the complete characteristics of the ripple amplitude, frequency and phase, reflecting the current operating status of the motor.

[0031] In the ripple detection module, a precision sampling resistor (typically in the milliohm range) connected in series in the power supply circuit of the window motor converts the motor current into a weak voltage signal. This signal is amplified by a differential amplifier and then fed into a bandpass filter to filter out the DC component and high-frequency noise, extracting the AC ripple component. Subsequently, this analog ripple signal is split into two paths: one path is directly fed into the analog-to-digital converter (ADC) pin of the main controller to acquire the raw waveform information of the ripple (such as amplitude changes), while the other path is further shaped into a square wave by a comparator for pulse counting. The main controller continuously reads this analog voltage value through the ADC at a high sampling rate (e.g., once per millisecond) to obtain a real-time ripple signal sequence that varies over time. This real-time ripple signal is used to extract the pulse frequency to determine whether the motor experiences a sudden change in speed due to encountering an obstacle.

[0032] Step A2: Extract the pulse frequency of the real-time ripple signal and obtain the reference pulse frequency of the window motor.

[0033] Specifically, pulse frequency refers to the number of square wave pulses per unit time after the real-time ripple signal is shaped (e.g., converted to a square wave by a comparator), usually measured in Hertz (Hz), reflecting the current real-time rotational speed of the window motor; reference pulse frequency refers to the standard pulse frequency value of the window motor under different positions or operating conditions, which is pre-calibrated and stored by the system when the window is unloaded, without any obstacles, and running at a normal constant speed, serving as a reference benchmark for judging whether the motor speed has changed abruptly.

[0034] The main controller first sends the real-time ripple signal (analog signal) to a high-speed comparator and compares it with a set threshold voltage. When the ripple voltage exceeds the threshold, it outputs a high level; when it falls below the threshold, it outputs a low level, thus shaping the sinusoidal or triangular ripple signal into a clean square wave signal. This square wave signal is then sent to the main controller's timer input capture channel or external interrupt pin. The main controller opens a fixed-length time window (e.g., 10ms) and counts the rising (or falling) edges within this window. The count value divided by the time window length yields the pulse frequency. Simultaneously, the main controller reads a pre-calibrated reference pulse frequency table from non-volatile memory. This table records the standard pulse frequencies corresponding to various positions of the window throughout its full travel range (usually obtained during factory calibration through no-load constant-speed operation). Based on the window position corresponding to the current real-time ripple count value, the reference pulse frequency at that position is obtained by looking up the table. If the real-time ripple count value falls between two calibration points, linear interpolation is used to calculate the corresponding reference pulse frequency.

[0035] Step A3: Calculate the rate of change of frequency based on the pulse frequency and the reference pulse frequency.

[0036] Specifically, the frequency change rate refers to the degree of change of the real-time pulse frequency relative to the reference pulse frequency. It is used to quantify the abrupt change in the speed of the window motor. The calculation formula is: Frequency change rate = |Real-time pulse frequency - Reference pulse frequency| / Reference pulse frequency × 100% (or other normalization methods can be used). When the window encounters an obstacle, the motor load increases, causing the speed to decrease, and the pulse frequency decreases accordingly. The frequency change rate increases significantly, and this indicator can serve as the core basis for determining whether physical contact has occurred.

[0037] After acquiring the real-time pulse frequency f_current and the reference pulse frequency f_base, the main controller first performs a validity check to ensure that f_base is not zero (to avoid division by zero errors). Then, it calculates the frequency change rate R according to a preset formula. There are two commonly used formulas: one is the absolute change rate, R = |f_current - f_base| / f_base × 100%; the other is the relative change rate, R = (f_base - f_current) / f_base × 100% (only focusing on the direction of speed decrease, because the anti-pinch mechanism only cares about motor deceleration). The calculated R value is a percentage value. This frequency change rate is then compared with a preset change rate threshold (e.g., 15%): if R is greater than or equal to the threshold, it indicates that the motor speed has undergone a significant change (usually caused by being pinched by an obstacle), triggering the emergency anti-pinch mechanism; if R is less than the threshold, it indicates that the motor is running smoothly, entering the early warning anti-pinch mechanism, and further determining whether a human body is approaching based on the capacitance difference.

[0038] Step A4: When the frequency change rate is greater than or equal to the preset change rate threshold, the emergency anti-pinch mechanism is triggered, and the corresponding anti-pinch control operation is performed using the first window control parameters; or, when the frequency change rate is less than the preset change rate threshold, the early warning anti-pinch mechanism is triggered, and the window is controlled to perform the corresponding anti-pinch control operation based on the capacitance difference.

[0039] Specifically, the preset rate of change threshold is a pre-set critical value for the rate of change of frequency (e.g., 15%). When the actual rate of change of frequency exceeds this value, it is considered that the motor load has undergone a significant change (usually caused by being pinched by an obstacle). The emergency anti-pinch mechanism is a contact-based anti-pinch strategy that serves as the safety baseline. It is triggered when a sudden drop in motor speed is detected (i.e., physical contact has occurred). Regardless of the capacitance detection result, it immediately executes a forced stop and a large reversal operation to prevent serious pinching injuries. The first window control parameter refers to the set of control instructions used under the emergency anti-pinch mechanism, including "immediately stop the motor power supply" and "reverse rotation to lower the window by a preset large distance (e.g., reverse rotation after 200 milliseconds)". This parameter has the highest priority and cannot be overridden by other logic. The early warning anti-pinch mechanism is a predictive anti-pinch strategy based on capacitance sensing. It is activated when the motor is running smoothly (the rate of change of frequency is below the threshold). It determines whether a person is approaching by using the capacitance difference and executes deceleration, stopping, or slight reversal before physical contact occurs to achieve "prevention of pinching before contact".

[0040] After acquiring the frequency change rate R, the main controller compares it with a preset change rate threshold R_th (e.g., 15%) stored in the non-volatile memory. If R ≥ R_th, it indicates that the load of the window motor increases sharply (e.g., the upper edge of the vehicle window has clamped an obstacle), and the system immediately enters the emergency anti-pinch mechanism: the main controller ignores the magnitude of the current capacitance difference, directly reads the first vehicle window control parameter from the memory. Said parameter defines the response behavior of the motor under emergency conditions, and generally includes: immediately outputting a stop instruction to the motor drive module (setting the PWM duty cycle to 0%); delaying an extremely short time (e.g., 50 milliseconds) after stopping to eliminate the back electromotive force; outputting a reverse rotation instruction to the motor drive module to make the vehicle window descend by a preset large reverse distance at a relatively high speed (e.g., the stroke corresponding to 200 milliseconds, ensuring that the obstacle is completely released). If R<R_th, it indicates that the motor operates stably and no physical contact has occurred yet, and the system enters the early warning anti-pinch mechanism: in this case, emergency reverse rotation is not executed immediately, instead, the system proceeds to the subsequent capacitance difference judgment logic, and selects graded responses such as deceleration, stop or slight reverse rotation according to the human body proximity degree detected by the capacitance sensor, so as to eliminate the risk of pinching pain in advance.

[0041] As an example, assume the preset change rate threshold is 15%. Scenario 1: during the ascending process of the vehicle window, a child's finger suddenly extends into the window frame, the motor rotation speed drops sharply from 850Hz to 500Hz, the frequency change rate=|500-850| / 850≈41.2%≥15%, which triggers the emergency anti-pinch mechanism, the first vehicle window control parameter is read: the motor is stopped immediately, the motor is driven to reverse for 300 milliseconds after waiting for 50 milliseconds, so that the vehicle window drops by about 10 centimeters greatly, ensuring the finger is completely released. Scenario 2: when the same vehicle window ascends, the capacitance sensor detects that a human finger approaches slowly but has not contacted the glass, in this case, the motor rotation speed is stabilized at 845Hz (the reference is 850Hz), the frequency change rate≈0.59%<15%, the system enters the early warning anti-pinch mechanism, then judges the finger distance according to the capacitance difference, and executes deceleration or early stop to avoid physical contact.

[0042] The overall anti-pinch control flow after system power-on initialization is as Figure 2 shown, the flow includes: first loading the pre-calibrated ripple-capacitance reference curve and thresholds, then collecting ripple signals and capacitance signals in real time; executing adaptive calibration to update the reference curve and thresholds if the adaptive calibration condition is satisfied; then analyzing the real-time ripple signal to calculate the frequency change rate, triggering the emergency anti-pinch mechanism if the frequency change rate≥the preset change rate threshold (stopping immediately and performing large reverse rotation, issuing an emergency alarm, recording fault information and waiting for reset); if the frequency change rate is less than the threshold, further judging whether the capacitance difference≥the preset capacitance threshold, triggering the early warning anti-pinch mechanism if yes (immediately decelerating to stop and / or performing slight reverse rotation and / or issuing a prompt alarm), and returning to the idle state after recording the event.

[0043] By acquiring the real-time ripple signal of the window motor, raw data was provided for monitoring the motor load status. By extracting the pulse frequency of the real-time ripple signal and obtaining the reference pulse frequency, the real-time change of the motor speed was quantified. The frequency change rate was calculated based on the pulse frequency and the reference pulse frequency, accurately identifying whether the motor encountered abnormal load. When the frequency change rate is greater than or equal to the preset change rate threshold, an emergency anti-pinch mechanism is triggered and the anti-pinch operation is performed using the first window control parameters, ensuring a reliable safety baseline after physical contact. When the frequency change rate is less than the preset change rate threshold, a warning anti-pinch mechanism is triggered and the window is controlled based on the capacitance difference, realizing predictive protection before physical contact, thus constructing a layered and collaborative anti-pinch safety system.

[0044] Specifically, the anti-pinch control operation of the window is performed based on the capacitance difference, including: Step A401: Obtain the preset capacitance difference threshold corresponding to the real-time ripple count value.

[0045] Specifically, the preset capacitance difference threshold refers to a critical capacitance difference value pre-calculated and stored for different positions on the car window. When the actual capacitance difference reaches or exceeds this threshold, it is determined that a target (such as a human finger) has approached a dangerous distance, and the anti-pinch response needs to be triggered. This threshold is usually obtained by multiplying the reference capacitance value in the ripple-capacitance reference curve with the percentage change in capacitance caused by different pre-calibrated clamping targets. The threshold is different for different positions (for example, the threshold is more sensitive in the area near the top of the car window).

[0046] The main controller first retrieves the real-time ripple count value (denoted as pos_raw) from memory. Then, it accesses a "ripple-capacitance difference threshold table" pre-stored in non-volatile memory. This table is a lookup table indexed by the ripple count value (or normalized positional feature value), with the corresponding value being the preset capacitance difference threshold (denoted as ΔC_th(pos)) at that location. Since the threshold doesn't need to be stored for every ripple count value during pre-calibration, a discrete sampling point interpolation method is typically used: the lookup table stores thresholds for several key locations (e.g., one point for every 50 ripple count values). The main controller finds two adjacent sampling points in the lookup table based on the real-time ripple count value and calculates the preset capacitance difference threshold corresponding to the current precise location through linear interpolation. If the real-time ripple count value happens to match a sampling point, the threshold is read directly. This threshold is then used for comparison with the actual capacitance difference.

[0047] The two-path process generated by the initial threshold, such as Figure 3As shown, the process includes: the left path calculates the capacitance threshold based on the ripple signal and the capacitance change with distance when different clamping targets approach each other, and then solidifies the preset capacitance threshold by "original capacitance threshold × change"; the right path aims to meet the anti-pinch force <100N, collects ripple data by testing the anti-pinch action under various working conditions of the actual vehicle, extracts feature parameters after analysis and sets the rate of change threshold, and finally solidifies the preset rate of change threshold.

[0048] Step A402: When the capacitance difference is greater than or equal to the preset capacitance difference threshold, determine the distance between the window and the clamping target based on the capacitance difference.

[0049] Specifically, the clamping target refers to an object that may be clamped by the car window, especially a part of the human body (such as fingers or arms); the gap distance refers to the physical space distance between the upper edge of the car window and the clamping target, usually in millimeters (mm). This distance has a non-linear negative correlation with the capacitance difference: the larger the capacitance difference, the closer the target is to the car window and the smaller the gap distance.

[0050] The main controller compares the capacitance difference ΔC with a preset capacitance difference threshold ΔC_th(pos). If ΔC < ΔC_th(pos), it indicates no target is approaching or the target is too far away; therefore, no warning or anti-pinch action is executed, and the window continues to rise and fall normally. If ΔC ≥ ΔC_th(pos), it indicates a target is approaching to the distance requiring intervention. In this case, the main controller further calculates the interval distance d based on the value of ΔC. The specific calculation method is as follows: a "capacitance difference - interval distance" mapping curve (or piecewise linear function) is pre-calibrated experimentally. Typically, when a human finger approaches, the capacitance difference increases exponentially with decreasing distance. The main controller uses ΔC as input and calculates the interval distance d (in millimeters) between the upper edge of the window glass and the target by looking up a table or using a preset mathematical model (such as d = k / ΔC + b, where k and b are calibration coefficients). This calculation process considers the difference in reference capacitance at different positions, therefore using the relative capacitance change after position normalization. The calculated interval distance d will be used to determine the control parameters.

[0051] Step A403: Determine the control parameters of the second window based on the interval distance, and perform the corresponding anti-pinch control operation using the control parameters of the second window.

[0052] Specifically, the second window control parameters refer to a set of tiered control commands selected based on the distance between the target being pinched and the window under the early warning anti-pinch mechanism. Unlike the first window control parameters (large forced reversal) in the emergency anti-pinch mechanism, the second window control parameters are more refined, aiming to achieve a smooth experience of "preventing pinching before it even touches" or "preventing painful pinching." For example, the tiered strategy includes: decelerating when the distance is greater than 10mm; stopping when the distance is between 3mm and 10mm; and slightly reversing when the distance is less than 3mm.

[0053] The main controller acquires the interval distance d (in millimeters) and then compares it with three pre-stored distance thresholds: a warning deceleration threshold (e.g., D1 = 10mm), a warning stop threshold (e.g., D2 = 3mm), and a warning slight reversal threshold (e.g., D3 = a value within the range of 0~3mm, such as 1mm). Based on the comparison results, the main controller selects the corresponding second window control parameters from the memory and outputs corresponding instructions to the motor drive module via a PWM signal. If d>10mm: Select the "Deceleration" parameter to reduce the motor PWM duty cycle from the current value by a certain percentage (e.g., 50%), so that the window decelerates smoothly, while continuing to monitor the capacitor difference.

[0054] If 3mm ≤ d ≤ 10mm: Select the "Stop" parameter to immediately set the PWM duty cycle to 0%, stopping the window from rising and maintaining its current position.

[0055] If d < 3mm: Select the "Slight Reverse" parameter, first stop the motor, then drive the motor to rotate in the opposite direction by a small angle (for example, reverse the stroke corresponding to 30 milliseconds, which will drop by about 2~3mm), so that the car window opens slightly and eliminates the impending pinching pain.

[0056] After performing the above operations, continue to monitor changes in the capacitance difference: if the target withdraws, resume normal ascent and d; if the target continues to approach and d further decreases, escalate to a higher level of response (e.g., change from deceleration to stopping). Meanwhile, the ripple anti-pinch emergency mechanism always serves as a fallback; once the frequency change rate exceeds the threshold, regardless of the current level of early warning control, it will immediately be overridden by the emergency anti-pinch mechanism.

[0057] As an example, suppose the current real-time ripple count is 1250. In the pre-stored lookup table, the preset capacitance difference threshold corresponding to the ripple count 1240 is 0.8pF, and the threshold corresponding to the ripple count 1260 is 0.9pF. The main controller calculates the preset capacitance difference threshold for the current position as 0.85pF through linear interpolation. At this point, the calculated actual capacitance difference ΔC is 1.2pF. After comparison, 1.2pF ≥ 0.85pF, and the trigger distance is calculated. According to the pre-calibrated mapping relationship of "capacitance difference - interval distance" (ΔC = 0.85pF corresponds to 10mm, ΔC = 1.5pF corresponds to 3mm), the linear interpolation yields an interval distance d ≈ 6.2mm. (Since 6.2mm falls between 3mm and 10mm, the main controller selects the "stop" parameter as the second window control parameter and immediately outputs a PWM duty cycle of 0% to the motor drive module, causing the window to stop rising. At this time, the upper edge of the glass is about 6.2mm away from the finger, and no physical contact has occurred, completely avoiding the pain of being pinched.)

[0058] By acquiring a preset capacitance difference threshold corresponding to the real-time ripple count value, a sensitive determination that adapts to the window position is achieved. When the capacitance difference is greater than or equal to the preset capacitance difference threshold, the interval distance between the window and the clamping target is determined based on the capacitance difference, converting the capacitance change into an intuitive spatial distance. Based on the interval distance, the control parameters of the second window are determined and corresponding anti-pinch control operations (deceleration, stopping, or slight reversal) are executed, achieving a graded and refined anti-pinch response. This intervenes in advance before physical contact occurs, significantly improving the safety experience of the occupants.

[0059] In this embodiment of the application, the method further includes: obtaining the real-time temperature value output by a temperature sensor installed near the vehicle window; determining a capacitance compensation coefficient based on the real-time temperature value, and correcting the real-time capacitance value based on the compensation coefficient to obtain a corrected real-time capacitance value; and using the corrected real-time capacitance value to replace the real-time capacitance value to calculate the capacitance difference.

[0060] Specifically, a temperature sensor refers to a semiconductor or thermocouple-type temperature detection element installed near the vehicle window (e.g., integrated within a capacitive sensor module or at the door seal) to measure the ambient temperature in real time. The real-time temperature value refers to the temperature reading output by the temperature sensor at the current moment (usually in degrees Celsius, °C). The capacitance compensation coefficient is a temperature-related correction factor used to correct the measurement drift of the capacitive sensor caused by temperature changes. This coefficient can be obtained through a pre-calibrated temperature-compensation coefficient mapping table or fitting function (such as a linear or polynomial function). The corrected real-time capacitance value refers to the correction value obtained by multiplying (or adding) the original real-time capacitance value by the capacitance compensation coefficient to eliminate the influence of temperature on capacitance measurement and make it more realistically reflect the capacitance change caused by human proximity.

[0061] The main controller reads the real-time temperature value T (e.g., 25.3°C) from the temperature sensor installed near the vehicle window via I²C or SPI bus. Then, the main controller accesses a temperature-compensation coefficient mapping table pre-stored in non-volatile memory. This table, obtained through calibration experiments across the entire temperature range (e.g., -40°C to 85°C) in a laboratory environment, records the capacitance compensation coefficient K(T) for each temperature range. If the real-time temperature value exactly matches a calibration point, the corresponding K value is read directly; if it falls between two calibration points, K(T) is calculated using linear interpolation. The compensation coefficient is typically applied multiplicatively to the original real-time capacitance value C_raw: C_corrected = C_raw × K(T) (or additively, C_corrected = C_raw + ΔC_T, depending on the sensor characteristics). After calculating the corrected real-time capacitance value C_corrected, the main controller replaces the original real-time capacitance value with it for capacitance difference calculation (i.e., ΔC = |C_corrected(pos) - C_base(pos)|). This calibration process effectively improves the stability and accuracy of capacitance detection across the entire temperature range, avoiding misjudgments caused by capacitance reference drift due to high temperatures in summer or low temperatures in winter.

[0062] By acquiring the real-time temperature value output by a temperature sensor installed near the vehicle window, changes in ambient temperature are sensed in real time. The capacitance compensation coefficient is determined based on the real-time temperature value, and the real-time capacitance value is corrected based on the compensation coefficient, eliminating the influence of temperature changes on the measurement accuracy of the capacitance sensor. The corrected real-time capacitance value is used to replace the original real-time capacitance value for capacitance difference calculation, which significantly improves the stability and accuracy of capacitance detection across the entire temperature range and avoids misjudgments or missed judgments caused by capacitance reference drift due to high summer temperatures or low winter temperatures.

[0063] In this embodiment of the application, before obtaining the preset capacitance difference threshold corresponding to the real-time ripple count value, the method further includes: obtaining the capacitance value corresponding to different ripple count values ​​in the ripple-capacitance reference curve; obtaining the percentage of capacitance change generated when different pre-calibrated clamping targets approach the capacitance sensor respectively; and multiplying the capacitance value and the percentage of capacitance change to obtain the preset capacitance difference threshold corresponding to different ripple count values.

[0064] Specifically, the ripple count value refers to the number of pulses obtained by counting the ripple signal of the window motor current, corresponding to the real-time physical position of the window; the original capacitance threshold value is the reference capacitance value C_base(pos) at each ripple count value position in the above ripple-capacitance reference curve; the clamping target refers to the object that may be clamped by the window, targeting different parts of the human body (such as fingers, arms, head, etc.); the capacitance change percentage (i.e., "change amount") refers to the proportion of capacitance change caused by a specific human body part approaching the capacitance sensor to the trigger anti-pinch critical distance, obtained in advance through laboratory calibration, to the original capacitance threshold value at that position (for example, if the original value at a certain position is 50pF, and a finger approaches causing a 2pF change, then the change amount is 4%); the preset capacitance difference threshold is a critical capacitance difference value ΔC_th(pos) calculated and fixed for each window position using the formula "original capacitance threshold value × change amount". When the actual capacitance difference reaches or exceeds this threshold, it is determined that a human body part has approached the danger distance, and a warning anti-pinch response needs to be triggered. The capacitor anti-pinch parameters do not need to be set based on the anti-pinch force value. After the calculation is completed, they can be directly fixed and placed on the ground as the initial calibration parameters.

[0065] First, based on initial parameters, capacitance threshold data is collected. This involves controlling the window to travel at a constant speed throughout its entire stroke under no-load conditions, simultaneously collecting capacitance sensor readings corresponding to each ripple count. The collected data determines the correspondence between each ripple count and capacitance value, thus obtaining a ripple-capacitance baseline curve. Each capacitance value on this curve is the "original capacitance threshold value" C_base(pos) for that location. Second, the main controller reads a "percentage of capacitance change for different body parts" mapping table, pre-calibrated through extensive laboratory experiments and stored in non-volatile memory. This table records the percentage of capacitance change α caused by different body parts such as fingers, arms, and heads at the critical trigger distance (e.g., 3% for fingers, 2% for arms, and 1.5% for heads). Based on the system safety strategy (usually using the most sensitive part, "finger," as the baseline, or taking the minimum percentage for each part to ensure coverage of all situations), a target change α_target is selected. Then, for each window position, the main controller executes the formula: ΔC_th(pos) = C_base(pos) × α_target. The calculation process does not require reference to the anti-pinch force value; it is based on the product of the original capacitance threshold value and the change. After the calculation is completed, the preset capacitance difference threshold for all positions is directly and permanently written into the lookup table of non-volatile memory as the initial calibration parameter, which remains unchanged throughout the vehicle's entire lifespan (unless adaptive calibration is triggered for an update).

[0066] By acquiring the capacitance values ​​corresponding to different ripple counts in the ripple-capacitance reference curve, position-adaptive basic data is provided for threshold calculation. By acquiring the percentage change in capacitance when different pre-calibrated clamping targets approach the capacitance sensor, the threshold setting can be differentiated for different human body parts such as fingers and arms. The preset capacitance difference threshold corresponding to different ripple counts is obtained by multiplying the capacitance value and the percentage change in capacitance. This achieves dynamic adjustment of the threshold according to the position of the window, without the need to set the anti-pinch force value, simplifying the calibration process and ensuring the rationality and effectiveness of the capacitor anti-pinch triggering condition.

[0067] In this embodiment of the application, before determining the reference capacitance value corresponding to the real-time ripple count value based on the pre-calibrated ripple-capacitance reference curve, as follows: Figure 4 As shown, the method also includes: Step S201: Control the window to perform at least one reference control stroke in an unloaded state, wherein the reference control stroke is the process of moving from the fully open position to the fully closed position and maintaining the stall for a preset time, and then moving from the fully closed position to the fully open position.

[0068] In this embodiment, the no-load state refers to the ideal state in which the window glass is not obstructed by any external objects during operation (no fingers, no debris, no abnormal friction). At this time, the motor load is only the weight of the window glass itself and the basic resistance of the guide rail. The reference control stroke refers to the standardized operating procedure executed to establish initial calibration parameters. Specifically, it is: moving from the fully open position to the fully closed position and maintaining the stall for a preset time, and then moving from the fully closed position to the fully open position. The fully open position refers to the physical position when the window glass is lowered to the bottom and the door window is fully open. The fully closed position refers to the physical position when the window glass is raised to the top and the door window is fully closed. Stall refers to the state in which the motor is obstructed and cannot rotate but is still powered on. At this time, the motor current will rise sharply to the stall current threshold. The window has reached the mechanical limit position by detecting this current threshold. The preset time refers to the fixed time (e.g., 2 seconds) after the stall is detected to continue to keep the motor powered on, which is used to ensure that the window reliably reaches the limit position and eliminates mechanical clearance.

[0069] The main controller first confirms that the window is in a safe and undisturbed state (e.g., no human presence detected by a capacitive sensor). Then, it sends a forward rotation command to the motor drive module (defined as the window raising direction), driving the window to rise from the fully open position. The main controller continuously monitors the motor current. When the current reaches a preset stall current threshold (e.g., 15A) and the duration exceeds a short-time filtering time (e.g., 50 milliseconds), it determines that the window has reached the fully closed position (i.e., the glass is at the top). At this point, the main controller does not immediately stop the motor but maintains the current forward drive command for a preset duration (e.g., 2 seconds) to ensure the window is fully pressed against the sealing strip and to eliminate accumulated mechanical errors. After 2 seconds, the main controller stops the motor power supply and delays briefly (e.g., 100 milliseconds) to eliminate the back electromotive force. Then, the main controller sends a reverse rotation command (reversing to the window lowering direction), driving the window to descend from the fully closed position. Similarly, when the motor current reaches the stall current threshold again, it is determined that the window has reached the fully open position (i.e., the glass is fully open), and the stall is maintained for the same preset duration (2 seconds) to ensure that the glass completely falls back to the bottom limit. At this point, a complete baseline control stroke is executed. This stroke can be repeated 2-3 times to eliminate random errors and ensure high repeatability and accuracy of the subsequently acquired ripple data and position mapping. During execution, the main controller synchronously records the ripple signal and motor current data, providing raw data.

[0070] Step S202: During at least one reference control stroke, the original ripple signal of the window motor is acquired, and a mapping relationship between the ripple count value and the window position characteristic value is established based on the original ripple signal.

[0071] In this embodiment, the main controller first starts a timer, sets the sampling frequency (e.g., sampling once every 0.5 milliseconds), and allocates a memory buffer to store the sampled data. During the entire process of the window motor moving from the fully open position to the fully closed position (2 seconds of stall), and then from the fully closed position back to the fully open position (2 seconds of stall), the main controller continuously reads the voltage drop across the precision sampling resistor connected in series in the motor power supply circuit via an analog-to-digital converter (ADC). This voltage drop directly reflects the instantaneous value of the motor current, which includes the ripple component. The ADC converts the analog voltage into a digital quantity, resulting in a numerical sequence for each sampling point. Simultaneously, the main controller also records the timestamp and motor direction of each sampling point. Since the entire stroke typically lasts 2-3 seconds, a sufficiently high sampling frequency (e.g., 2kHz) can collect thousands of data points, completely preserving the original form of each rising and falling edge of the ripple. If the reference control stroke is executed multiple times (e.g., 3 times), a set of original ripple signal data is independently collected each time and stored in the buffer. After the data acquisition is completed, the main controller can choose to average or filter the data acquired multiple times, remove any obviously abnormal data (such as interference caused by vibration), and then store the final reliable original ripple signal sequence into a non-volatile memory for extracting ripple count values ​​and establishing position mapping.

[0072] In this embodiment of the application, establishing a mapping relationship between ripple count values ​​and window position feature values ​​based on the original ripple signal includes: Step B1: Obtain the zero-point reference ripple count value of the window motor in the fully closed position of the window. The zero-point reference ripple count value is the ripple count value recorded when the window motor is controlled to rotate forward until the motor current reaches the stall current threshold.

[0073] Specifically, the zero-point reference ripple count value refers to the current ripple pulse count value recorded when the window motor rotates in the forward direction (window lifting direction) to drive the glass to the fully closed position and stalls. This value is defined as the zero point (i.e., the starting reference point) of the window position mapping. The stall current threshold refers to the preset upper limit value of the motor current (e.g., 15A). When the motor cannot rotate due to mechanical limit, the current will rise sharply to this threshold, which is used to determine that the limit position has been reached.

[0074] The main controller controls the window motor to rotate forward (in the window-raising direction) and continuously monitors the motor current through a sampling resistor. Simultaneously, the main controller continuously counts the square wave pulses output by the ripple detection module after shaping, incrementing the ripple count by 1 for each detected rising edge. When the motor current first reaches a preset stall current threshold (e.g., 15A) and remains there for more than a short debouncing time (e.g., 50 milliseconds), the main controller determines that the window glass has reached the fully closed position. At this point, the main controller immediately reads the current ripple count value and stores it as the zero-point reference ripple count value (denoted as R0) in non-volatile memory. This value represents the total number of ripple pulses from an unknown starting point to the fully closed position, and is subsequently used to convert the absolute ripple count into a normalized position characteristic value.

[0075] Step B2: Obtain the full-stroke reference ripple count value of the window motor when the window is fully open. The full-stroke reference ripple count value is the ripple count value recorded when the window motor is controlled to rotate in the reverse direction until the motor current is detected to reach the stall current threshold again.

[0076] Specifically, the full-stroke reference ripple count value refers to the current ripple pulse count value recorded when the window motor rotates in the opposite direction (window lowering direction) to drive the glass to the fully open position and stalls. This value is used to characterize the total number of ripple pulses corresponding to the total stroke from fully closed to fully open.

[0077] After recording the zero-point reference ripple count, the main controller briefly stops the motor (approximately 100 milliseconds) and then issues a reverse rotation command (window lowering direction) to drive the window to descend from the fully closed position. The main controller continues to count the ripple pulses (note: ripple pulses are still generated during reverse rotation; the counting direction can be incremented or decremented according to software definition, but in this embodiment, it is usually incremented). When the motor current reaches the stall current threshold (15A) again and continues to exceed the de-jittering time (50 milliseconds), it is determined that the window glass has reached the fully open position (bottom limit). At this time, the main controller reads the current ripple count value and stores it as the full-stroke reference ripple count value (denoted as R_max). The difference between R_max and R0 (R_max - R0) is the total number of ripple pulses from fully closed to fully open, representing the complete mechanical travel of the window.

[0078] Step B3: Based on the zero-point reference ripple count value and the full-range reference ripple count value, normalize each ripple count value in the original ripple signal to obtain the window position feature value corresponding to each ripple count value.

[0079] Specifically, the window position characteristic value refers to a normalized value used to uniquely and linearly characterize the physical position of the window glass during its travel (e.g., 0% corresponds to fully closed, 100% corresponds to fully open, or vice versa). The main controller first reads the zero-point reference ripple count value R0 and the full-travel reference ripple count value R_max from memory. Then, for each ripple count value R recorded in the original ripple signal (ranging from R0 to R_max, or from 0 to the total number of travel pulses), the main controller executes the normalization calculation formula. A linear mapping is typically used: if the fully closed position is defined as 0% and the fully open position as 100%, then the position characteristic value P = (R - R0) / (R_max - R0) × 100%. If fully open is defined as 0% and fully closed as 100% (in the window-up direction), the formula is adjusted accordingly. The normalized P value is a floating-point number or a fixed-point number (e.g., 0.00~1.00). The system associates this P value with the corresponding ripple count value R, forming a lookup table or mapping function. This step allows any subsequent real-time ripple count value to be quickly converted into a standardized position feature value that is independent of specific hardware, making it easy to correlate with the position of the capacitive sensor.

[0080] Step B4: Based on the window position feature value corresponding to each ripple count value, establish a mapping relationship between the ripple count value and the window position feature value.

[0081] Specifically, this process is executed after the normalization of all ripple count values ​​is completed. The main controller constructs a bidirectional mapping structure based on the position feature value calculated for each ripple count value. While the ripple count value and position feature value ideally exhibit a strictly linear relationship (when the motor speed is constant), slight nonlinearity may exist in reality due to manufacturing tolerances, guide rail resistance fluctuations, and other factors. Therefore, a discrete lookup table with interpolation is typically used: several key ripple count value points are selected (e.g., one point is stored every 10 pulses), and the corresponding position feature value is recorded and stored as an array in non-volatile memory. During real-time operation, when the main controller obtains the real-time ripple count value, it performs linear interpolation between adjacent points in the lookup table to obtain continuous and accurate window position feature values. Alternatively, the parameters (R0 and R_max) in the normalization formula can be directly stored, and the position feature value can be calculated directly using the formula P = (R - R0) / (R_max - R0) during real-time operation. This mapping relationship serves as the position reference for the entire fusion anti-pinch system; the subsequent generation of the ripple-capacitance reference curve and real-time position query both depend on this mapping.

[0082] As an example, suppose the left front window of a vehicle is in the factory-calibrated reference control stroke: the window starts to rise from the fully open position, the main controller starts accumulating ripple pulses from 0, and when the motor current reaches the stall current threshold (e.g., 15A), it determines that it has reached the fully closed position (top), at which point the zero-point reference ripple count value R0 = 1800 is recorded; then the motor reverses and descends, and when the stall current is detected again, it determines that it has reached the fully open position (bottom), and the full-stroke reference ripple count value R_max = 3600 is recorded, that is, the total number of ripple pulses from fully closed to fully open is 1800; for any ripple count value R in the original ripple signal (e.g., R = 2700), the main controller uses the normalization formula (R - R0) / (R_max - The corresponding window position feature value is calculated as (2700-1800) / 1800=0.5 (i.e., 50% position) using R0). Finally, R0=1800 and R_max=3600 are stored as mapping parameters to establish a linear mapping relationship between the ripple count value and the window position feature value. In real-time operation, any real-time ripple count value can be converted into a standardized position feature value using the formula P=(R-1800) / 1800.

[0083] By acquiring the zero-point reference ripple count value of the window motor when stalled in the fully closed position, the absolute zero point of the window travel was determined. By acquiring the full-stroke reference ripple count value of the window motor when stalled in the fully open position, the total number of ripple pulses for the complete window travel was calibrated. By normalizing each ripple count value based on the zero-point and full-stroke reference ripple count values, the travel differences between different vehicles or different windows were eliminated, and the position feature values ​​were standardized. Based on the window position feature value corresponding to each ripple count value, a mapping relationship was established, realizing a fast linear conversion from the original ripple pulses to the standardized physical position, providing a foundation for the subsequent precise alignment of capacitance and position.

[0084] Step S203: Obtain the capacitance value output by the capacitance sensor under different window position feature values.

[0085] In this embodiment, after completing the mapping relationship between the ripple count value and the window position feature value, it is executed synchronously with the reference control stroke. The main controller controls the window to run at a constant speed for the entire stroke (i.e., the reference control stroke) in an unloaded state. During the window's operation, the main controller triggers data acquisition once at a fixed position interval (e.g., every 1% change in the position feature value) or a fixed time interval (e.g., every 10 milliseconds). Each time data is acquired, the main controller first converts the current real-time ripple count value into the corresponding window position feature value P (e.g., 0.35, i.e., 35% position) through the mapping relationship. Then, the main controller reads the current raw capacitance value C_raw from the capacitance sensor via the I²C or SPI bus and records this capacitance value and the current window position feature value P as a pair of data points. Since the reference control stroke is usually executed multiple times (e.g., 3 times), the main controller performs averaging or median filtering on the capacitance values ​​acquired multiple times for the same position feature value to eliminate random noise. Ultimately, the main controller obtains a discrete set of data points, each containing a window position feature value P and its corresponding average capacitance value C(P), which covers the entire travel range of the window from fully open to fully closed (or in the opposite direction).

[0086] Step S204: Use the position feature value corresponding to each ripple count value in the original ripple signal as the abscissa and the capacitance value corresponding to the window position feature value as the ordinate to perform curve fitting and generate a ripple-capacitance reference curve.

[0087] In this embodiment, after acquiring all discrete data points, the main controller reads the position-capacitance data point set from the memory, where the horizontal axis represents the window position feature value P (ranging from 0 to 1 or 0 to 100%), and the vertical axis represents the corresponding capacitance value C(P). Since the actual number of data points acquired is limited (e.g., one point is acquired every 1% of the position, for a total of 101 points), and real-time control requires querying the reference capacitance value corresponding to any continuous position, curve fitting is necessary to generate a continuous curve. The main controller uses a piecewise linear interpolation method: connecting adjacent data points with straight lines to form a curve. For scenarios with higher accuracy requirements, cubic spline interpolation or low-order polynomial fitting (such as quadratic polynomial) can be used to smooth the curve. After fitting, the main controller stores the fitted curve parameters (such as the endpoint coordinates of each segment in the piecewise linear interpolation, or the polynomial coefficients) in non-volatile memory. During real-time operation, when the main controller obtains the current window position feature value P, it can obtain the reference capacitance value C_base(P) corresponding to that position by querying the curve (e.g., through interpolation calculation). This curve serves as the "zero-point reference" for capacitance detection in the entire integrated anti-pinch system, and all subsequent real-time capacitance differences are calculated based on this curve.

[0088] By controlling the window to execute at least one reference control stroke (from fully open to fully closed with a stall, and then back to fully open) under no-load conditions, the calibration process was ensured to be free from external interference, providing raw data for subsequent accurate mapping. By acquiring the raw ripple signal of the window motor during the reference control stroke and establishing a mapping relationship between the ripple count value and the window position feature value, the window position was accurately quantified, providing a position coordinate reference for capacitance calibration. By obtaining the capacitance value output by the capacitance sensor under different window position feature values, a correspondence between position and capacitance background was established. By using the position feature value as the abscissa and the capacitance value as the ordinate for curve fitting to generate a ripple-capacitance reference curve, the fixed interference on capacitance detection was effectively eliminated, providing a reference for subsequent capacitance difference calculation.

[0089] In this embodiment of the application, after generating the ripple-capacitance reference curve, the method further includes: Step C1: Monitor the cumulative number of cycles in which the window is raised or lowered.

[0090] Specifically, the main controller detects whether the window has completed a full one-way trip by using the ripple count value: when the ripple count value changes from the zero-point reference value (fully closed) to the full-range reference value (fully open), or from the full-range reference value to the zero-point reference value, a lifting / lowering operation is determined to be complete. The counter increments by 1 for each completed rise or fall. To distinguish directions, two counters are typically maintained: the total number of rises and the total number of falls, or a total number of cycles (each rise + one fall counts as one complete cycle). The main controller stores the accumulated cycle count in non-volatile memory, writing it each time it is updated to prevent loss due to power failure. Simultaneously, the main controller compares this accumulated value with a preset cycle threshold (e.g., 1000 times) in real time in the background; once this threshold is reached or exceeded, the detection process is triggered. Additionally, time conditions (e.g., more than 30 days since the last calibration) can also be used as auxiliary triggering conditions.

[0091] Step C2: When the cumulative number of cycles reaches the preset cycle threshold, detect the static capacitance value of the capacitance sensor at the current stationary position.

[0092] Specifically, the preset cycle threshold is a cumulative cycle count threshold (e.g., 1000 times) pre-set by the system. When this value is reached, it is considered that the window components may have aged or worn, and it is necessary to check whether the capacitance reference has drifted. The current stationary position refers to the stationary position of the window at the time of detection (usually a position that is easy to repeat, such as the window being fully closed or fully open, for example, the fully closed position). The static capacitance value refers to the capacitance reading output by the sensor when the window is stationary and no external object is near the capacitance sensor. This value is used to compare with the corresponding value in the original reference curve to determine whether there is drift.

[0093] The main controller first ensures the window is in a safe, stationary state, meaning the window motor has no drive command and the vehicle's power supply is stable. To obtain repeatable detection conditions, the window is automatically moved to a fixed reference position (e.g., fully closed). The main controller issues a command to move the window to the fully closed position (determined by the ripple count value to check if R0 has been reached). After reaching this position, a 1-2 second wait is allowed to completely eliminate mechanical vibration. Then, the main controller reads the output value of the capacitive sensor at the current stationary position via the I²C or SPI bus, denoted as C_static. This reading operation can be sampled multiple times (e.g., averaging 10 consecutive readings) to improve accuracy. The main controller temporarily stores C_static.

[0094] Step C3: Obtain the reference capacitance value corresponding to the current stationary position in the ripple-capacitance reference curve, and calculate the deviation between the static capacitance value and the reference capacitance value.

[0095] Specifically, the main controller first determines the position characteristic value P_ref corresponding to the current stationary position (e.g., 0% for the fully off position). Then, the main controller queries the stored ripple-capacitance reference curve (generated in step S204) and calculates the reference capacitance value C_base(P_ref) at that position through interpolation. Next, the main controller calculates the deviation value ΔC_base = |C_static - C_base(P_ref)|. If a signed deviation is used, the sign of C_static - C_base(P_ref) can also be recorded to determine the drift direction (positive or negative drift). This deviation value reflects the reference offset of the capacitive sensor caused by environmental changes (such as temperature, humidity, aging of the sealing strip, and minor deformation of the metal structure). The main controller compares this deviation value with a preset deviation tolerance threshold (e.g., 0.5pF): if the deviation value is less than the threshold, the drift is considered to be within an acceptable range, and recalibration is not required, while the cumulative cycle count counter is cleared (or continues to accumulate); if the deviation value is greater than or equal to the threshold, an adaptive calibration mechanism is triggered.

[0096] Step C4: Based on the deviation value, trigger the adaptive calibration mechanism to re-acquire the ripple count value and capacitance value at each location point, update the ripple-capacitance reference curve, and obtain the updated ripple-capacitance reference curve.

[0097] Specifically, the adaptive calibration mechanism refers to a recalibration process that is automatically initiated by the system after detecting a reference drift, without manual intervention. It aims to adapt to performance drift caused by component aging, environmental changes, etc. The main controller first performs a safety check, confirming via a capacitance sensor that there are no human figures or large foreign objects interfering near the window (e.g., the capacitance difference is consistently less than a preset interference threshold). After confirming safety, the main controller initiates the adaptive calibration process. This process is similar to factory calibration but more efficient: the main controller controls the window to perform at least one reference control stroke in an unloaded state (from fully open to fully closed and stalled, then from fully closed to fully open and stalled). During this process, the main controller synchronously collects the capacitance sensor output value corresponding to each ripple count value and converts the ripple count value into a position feature value based on the existing ripple-position mapping relationship. Then, a curve fitting is performed with the position feature value as the x-axis and the capacitance value as the y-axis to generate a new ripple-capacitance reference curve C_base_new(pos). After generation, the main controller writes the new curve parameters to non-volatile memory, overwriting the original old curve. Simultaneously, the preset capacitance difference threshold for each location is recalculated based on the new curve (using the formula of multiplying the original capacitance threshold by the change). Finally, the cumulative cycle count counter is reset to zero, completing one full adaptive calibration. This process is completed automatically in the background, transparent to the user, and is typically performed when the vehicle is off and unoccupied.

[0098] As an example, suppose a vehicle's left front window has a factory-initialized cumulative cycle count of 0, with a preset cycle threshold of 1000 times. The user raises and lowers the window approximately 10 times per day, accumulating to about 900 times after three months. When the 1000th raising / lowering operation is completed, the main controller detects that the cumulative cycle count has reached the preset threshold and automatically triggers static capacitance detection before adaptive calibration. With the vehicle off, the main controller automatically moves the left front window to the fully closed position (top), waits one second, and then continuously reads the capacitance value 10 times using the capacitance sensor, averaging the results to obtain the static capacitance value C_static = 49.8 pF. Subsequently, the main controller queries the factory-calibrated ripple-capacitance reference curve, obtaining the reference capacitance value C_base(0%) = 48.0 pF corresponding to the fully closed position (position characteristic value 0%), and calculates the deviation value = |49.8 - 48.0| = 1.8 pF. The preset deviation tolerance threshold is 0.5 pF; since 1.8 pF exceeds the threshold, it is determined that the capacitance reference has significantly drifted. The main controller then initiates an adaptive calibration mechanism: first, it confirms no human presence, then automatically executes a baseline control stroke (the window rises from fully open to fully closed and stalls for 2 seconds, then falls from fully closed to fully open and stalls for 2 seconds). During this process, ripple counts and capacitance values ​​at each position are simultaneously collected. A new ripple-capacitance baseline curve is generated through curve fitting (e.g., the value for the fully closed position is updated from 48.0 pF to 49.8 pF, and the value for the fully open position is updated from 52.0 pF to 53.8 pF), and stored in non-volatile memory to replace the old curve. Simultaneously, the cumulative cycle count is reset to zero. Subsequently, the updated baseline curve is used when calculating the capacitance difference for real-time anti-pinch protection, effectively eliminating the drift effect caused by aging.

[0099] The dual-mode architecture of the adaptive calibration process, such as Figure 5 As shown, the architecture includes: in factory mode, ripple reference learning and capacitance reference learning are performed to directly generate the initial ripple-capacitance reference curve and threshold; in user mode, by monitoring trigger conditions such as the cumulative number of lifting cycles, after the safety condition detection (no clamped target) is passed, real-time ripple signal and capacitance signal are collected, and abnormal data is removed through data analysis and filtering, thereby smoothly updating the ripple-capacitance reference curve and threshold parameters.

[0100] By monitoring the cumulative number of cycles of window lifting operations, the wear and tear of window components is quantified, providing a trigger for adaptive calibration. When the cumulative number of cycles reaches a preset cycle threshold, the static capacitance value of the capacitance sensor at the current stationary position is detected to promptly identify capacitance drift caused by component aging or environmental changes. By acquiring the reference capacitance value corresponding to the current stationary position in the ripple-capacitance reference curve and calculating the deviation value, the degree of reference drift is objectively assessed. Based on the deviation value, the adaptive calibration mechanism is triggered to re-acquire the ripple count and capacitance values ​​at each position point to update the ripple-capacitance reference curve, realizing adaptive calibration throughout the system's entire lifecycle and effectively avoiding the decline in anti-pinch performance caused by aging, temperature changes, etc.

[0101] This embodiment also provides a window anti-pinch control device, which is used to implement the above embodiments and preferred embodiments, and will not be repeated as already described. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0102] This embodiment provides a vehicle window anti-pinch control device, such as... Figure 6 As shown, it includes: The acquisition module 61 is used to acquire the real-time ripple count value of the window motor and the real-time capacitance value output by the capacitance sensor installed near the window. The determination module 62 is used to determine the reference capacitance value corresponding to the real-time ripple count value based on the pre-calibrated ripple-capacitance reference curve, and to calculate the capacitance difference between the real-time capacitance value and the reference capacitance value. The control module 63 is used to control the window to perform corresponding anti-pinch control operations based on the capacitance difference and the real-time ripple signal of the window motor.

[0103] In this embodiment, the device further includes: a calibration module, used to control the window to perform at least one reference control stroke in an unloaded state, wherein the reference control stroke is a process of moving from a fully open position to a fully closed position and maintaining a stall for a preset duration, and then moving from a fully closed position to a fully open position; during at least one reference control stroke, acquiring the original ripple signal of the window motor, and establishing a mapping relationship between the ripple count value and the window position feature value based on the original ripple signal; acquiring the capacitance value output by the capacitance sensor under different window position feature values; using the position feature value corresponding to each ripple count value in the original ripple signal as the abscissa and the capacitance value corresponding to the window position feature value as the ordinate, performing curve fitting to generate a ripple-capacitance reference curve.

[0104] In this embodiment, the calibration module is specifically used to obtain the zero-point reference ripple count value of the window motor in the fully closed position of the window, wherein the zero-point reference ripple count value is the ripple count value recorded when the window motor is controlled to rotate forward until the motor current is detected to reach the stall current threshold; to obtain the full-range reference ripple count value of the window motor in the fully open position of the window, wherein the full-range reference ripple count value is the ripple count value recorded when the window motor is controlled to rotate in reverse until the motor current is detected to reach the stall current threshold again; based on the zero-point reference ripple count value and the full-range reference ripple count value, each ripple count value in the original ripple signal is normalized to obtain the window position feature value corresponding to each ripple count value; and based on the window position feature value corresponding to each ripple count value, a mapping relationship between the ripple count value and the window position feature value is established.

[0105] In this embodiment, the device further includes: a monitoring module, used to monitor the cumulative number of cycles of the window lifting operation; when the cumulative number of cycles reaches a preset cycle threshold, to detect the static capacitance value of the capacitance sensor at the current stationary position; to obtain the reference capacitance value corresponding to the current stationary position in the ripple-capacitance reference curve, and to calculate the deviation value between the static capacitance value and the reference capacitance value; to trigger an adaptive calibration mechanism based on the deviation value, to re-collect the ripple count value and capacitance value at each position point, to update the ripple-capacitance reference curve, and to obtain the updated ripple-capacitance reference curve.

[0106] In this embodiment, the control module 64 is specifically used to acquire the real-time ripple signal of the window motor; extract the pulse frequency of the real-time ripple signal and acquire the reference pulse frequency of the window motor; calculate the frequency change rate based on the pulse frequency and the reference pulse frequency; when the frequency change rate is greater than or equal to a preset change rate threshold, trigger an emergency anti-pinch mechanism and perform corresponding anti-pinch control operations using the first window control parameters; or, when the frequency change rate is less than the preset change rate threshold, trigger an early warning anti-pinch mechanism and control the window to perform corresponding anti-pinch control operations based on the capacitance difference.

[0107] In this embodiment, the control module 64 is specifically used to obtain a preset capacitance difference threshold corresponding to the real-time ripple count value; when the capacitance difference is greater than or equal to the preset capacitance difference threshold, the interval distance between the window and the clamping target is determined based on the capacitance difference; the second window control parameters are determined based on the interval distance, and the corresponding anti-pinch control operation is performed using the second window control parameters.

[0108] In this embodiment of the application, the device further includes: a correction module, used to acquire the real-time temperature value output by a temperature sensor installed near the vehicle window; determine a capacitance compensation coefficient based on the real-time temperature value, and correct the real-time capacitance value based on the compensation coefficient to obtain a corrected real-time capacitance value; and use the corrected real-time capacitance value to replace the real-time capacitance value to calculate the capacitance difference.

[0109] In this embodiment of the application, the device further includes: a calculation module, used to obtain the capacitance value corresponding to different ripple count values ​​in the ripple-capacitance reference curve; obtain the percentage of capacitance change generated when different pre-calibrated clamping targets approach the capacitance sensor respectively; and multiply the capacitance value and the percentage of capacitance change to obtain a preset capacitance difference threshold corresponding to different ripple count values.

[0110] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 7 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0111] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0112] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0113] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0114] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0115] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0116] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0117] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for controlling anti-pinch of vehicle windows, characterized in that, The method includes: Obtain the real-time ripple count value of the window motor and the real-time capacitance value output by the capacitive sensor installed near the window; Based on a pre-calibrated ripple-capacitance reference curve, a reference capacitance value corresponding to the real-time ripple count value is determined, and the capacitance difference between the real-time capacitance value and the reference capacitance value is calculated. When the cumulative number of cycles of window lifting operation is detected to reach a preset cycle threshold, the ripple count value and capacitance value at each position are re-acquired based on the deviation between the capacitance value of the capacitance sensor at the current stationary position and the reference value at the corresponding position of the reference curve, and the ripple-capacitance reference curve is updated. Based on the capacitance difference and the real-time ripple signal of the window motor, the window is controlled to perform corresponding anti-pinch control operations.

2. The method according to claim 1, characterized in that, Before determining the reference capacitance value corresponding to the real-time ripple count value based on a pre-calibrated ripple-capacitance reference curve, the method further includes: The window is controlled to perform at least one reference control stroke in an unloaded state, wherein the reference control stroke is a process of moving from the fully open position to the fully closed position and maintaining a stall for a preset time, and then moving from the fully closed position to the fully open position; During the at least one reference control stroke, the original ripple signal of the window motor is acquired, and a mapping relationship between the ripple count value and the window position feature value is established based on the original ripple signal. Obtain the capacitance value output by the capacitance sensor under different characteristic values ​​of the window position; Using the positional feature value corresponding to each ripple count value in the original ripple signal as the abscissa and the capacitance value corresponding to the window position feature value as the ordinate, curve fitting is performed to generate the ripple-capacitance reference curve.

3. The method according to claim 2, characterized in that, The step of establishing a mapping relationship between the ripple count value and the window position feature value based on the original ripple signal includes: The zero-point reference ripple count value of the window motor in the fully closed position is obtained, wherein the zero-point reference ripple count value is the ripple count value recorded when the window motor is controlled to rotate forward until the motor current reaches the stall current threshold. The full-stroke reference ripple count value of the window motor in the fully open position is obtained, wherein the full-stroke reference ripple count value is the ripple count value recorded when the window motor is controlled to rotate in the reverse direction until the motor current is detected to reach the stall current threshold again. Based on the zero-point reference ripple count value and the full-range reference ripple count value, each ripple count value in the original ripple signal is normalized to obtain the window position feature value corresponding to each ripple count value. Based on the window position feature value corresponding to each ripple count value, a mapping relationship between the ripple count value and the window position feature value is established.

4. The method according to claim 2, characterized in that, After generating the ripple-capacitance reference curve, the method further includes: Monitor the cumulative number of cycles in which the vehicle window performs the raising and lowering operation; When the cumulative number of cycles reaches a preset cycle threshold, the static capacitance value of the capacitance sensor at the current stationary position is detected. Obtain the reference capacitance value corresponding to the current stationary position in the ripple-capacitance reference curve, and calculate the deviation between the static capacitance value and the reference capacitance value; The adaptive calibration mechanism is triggered based on the deviation value, and the ripple count value and capacitance value at each position are re-acquired to update the ripple-capacitance reference curve, resulting in the updated ripple-capacitance reference curve.

5. The method according to claim 1, characterized in that, The method of controlling the window to perform corresponding anti-pinch control operations based on the capacitance difference and the real-time ripple signal of the window motor includes: Obtain the real-time ripple signal of the window motor; Extract the pulse frequency of the real-time ripple signal and obtain the reference pulse frequency of the window motor; Calculate the rate of change of frequency based on the pulse frequency and the reference pulse frequency; When the frequency change rate is greater than or equal to a preset change rate threshold, an emergency anti-pinch mechanism is triggered, and corresponding anti-pinch control operations are performed using the first window control parameters; or, when the frequency change rate is less than a preset change rate threshold, an early warning anti-pinch mechanism is triggered, and the window is controlled to perform corresponding anti-pinch control operations based on the capacitance difference.

6. The method according to claim 5, characterized in that, The step of controlling the window to perform corresponding anti-pinch control operations based on the capacitance difference includes: Obtain the preset capacitance difference threshold corresponding to the real-time ripple count value; When the capacitance difference is greater than or equal to the preset capacitance difference threshold, the distance between the vehicle window and the clamping target is determined based on the capacitance difference. The control parameters of the second window are determined based on the interval distance, and the corresponding anti-pinch control operation is performed using the control parameters of the second window.

7. The method according to claim 1, characterized in that, The method further includes: Obtain the real-time temperature value output by the temperature sensor installed near the vehicle window; The capacitance compensation coefficient is determined based on the real-time temperature value, and the real-time capacitance value is corrected based on the compensation coefficient to obtain the corrected real-time capacitance value. The capacitance difference is calculated by replacing the real-time capacitance value with the corrected real-time capacitance value.

8. The method according to claim 6, characterized in that, Before obtaining the preset capacitance difference threshold corresponding to the real-time ripple count value, the method further includes: Obtain the capacitance value corresponding to different ripple count values ​​in the ripple-capacitance reference curve; The percentage change in capacitance generated when different pre-calibrated clamping targets approach the capacitance sensor is obtained. The preset capacitance difference threshold corresponding to different ripple count values ​​is obtained by multiplying the capacitance value by the capacitance change percentage.

9. A vehicle window anti-pinch control device, characterized in that, The device includes: The acquisition module is used to acquire the real-time ripple count value of the window motor and the real-time capacitance value output by the capacitance sensor installed near the window. The determination module is used to determine the reference capacitance value corresponding to the real-time ripple count value based on a pre-calibrated ripple-capacitance reference curve, and to calculate the capacitance difference between the real-time capacitance value and the reference capacitance value. When the cumulative number of cycles of the window lifting operation is detected to reach a preset cycle threshold, the module triggers the re-acquisition of ripple count values ​​and capacitance values ​​at each position based on the deviation between the capacitance value of the capacitance sensor at the current stationary position and the reference value at the corresponding position of the reference curve, and updates the ripple-capacitance reference curve. The control module is used to control the window to perform corresponding anti-pinch control operations based on the capacitance difference and the real-time ripple signal of the window motor.

10. A vehicle, characterized in that, The vehicle includes a controller, which includes a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method of any one of claims 1 to 8.

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