Pinch control method, vehicle, electronic device, and storage medium

Abstract

This application provides an anti-pinch control method, a vehicle, an electronic device, and a storage medium. The method acquires the current travel position and current current of the target object during its movement; matches the current travel position with a preset travel position interval in the current anti-pinch data to obtain a successfully matched preset travel position interval; then queries the current anti-pinch data to obtain the current anti-pinch current threshold; and determines the anti-pinch control strategy based on the comparison result between the current target object current and the current anti-pinch current threshold. Taking a car window as an example, this avoids the problem of misjudgment and missed judgment caused by using a fixed current threshold value due to the dynamic changes in the window motor current during the window's movement caused by factors such as assembly processes. By selecting the appropriate current anti-pinch current threshold based on the travel position of the window, the accuracy of the anti-pinch strategy determination can be improved, enhancing the user experience.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to an anti-pinch control method, a vehicle, an electronic device, and a storage medium. Background Technology

[0002] Anti-pinch is a safety feature that automatically stops closing and reverses when an electric door, window, or lifting device encounters a foreign object or person during closing / retraction, thus preventing hand or finger pinching injuries.

[0003] In related technologies, anti-pinch mechanisms for car windows often indirectly assess the resistance encountered by the window glass during its ascent by monitoring changes in the physical parameters of the window motor during operation. When an abnormally high resistance is detected, the motor is reversed to release any trapped object. For example, a fixed current threshold value is pre-programmed into the controller; when the real-time collected motor current exceeds this threshold, anti-pinch measures are triggered, and the motor is reversed. However, this method either results in excessive anti-pinch force, leading to missed detections and potential injury, or frequent false anti-pinch operations, impacting the user experience. Summary of the Invention

[0004] This application provides an anti-pinch control method, a vehicle, an electronic device, and a storage medium to solve the technical problems of missed detection, false detection, and impact on user experience in related anti-pinch schemes.

[0005] This application provides an anti-pinch control method, the method comprising: matching the current travel position with a preset travel position interval in the current anti-pinch data to obtain a successfully matched preset travel position interval, wherein the complete movement of the target object includes at least two preset travel position intervals; querying the current anti-pinch data based on the successfully matched preset travel position intervals to obtain a current anti-pinch current threshold, wherein the current anti-pinch data includes the current anti-pinch current thresholds corresponding to the target object in different preset travel position intervals, wherein at least two preset travel position intervals correspond to different current anti-pinch current thresholds; and determining an anti-pinch control strategy based on the comparison result between the current current data and the current anti-pinch current threshold.

[0006] By using the above method, taking a car window as an example, the problem of misjudgment and missed judgment caused by the dynamic changes in the current of the car window motor during the movement of the car window due to the influence of assembly process and other factors is basically avoided. By selecting the corresponding current anti-pinch current threshold according to the travel position of the car window, the accuracy of the anti-pinch strategy can be improved, and the user experience can be enhanced.

[0007] In one embodiment of this application, the method further includes at least one of the following: if the comparison result is that the current current data is greater than or equal to the current anti-pinch current threshold, the anti-pinch control strategy includes controlling the control motor of the target object to stop running and reverse; if the comparison result is that the current current data is less than the current anti-pinch current threshold, the anti-pinch control strategy includes controlling the target object to continue moving through the control motor. Through the above method, when the current current data is greater than or equal to the current anti-pinch current threshold, the anti-pinch operation can be performed in a timely manner; when the current current data is less than the current anti-pinch current threshold, the target object is controlled to continue moving according to the corresponding instruction.

[0008] In one embodiment of this application, when the comparison result shows that the current current data is less than the current anti-pinch current threshold, and the target object has completed the movement of the target stroke, the anti-pinch control strategy includes: acquiring multiple stroke target object currents of the target object during the target stroke process, and generating first self-learning sample data; acquiring second self-learning sample data and a preset baseline threshold, wherein the second self-learning sample data is generated based on the multiple stroke target object currents corresponding to the previous movement of the target object when it completed the target stroke; updating the adaptive compensation value according to the first self-learning sample data and the second self-learning sample data; determining a new current anti-pinch current threshold based on the preset baseline threshold and the updated adaptive compensation value; replacing the current anti-pinch current threshold in the current anti-pinch data with the new current anti-pinch current threshold, and determining a new anti-pinch control strategy by comparing the replacement current anti-pinch current threshold with the new current current data when the target object moves the target stroke again. By using the above method, the current anti-pinch current threshold can be updated at a certain frequency, thereby further ensuring the accuracy of the anti-pinch judgment and minimizing the problem of inaccurate anti-pinch judgment caused by working conditions such as guide rail aging and / or sealing strip aging, mud and sand accumulation.

[0009] In one embodiment of this application, updating the adaptive compensation value based on the first self-learning sample data and the second self-learning sample data includes: determining multiple current changes based on the first and second self-learning sample data; sorting all current changes; determining a target current change based on the sorted current changes; acquiring current operating condition data; determining a preset compensation value based on the current operating condition data and the target current change; and setting the preset compensation value as the current adaptive compensation value. This allows for updating the adaptive compensation value to update the current anti-pinch current threshold, thereby further ensuring the accuracy of the anti-pinch judgment and minimizing the problem of inaccurate anti-pinch judgment caused by conditions such as guide rail aging and / or sealing strip aging, and sediment accumulation.

[0010] In one embodiment of this application, the method further includes: determining a target current change based on the sorted current changes, including: determining the current change corresponding to a preset quantile value among the sorted current changes as the target current change, wherein the preset quantile value is less than 1 and the preset quantile value is greater than a preset fraction threshold; determining a preset compensation value based on the current operating condition data and the target current change, including: determining a target adaptive gear table from multiple preset adaptive gear tables based on the current operating condition data, determining a target current change range based on the target current change, and determining an initial compensation value corresponding to the target current change range as the preset compensation value, wherein each preset adaptive gear table corresponds to a corresponding operating condition data range, and the preset adaptive gear table includes initial compensation values ​​corresponding to different current change ranges. By removing the largest one or more current changes in the above manner, errors caused by extreme changes in current changes due to abnormal conditions can be filtered out, further improving the accuracy of the relevant data determination. The preset adaptive gear table facilitates the subsequent determination of the preset compensation value.

[0011] In one embodiment of this application, the method further includes: determining the current anti-pinch data by querying the current anti-pinch data based on the current travel position, including: acquiring current operating condition data; matching the current operating condition data with multiple preset operating condition data to obtain successfully matched preset operating condition data; determining the preset anti-pinch data corresponding to the successfully matched preset operating condition data as the current anti-pinch data, wherein each preset operating condition data has a corresponding preset anti-pinch data pre-set; the target object includes a window, sunroof, electric tailgate, or electric seat; the current operating condition data includes at least one of current temperature, current power supply voltage, current weather data, current vehicle speed, and current power load. Through the above method, corresponding current anti-pinch current thresholds can be adopted under different operating conditions, thereby further improving the applicability of the method to different operating conditions and improving the accuracy of anti-pinch control. The diversification of target objects makes the method highly versatile, reduces technical research and development costs, and adapts to various vehicle models. Introducing the concept of operating conditions can basically avoid anti-pinch anomalies under different operating conditions, improving the user experience.

[0012] In one embodiment of this application, the method for determining the preset travel position interval includes: dividing the complete movement journey of the target object into at least two sampling journeys, and obtaining multiple initial sample currents of the target object during the movement of each sampling journey; filtering the multiple initial sample currents corresponding to one sampling journey to obtain an average sample current, and then obtaining the average sample current corresponding to each sampling journey; controlling the target object to repeat the movement of the complete movement journey N times, and then obtaining multiple average sample currents corresponding to each sampling journey, wherein N is greater than or equal to 1; determining the average current fluctuation corresponding to one sampling journey based on the multiple average sample currents corresponding to one sampling journey, and then obtaining the average current fluctuation corresponding to each sampling journey; when the average current fluctuations corresponding to all sampling journeys are less than or equal to a preset fluctuation threshold, determining the preset travel position interval based on the sampling journey; when the average current fluctuations corresponding to at least one sampling journey are greater than the preset fluctuation threshold, re-executing the steps of dividing the complete movement journey of the target object into at least two sampling journeys to determining the average current fluctuation corresponding to one sampling journey based on the multiple average sample currents corresponding to one sampling journey, and then obtaining the average current fluctuation corresponding to each sampling journey, until the average current fluctuations corresponding to all sampling journeys are less than or equal to the preset fluctuation threshold. The above methods can achieve a reasonable division of the preset travel position range, thereby further improving the reliability of anti-pinch control.

[0013] This application embodiment also provides an anti-pinch control device, the device comprising: an acquisition module, configured to acquire current travel position and current current data during the movement of a target object; a threshold determination module, configured to match the current travel position with a preset travel position interval in the current anti-pinch data to obtain a successfully matched preset travel position interval, wherein the complete movement of the target object includes at least two preset travel position intervals; querying the current anti-pinch data based on the successfully matched preset travel position intervals to obtain a current anti-pinch current threshold, wherein the current anti-pinch data includes the current anti-pinch current thresholds corresponding to the target object in different preset travel position intervals, wherein at least two preset travel position intervals correspond to different current anti-pinch current thresholds; and a strategy determination module, configured to determine an anti-pinch control strategy based on the comparison result between the current current data and the current anti-pinch current threshold.

[0014] This application also provides a vehicle, which includes a target object, a data acquisition device, and an anti-pinch controller. The data acquisition device is used to acquire the current travel position and current current data of the target object during its movement. The anti-pinch controller is used to execute the method described in any of the above embodiments.

[0015] This application also provides an electronic device, including: a memory storing a computer program thereon; and a processor for executing the computer program in the memory to implement the steps of the method described in any of the above embodiments.

[0016] This application also provides a computer-readable storage medium having a computer program stored thereon, the computer program being used to cause a computer to perform the method provided in any of the above embodiments.

[0017] The beneficial effects of this application are as follows: The embodiments of this application propose an anti-pinch control method, vehicle, electronic device, and storage medium. This method obtains the current travel position and current current of the target object during its movement; matches the current travel position with preset travel position intervals in the current anti-pinch data to obtain successfully matched preset travel position intervals. The complete movement of the target object includes at least two preset travel position intervals. Based on the successfully matched preset travel position intervals, the current anti-pinch current threshold is obtained by querying the current anti-pinch data. The current anti-pinch data includes the current anti-pinch current thresholds corresponding to different preset travel position intervals, with at least two preset travel position intervals corresponding to different current anti-pinch current thresholds. An anti-pinch control strategy is determined based on the comparison result between the current current of the target object and the current anti-pinch current threshold. Taking a car window as an example, this largely avoids the problem of misjudgment or missed judgment caused by using a fixed current threshold value due to the dynamic changes in the current of the car window motor during the movement of the car window caused by factors such as assembly processes. By selecting the corresponding current anti-pinch current threshold according to the travel position of the car window, the accuracy of the anti-pinch strategy determination can be improved, thus enhancing the user experience. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0019] In the attached diagram: Figure 1 A segmented schematic diagram of the current curve during the window raising process provided in this application embodiment; Figure 2 A schematic diagram of the current curve during the window raising process provided in an embodiment of this application; Figure 3 A schematic diagram of the current rise curve during window anti-pinch operation is provided in an embodiment of this application; Figure 4This application provides a schematic diagram of the overall architecture of an adaptive anti-pinch system for vehicle windows. Figure 5 A schematic flowchart of an anti-pinch control method provided in an embodiment of this application; Figure 6 A schematic diagram of various baseline comparisons provided in an embodiment of this application; Figure 7 A flowchart illustrating a specific anti-pinch control method provided in an embodiment of this application; Figure 8 A schematic diagram of the anti-pinch control device provided in one embodiment of this application; Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0021] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the shape, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0022] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0023] In this application, the collection and processing of data such as the current location of the target object, the current current of the target object, and the current operating condition data must strictly comply with the requirements of relevant national laws and regulations, obtain the informed consent or separate consent of the personal information subject, and carry out subsequent data use and processing within the scope of laws and regulations and the authorization of the personal information subject.

[0024] The sampling stroke refers to the sampling and control unit that divides the complete movement stroke of a target object, such as a car window, sunroof, power tailgate, or power seat, into uniform or non-uniform portions according to a preset physical distance or Hall pulse count. In some embodiments of this application, multiple raw current data (initial sample current) are collected during the movement of the target object in the sampling stroke, and a sample average current that represents the resistance characteristics of that stroke range is finally calculated and output.

[0025] The baseline threshold (preset baseline threshold) refers to the basic safety threshold in the anti-pinch judgment logic, which is usually a preset fixed electrical quantification value. As an example, this baseline threshold can be calibrated based on the stall current of the window motor assembly, the rated operating voltage of the system, and the maximum physical anti-pinch force required by relevant regulations (e.g., less than 100 Newtons, preferably less than 85 Newtons).

[0026] The inventors discovered that the static fixed threshold current anti-pinch technology has significant drawbacks in the relevant automotive window anti-pinch control technologies. Specifically, the physical environment and mechanical state of an automotive power window are highly dynamic throughout its entire lifecycle. Factors such as battery voltage drops, the effects of high and low temperatures, aging and wear of the guide rails and sealing strips, and sudden changes in local friction caused by mud and sand accumulation can all lead to continuous and unpredictable drift in the baseline of the motor's operating current.

[0027] In this context, using a fixed current threshold as the anti-pinch detection threshold may lead to a dilemma: if the fixed threshold is set too high to ensure no false pinching occurs under high-resistance conditions such as low temperature or aging, then under low-resistance conditions such as new cars or normal temperature, once a real pinching event occurs, the motor current needs to rise by a huge amount to break through the high threshold. This directly leads to a serious over-limit of the physical anti-pinch force (even exceeding the safety limit of 100 Newtons), causing serious missed detections and the risk of pinching and injuring occupants. Conversely, if the fixed threshold is set too low to meet safety regulations, then when the window operates in a high-resistance area (such as the turning point of the sealing strip) or in a low-temperature environment, the normal operating current will easily break through the low threshold, thus frequently triggering false pinch reversals, greatly damaging the user experience.

[0028] If the anti-pinch judgment is based solely on a pre-set single amplitude value, and the anti-pinch operation is initiated when the actual current exceeds the single fixed amplitude value, this cannot effectively distinguish between two scenarios: "normal mechanical resistance change (such as vehicle bumps, wind resistance interference, guide rail mud and sand obstruction, etc.)" and "obstacle clamping". This results in a high false trigger rate and false detection rate for the anti-pinch function, making it difficult to guarantee the safety and reliability of use.

[0029] The inventors also discovered that in related technologies, the fixed current threshold value (a single fixed amplitude) is often calibrated during the new vehicle stage. After a certain period of vehicle use, such as three or five years, the anti-pinch performance will significantly decrease or even completely fail due to component wear. Continuing to use a single fixed amplitude cannot meet the safety requirements of the vehicle's entire life cycle and cannot solve the problem of significant decline in anti-pinch performance caused by the aging and degradation of the motor and mechanical structure. In addition, regarding the problem of misjudgment when the window approaches the mechanical hard stop, related technologies often disable the anti-pinch function in that area, thus creating a significant anti-pinch blind spot, posing a safety hazard of pinching people, and the overall robustness of the anti-pinch system is not high.

[0030] To address the aforementioned issues, this application provides an anti-pinch control method applicable to target objects within a vehicle, including but not limited to windows, sunroofs, power tailgates, and power seats. Taking a window as an example, considering the difficulty in ensuring consistent operating conditions for electric car windows and the dynamic changes in resistance during window operation, the anti-pinch function must possess environmental adaptability. This method completes the initial system configuration through window self-learning. After configuration, it implements full-stroke segmented threshold adaptive control based on Hall pulses. During the target object's movement, the current stroke position and current current data are acquired. The current anti-pinch current threshold is obtained by querying the current anti-pinch data based on the current stroke position. The current anti-pinch data includes the current anti-pinch current threshold corresponding to different preset stroke position intervals for the target object. An anti-pinch control strategy is determined based on the comparison between the current current data and the current anti-pinch current threshold. Within the anti-pinch area, the current curve is precisely divided into regions using Hall pulses, and adaptive control is then implemented for different regions. Under various complex working conditions, the motor operating current is segmented and adaptive threshold compensation is performed based on the characteristics of each segment region to obtain the corresponding current anti-pinch current threshold. This can not only significantly filter the probability of false anti-pinch triggering, but also strictly limit the magnitude of the anti-pinch force, ensuring the consistency and reliability of the anti-pinch function throughout the entire stroke range.

[0031] Please see Figure 1 , Figure 1 This application provides a schematic diagram of a segmented current curve during the window raising process, as shown in the embodiment of the present application. Figure 1 As shown, during the window's upward movement, the window motor current can be collected. Initially, the current rises from 0 to a higher level, then falls back to a certain value. At this point, the window has moved to the anti-pinch zone (i.e., the area corresponding to the complete movement stroke). Based on the window's position at different times, multiple preset stroke position intervals are obtained for this anti-pinch zone. Figure 1 Each pair of short lines on the medium current curve forms a preset travel position interval. Subsequently, the window rises, the current surges, and then the power is cut off.

[0032] During the operation of a car window, the motor's operating current fluctuates regularly rather than remaining constant due to various factors. Specifically, these fluctuations primarily stem from three categories of factors: first, differences in the motor's inherent characteristics, such as subtle fluctuations in inherent parameters like coil resistance and electromagnetic induction efficiency; second, changes in the resistance of the window's mechanical transmission system, mainly including the frictional resistance between the window seal and the glass, the clearance between the guide rail and the slider, and differences in the coefficient of friction; and third, the influence of the assembly process, such as slight deviations in the installation precision and fixing method of the window guide rail. All of these factors directly lead to dynamic changes in the motor's operating current. Please refer to [link / reference]. Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the current curve during the window raising process, provided as an embodiment of this application. Figure 3 This application provides a schematic diagram of the current rise curve during a car window anti-pinch operation, in conjunction with... Figure 2 and Figure 3 The collected current characteristic images further clarify the core significance of segmented processing, as detailed below: (From...) Figure 2 It can be seen that during the window's upward movement, the motor's operating current is not a smooth curve, but rather exhibits regular fluctuations accompanying changes in the operating position. This fluctuation is generated by the combined effects of the aforementioned mechanical characteristics and assembly factors. According to the basic formula of electricity: P = U I formula (1) Where P is the output power of the window motor, U is the terminal voltage of the window motor, and I is the current operating current.

[0033] As shown in equation (1), when the motor terminal voltage U remains constant, the motor output power P is linearly related to the current operating current I. Combining mechanical and kinematic formulas and the principle of ohmic loss, the core correlation formula between current and clamping resistance can be derived. This formula is the core foundation of the current anti-pinch algorithm, clarifying the mapping relationship between current I and clamping resistance F—that is, when current I increases, clamping resistance F increases synchronously, and when current I reaches a preset threshold, it can be determined that clamping has occurred, triggering the anti-pinch action.

[0034] The mechanical and kinematic formulas are as follows: P = F S-type (2) Where P is the output power of the window motor, F is the window running resistance / clamping resistance, and S is the window movement displacement.

[0035] The core formula relating current and clamping resistance is as follows: U I - I 2 R = F S-type (3) Where U is the terminal voltage of the window motor, I is the current operating current, R is the equivalent resistance of the motor coil, F is the window running resistance / clamping resistance, and S is the window movement displacement.

[0036] Based on the above analysis, it can be seen that during the operation of the car window, the resistance corresponding to the current is always in a dynamic state, but this change is determined by mechanical characteristics and is a fluctuation with a clear pattern.

[0037] Continue with Figure 2 Taking the car window shown as an example, under the same operating conditions, when the window is raised and lowered multiple times, the current curve shows a downward trend from point A to point B, and a clear trend reversal occurs at point B, that is, the current changes from a downward trend to an upward trend. Within the current variation range from point B to point C, combined with the judgment characteristics of the car window's current anti-pinch function, false anti-pinch phenomena are very likely to occur.

[0038] like Figure 3 As shown in the green box, when the car window encounters an obstacle, the motor current shows a significant upward trend, which is consistent with... Figure 2 The current change characteristics from point B to point C are highly similar. If no specific processing is performed, normal current fluctuations can easily be misjudged as pinch signals, leading to false triggering of the anti-pinch function.

[0039] In summary, in order to effectively distinguish between the current fluctuations during normal operation of the window and the changes in the clamping current when encountering obstacles, reduce the false anti-pinch rate, improve the overall robustness of the anti-pinch control algorithm, and ensure the stable and reliable implementation of the anti-pinch function, it is urgent to process the operating current curve of the window motor in segments and formulate differentiated anti-pinch judgment criteria based on the current fluctuation patterns at different locations.

[0040] Taking a car window as an example, please refer to [link / reference]. Figure 4 , Figure 4 This application provides a schematic diagram of the overall architecture of an adaptive anti-pinch system for vehicle windows, as shown in the embodiments below. Figure 4As shown, this anti-pinch control method can be implemented through the core ECU (Electronic Control Unit). The current travel position is acquired via a Hall position sensor in the vehicle signal unit, the current temperature is acquired via a temperature sensor, and the current power supply voltage is acquired via a voltage sensor. These data are transmitted to the core ECU via a CAN bus operating condition signal. The current current data of the window motor assembly is acquired by a current acquisition module and transmitted to the core ECU. Then, based on the current travel position, current temperature, and current power supply voltage, the current anti-pinch data stored in the baseline adaptive learning module is matched to obtain the current anti-pinch current threshold. A multi-feature anti-pinch recognition module determines whether anti-pinch is triggered based on the current anti-pinch current threshold and the current current data. If anti-pinch is triggered, the PWM (Pulse Width Modulation) drive control module controls the motor drive unit to stop the window motor assembly and reverse it by a preset distance.

[0041] The above-described overall system architecture and related exemplary descriptions are merely one example provided by the embodiments of this application. This method can also be applied to other system frameworks according to the user's needs. The embodiments of this application do not limit the actual form of various devices, components, etc. included in this scenario. In the specific application of the solution, it can be set according to actual needs. Please see Figure 5 , Figure 5 A flowchart illustrating an anti-pinch control method provided in an embodiment of this application is shown below. Figure 5 As shown, the method includes the following steps: Step S510: During the movement of the target object, acquire the current travel position and current current data.

[0042] As an example, taking the method as an application to a vehicle, the target object includes, but is not limited to, objects that require anti-pinch control, such as windows, sunroofs, power tailgates, or power seats.

[0043] The processes of raising the car window, closing the sunroof, closing the power tailgate, folding or moving the power seats forward and backward can be considered as the movement of the aforementioned target object.

[0044] As an example, it can be determined in advance whether the movement of the target object requires the activation of anti-pinch detection. If it does, then step S510 is executed. Anti-pinch control is only performed when the target object moves within the anti-pinch area and is in the scenario requiring anti-pinch detection.

[0045] As an example, the current travel position can be determined in a manner known to those skilled in the art, such as the position signal from a Hall position sensor.

[0046] As an example, the current current data can be obtained by collecting the current of the control motor of the target object and then using the collected current.

[0047] As an example, the current data can be the current value directly, or it can be converted into a current identifier value based on the current value through a preset data conversion rule for subsequent data transmission, calculation, and judgment. The preset data conversion rule can be set by those skilled in the art as needed, and will not be elaborated here. Correspondingly, the current anti-pinch current threshold in the current anti-pinch data also adopts the same data conversion rule, converting the current baseline into the corresponding current identifier value, and then superimposing the adaptive compensation value and the preset baseline threshold to obtain the current anti-pinch current threshold.

[0048] Step S520: Match the current travel position with the preset travel position intervals in the current anti-pinch data to obtain the successfully matched preset travel position intervals. The complete movement of the target object includes at least two preset travel position intervals. It can be understood that the complete movement of the target object is pre-divided into at least two preset travel position intervals, with corresponding preset travel position intervals at different travel positions. All preset travel position intervals are sequentially connected to form the complete movement journey. By first matching the current travel position with the corresponding preset travel position interval, it is possible to determine which preset travel position interval the target object has moved to, thus facilitating subsequent anti-pinch control based on the anti-pinch current threshold determined according to the characteristics of that area.

[0049] Step S530: Based on the successfully matched preset travel position range, query the current anti-pinch data to obtain the current anti-pinch current threshold.

[0050] The current anti-pinch data includes the current anti-pinch current threshold corresponding to the target object in different preset travel position intervals, and at least two preset travel position intervals correspond to different current anti-pinch current thresholds.

[0051] As an example, the current anti-pinch current threshold is obtained by converting the current baseline into the corresponding current identifier value, adaptive compensation value, and preset baseline threshold and then superimposing them.

[0052] As an example, the complete movement of the target object can be divided into at least two preset movement position intervals. Each preset movement position interval corresponds to a corresponding current anti-pinch current threshold. When the target object moves into the corresponding preset movement position interval, the corresponding current anti-pinch current threshold is used.

[0053] By setting corresponding current anti-pinch current thresholds for different preset travel position ranges, especially for anti-pinch blind zones, corresponding current anti-pinch current thresholds can be set for anti-pinch judgment. This can largely avoid the problem of false or missed anti-pinch judgments caused by a single fixed amplitude, thus improving the user experience.

[0054] In some embodiments, the method for determining the current anti-pinch data by querying the current anti-pinch data based on the current travel position includes: obtaining the current working condition data; matching the current working condition data with multiple preset working condition data to obtain the successfully matched preset working condition data; and determining the preset anti-pinch data corresponding to the successfully matched preset working condition data as the current anti-pinch data, wherein each preset working condition data has a corresponding preset anti-pinch data pre-set.

[0055] Pre-configure corresponding preset anti-pinch data according to different working conditions. The current anti-pinch data includes the current anti-pinch current threshold corresponding to different preset stroke positions. Since the current performance of the target object will be significantly different under different working conditions, such as -30℃ low temperature and 25℃ normal temperature, for the same anti-pinch force, corresponding preset anti-pinch data can be set for different working conditions for subsequent selection.

[0056] Of course, setting preset anti-pinch data often cannot exhaustively cover all operating conditions. An applicable operating condition range can be set for each preset anti-pinch data, such as an applicable temperature range or voltage range. When a current operating condition data satisfies the corresponding applicable operating condition range, the corresponding preset anti-pinch data is used to determine the current anti-pinch current threshold. On the other hand, if no applicable operating condition range is found for a current operating condition data, two preset anti-pinch data from adjacent operating conditions can be used for processing to obtain the corresponding current anti-pinch current threshold. For example, the current operating condition data includes the current temperature, which is -22℃, while the existing preset anti-pinch data corresponds to operating temperatures of -10℃, -20℃, and -30℃. In this case, the preset anti-pinch data corresponding to -20℃ and -30℃ can be used to find two current anti-pinch current thresholds corresponding to the two preset travel position ranges corresponding to the current travel position. Then, interpolation, averaging, or other data processing rules set by those skilled in the art can be used to obtain the current anti-pinch current threshold under the current condition based on the current anti-pinch current thresholds under two adjacent operating conditions.

[0057] In some embodiments, current operating condition data includes, but is not limited to, at least one of current temperature, current power supply voltage, and current humidity data. Temperature and humidity can refer to the ambient temperature and humidity of the external environment. As an example, current humidity data can also be characterized by weather data such as rain or snow, and the current power supply voltage can be characterized by whether a high-power load is started.

[0058] By using the above method, the corresponding current anti-pinch current threshold can be adopted for different working conditions and different positions. This can further improve the accuracy of the anti-pinch strategy and basically avoid the problem of misjudgment and wrong judgment caused by using a fixed threshold due to large current differences caused by temperature, power supply voltage, different stroke positions, etc.

[0059] Step S540: Determine the anti-pinch control strategy based on the comparison result between the current current data and the current anti-pinch current threshold.

[0060] In some embodiments, the method further includes at least one of the following: if the comparison result is that the current current data is greater than or equal to the current anti-pinch current threshold, the anti-pinch control strategy includes controlling the control motor of the target object to stop running and reverse; if the comparison result is that the current current data is less than the current anti-pinch current threshold, the anti-pinch control strategy includes controlling the target object to continue moving by controlling the control motor.

[0061] As an example, if anti-pinch is triggered, the reverse distance can be preset to obtain the preset reverse distance. Then, when it is determined that anti-pinch is required, the corresponding control motor can be controlled to reverse the preset reverse distance.

[0062] As an example, steps S510 to S540 can be executed in real time when the target object moves within the anti-pinch zone to achieve the anti-pinch function.

[0063] Using the above method, when the current current data is greater than or equal to the current anti-pinch current threshold, the anti-pinch operation can be executed in a timely manner; when the current current data is less than the current anti-pinch current threshold, the target object is controlled to continue moving according to the corresponding instruction.

[0064] In some embodiments, when the comparison result shows that the current current data is less than the current anti-pinch current threshold, and the target object has completed the movement of the target stroke, the anti-pinch control strategy includes: acquiring multiple stroke target object currents during the target stroke and generating first self-learning sample data; acquiring second self-learning sample data and a preset baseline threshold, wherein the second self-learning sample data is generated based on the multiple stroke target object currents corresponding to the previous movement of the target object during the completion of the target stroke; updating the adaptive compensation value according to the first self-learning sample data and the second self-learning sample data; determining a new current anti-pinch current threshold based on the preset baseline threshold and the updated adaptive compensation value; replacing the current anti-pinch current threshold in the current anti-pinch data with the new current anti-pinch current threshold; and determining a new anti-pinch control strategy based on the comparison result between the replaced current anti-pinch current threshold and the new current current data when the target object moves the target stroke again.

[0065] As an example, the target travel distance is a preset travel position range, or the target travel distance is one of the preset travel position ranges that the target object completes after completing a full movement (e.g., the window completes to rise). If the target object does not experience current fluctuations exceeding the sudden change threshold, incomplete travel, anti-pinch triggering, stalling, or other issues during this process, it can be considered that the target object has completed the target travel distance.

[0066] It is understandable that the current anti-pinch current threshold is not fixed, but rather adaptively learned and updated based on the historical anti-pinch control data of the target object. The historical anti-pinch control data includes at least the historical travel position and historical current data collected during the movement of the target object in the anti-pinch area. The historical anti-pinch control data is used as a self-learning sample data. If the self-learning sample data is not an invalid sample, that is, if there are no operating conditions such as current fluctuation exceeding the sudden change threshold, incomplete travel, anti-pinch triggering, or stall, then the self-learning sample data is used to update the current anti-pinch current threshold.

[0067] As an example, assuming both sets of self-learning sample data are valid, multiple current differences can be determined by collecting multiple current data points from two consecutive movements of the target object within the same preset travel position interval. A representative current difference is then selected from these differences, and this difference is used to adjust the adaptive compensation value. Finally, the adjusted adaptive compensation value and a preset baseline threshold are used to obtain a new current anti-pinch current threshold for the preset travel position interval. When the target object moves to the preset travel position interval again, this new current anti-pinch current threshold is used to determine whether an anti-pinch operation is necessary. This method ensures that the current anti-pinch current threshold is updated at a certain frequency, further guaranteeing the accuracy of the anti-pinch judgment and minimizing the risk of inaccurate judgments due to rail aging and / or sealing strip aging, mud and sand accumulation, etc.

[0068] In some embodiments, updating the adaptive compensation value based on the first self-learning sample data and the second self-learning sample data includes: determining multiple current changes based on the first self-learning sample data and the second self-learning sample data; sorting all the current changes and determining a target current change based on the sorted current changes; acquiring current operating condition data; determining a preset compensation value based on the current operating condition data and the target current change; and setting the preset compensation value as the current adaptive compensation value.

[0069] As an example, the working conditions corresponding to the first self-learning sample data and the second self-learning sample data are the same.

[0070] As an example, different preset compensation data can be set according to different operating conditions. This preset compensation data includes preset compensation values ​​corresponding to different current variation ranges. In this way, by using different preset compensation values ​​under different operating conditions, the differences in current caused by the different operating conditions can be offset as much as possible.

[0071] In some embodiments, the current anti-pinch current threshold includes a fixed current baseline value corresponding to the current travel position, a preset baseline threshold, and an adaptive compensation value that is adaptively adjusted based on operating conditions and historical self-learning sample data. This allows the current anti-pinch current threshold to compensate for differences caused by mechanical aging of the target object such as the vehicle window and environmental factors, thereby further improving the accuracy of anti-pinch control. Each travel position has a corresponding current baseline value on the current baseline diagram.

[0072] As an example, the current baseline includes current values ​​at different travel positions, which can be converted into current label values ​​as needed for subsequent comparisons.

[0073] In other embodiments, the current anti-pinch current threshold includes a fixed current baseline value corresponding to the current travel position, preset baseline thresholds corresponding to different vehicle speed ranges and / or temperature ranges, and an adaptive compensation value that is adaptively adjusted based on operating conditions and historical self-learning sample data. This allows the current anti-pinch current threshold to compensate for differences caused by mechanical aging of target objects such as vehicle windows, vehicle driving environment, etc., thereby further improving the accuracy of anti-pinch control.

[0074] As an example, the change in current can be determined by the current of the target object in each self-learning sample data and its corresponding sample travel position. Then, two target object currents that are the same or similar (the distance between the sample travel positions is less than a preset distance) are taken as a pair of currents, and the absolute value of the difference between the two is determined as the change in current.

[0075] In some embodiments, determining the target current change based on the sorted current changes includes: determining the current change corresponding to a preset quantile value among the sorted current changes as the target current change. The preset quantile value is less than 1 and greater than a preset fraction threshold. For example, the preset quantile value can be 95%, in which case the largest current change in the top 95% of the sorted current changes can be selected as the target current change. Assuming there are only 10 current changes, the 9th current change can be taken as the target current change. The current change corresponding to the preset quantile value can be the current change at the exact sorted position, or it can be the current change one position before or after that sorted position. The specific selection rules can be set by those skilled in the art as needed. This method can eliminate large extreme values ​​and largely avoid errors caused by accidental factors.

[0076] In some embodiments, determining a preset compensation value based on current operating condition data and target current change includes: determining a target adaptive gear table from multiple preset adaptive gear tables based on current operating condition data; determining a target current change range based on the target current change; and determining the initial compensation value corresponding to the target current change range as the preset compensation value. Each preset adaptive gear table corresponds to a specific operating condition data range, and the preset adaptive gear table includes initial compensation values ​​corresponding to different current change ranges.

[0077] As an example, multiple preset adaptive gear tables can be pre-calibrated according to different operating condition zones. Each preset adaptive gear table has a pre-set applicable operating condition data range. The preset adaptive gear table includes multiple current variation ranges and an initial compensation value corresponding to each current variation range. This initial compensation value can be pre-calibrated by those skilled in the art.

[0078] Using the above method, a corresponding applicable preset adaptive gear table can be set according to different working condition data. Then, the target current change obtained by the current self-learning meets a certain current change range in the preset adaptive gear table. The initial compensation value corresponding to the current change range is used as the preset compensation value. Then, based on the preset compensation value and the preset baseline threshold, a new current anti-pinch current threshold is determined. When the target object moves to the preset travel position range next time, the new current anti-pinch current threshold is used to determine whether an anti-pinch operation needs to be performed.

[0079] As an example, during the update of the current anti-pinch current threshold, the preset baseline threshold can remain unchanged. The preset compensation value is adjusted only based on the current change that occurs during the movement of the target object under normal conditions (without any abnormal events such as anti-pinch). The current anti-pinch current threshold is then determined by the sum of the preset compensation value, the preset baseline threshold, and the preset current baseline value.

[0080] In some embodiments, the preset baseline threshold can be calibrated by those skilled in the art according to the requirements of the anti-pinch force. The same value is used for the preset baseline threshold in all working conditions and throughout the entire travel.

[0081] In another embodiment, corresponding preset baseline thresholds can be calibrated for different operating conditions. In this case, the operating condition data includes, but is not limited to, at least one of temperature range and vehicle speed range.

[0082] In some embodiments, the method for determining the preset travel position interval includes: dividing the complete movement of the target object into at least two sampling travels, and obtaining multiple initial sample currents of the target object during the movement of each sampling travel; filtering the multiple initial sample currents corresponding to one sampling travel to obtain an average sample current, and then obtaining the average sample current corresponding to each sampling travel; controlling the target object to repeat the movement of the complete movement N times, and then obtaining multiple average sample currents corresponding to each sampling travel, wherein N is greater than or equal to 1; determining the average current fluctuation corresponding to one sampling travel based on the multiple average sample currents corresponding to one sampling travel, and then obtaining the average current fluctuation corresponding to each sampling travel; if the average current fluctuations corresponding to all sampling travels are less than or equal to a preset fluctuation threshold, determining the preset travel position interval based on the sampling travel; if the average current fluctuations corresponding to at least one sampling travel are greater than the preset fluctuation threshold, re-executing the steps of dividing the complete movement of the target object into at least two sampling travels to determining the average current fluctuation corresponding to one sampling travel based on the multiple average sample currents corresponding to one sampling travel, and then obtaining the average current fluctuation corresponding to each sampling travel, until the average current fluctuations corresponding to all sampling travels are less than or equal to the preset fluctuation threshold.

[0083] It is understood that the entire anti-pinch zone, i.e., the complete movement distance, is divided into two or more sampling distances. This can be done evenly or using other division methods known to those skilled in the art. Then, the target object is controlled to move normally (without obstacles or other abnormal situations). During this process, the initial sample current of the target object's control motor is collected. For each sampling distance, the corresponding average sample current is determined, thus obtaining the average sample current for each sampling distance. Repeating the above process yields multiple sets of data, each set including the average sample current for each sampling distance corresponding to one normal movement of the target object. Then, the fluctuations between all the average sample currents corresponding to each sampling distance in the multiple sets of data are statistically analyzed. If the fluctuations in the average sample current are small, the sampling distance division is considered reasonable, and the sampling distance is determined as the preset distance position range. Conversely, if the fluctuations in the average sample current are large (average current fluctuations are all greater than the preset fluctuation threshold), then the entire process needs to be repeated, and the sampling distance division method needs to be readjusted until the average current fluctuations for all sampling distances are less than or equal to the preset fluctuation threshold.

[0084] As an example, the average current fluctuation corresponding to a sampling stroke can be determined as follows: Each Hall sensor in the sampling stroke corresponds to a current indicator value. The sum of all values ​​is divided by the number of Hall sensors to obtain the average value for the sampling stroke. The difference between this average value and the maximum / minimum current indicator value in the current sampling stroke is then divided by the average value to obtain the current fluctuation rate.

[0085] The preset fluctuation threshold can be set by those skilled in the art as needed.

[0086] By using the above methods, the preset travel position range can be set more scientifically, thereby further improving the accuracy of subsequent anti-pinch judgment.

[0087] In some embodiments, the same preset stroke position interval division method may be used for different working conditions, or the above-mentioned preset stroke position interval determination steps may be performed separately for different working conditions, thereby obtaining the preset stroke position intervals corresponding to different working conditions. The working conditions can be obtained from the working condition data.

[0088] This application proposes an anti-pinch control method. This method acquires the current travel position and current current of the target object during its movement. Based on the current travel position, it queries current anti-pinch data, including current anti-pinch current thresholds corresponding to different preset travel position intervals, to obtain the current anti-pinch current threshold. The anti-pinch control strategy is determined based on the comparison between the current current and the current anti-pinch current threshold. Taking a car window as an example, this method largely avoids the problem of misjudgment or missed judgment caused by using a fixed current threshold value due to the dynamic changes in the window motor current during the window's movement caused by factors such as assembly processes. By selecting the appropriate current anti-pinch current threshold based on the travel position of the window, the accuracy of the anti-pinch strategy determination can be improved, enhancing the user experience.

[0089] As an example, taking a car window as the target object, the preset travel position range and adaptive threshold (preset compensation value) are set as follows: The relevant parameters involved in the following process are explained below: Segmentation (preset travel position range): Segmented sampling units for the complete lifting and lowering travel of the window, each unit calculates one average current A(N) (sample average current). Preset baseline threshold: The basic safety threshold for anti-pinch judgment, which is a fixed value and can be calibrated by the motor stall current and the specified anti-pinch force; Adaptive threshold (preset compensation value): The compensation value that is dynamically adjusted according to changes in historical current, and is determined by the gear parameter; Gear parameters: graded compensation rules based on current change ΔA (target current change), including ΔA threshold and initial compensation value X; Current conversion: The acquired current is quantized, for example, 1A is converted to 1000 for easy input into the algorithm. The specific settings can be adjusted according to the sampling resistor and other relevant parameters of your device. The following settings are assumed to be 1A=1000 for example.

[0090] When a car window is raised or lowered, the original current fluctuates dramatically, primarily due to: electrical spark interference from motor brush commutation; electromagnetic interference from the vehicle's power supply, ignition, and other electrical components; current jitter caused by mechanical vibration and uneven friction of the guide rails; and quantization noise from the ADC (Analog-to-Digital Converter) sampling itself. The result is a raw waveform consisting of numerous spikes superimposed on the actual current, making it impossible for either the naked eye or algorithms to discern the trend. Therefore, filtering can largely mitigate these problems.

[0091] Please see Figure 6 , Figure 6 A schematic diagram of various baseline comparisons provided in an embodiment of this application, such as... Figure 6 As shown, the original waveform of the acquired raw current contains a lot of noise. It is filtered in a way known to those skilled in the art to obtain the filtered current, and then the average current is determined.

[0092] It should be noted that, Figure 6 The three curves in the diagram correspond to the same interval of the vertical coordinate. Figure 6 To illustrate the changing trends of the three curves, the values ​​on the vertical axis are blurred. Figure 6 The three curves in the middle only provide examples of trend representation, not a display of specific numerical values. For example... Figure 6 As shown, the raw current acquired without filtering has many sudden spikes. For example, the current value might be 4000 ohms at the 500 Hall sensor, then suddenly jump to 9000 ohms at the 501 Hall sensor, but then drop back to 4000 ohms at the 502 Hall sensor. This spike needs to be filtered out for the 9000 ohm value. If the raw current value is acquired using an oscilloscope, it will have many fluctuations, and directly using the raw current for anti-pinch protection will result in many abnormal problems.

[0093] During calibration: The entire travel of the car window is divided into uniform segments, which basically eliminates the difference in mechanical resistance at different travel positions and ensures sampling stability.

[0094] Within each tap segment, the operating current is filtered to largely eliminate "glitch" caused by transient interference. The average current A(N) of each tap segment is calculated. The windows are repeatedly raised and lowered 10 times, and the average current fluctuation of all tap segments is less than or equal to 5%, confirming that the tap segment division is reasonable. The method for determining the average current fluctuation can refer to the description in the above embodiments, or be determined using methods known to those skilled in the art; it will not be elaborated here. 5% is merely an example; other values ​​defined by those skilled in the art can also be used. See also... Figure 2 It might be unreasonable to simply define the area containing the "V" shaped angle from point A to point C as a single region (in stages). In such cases, current fluctuations often exceed 5%, necessitating further detailed subdivision of this region.

[0095] Setting preset baseline thresholds determines the basic safety threshold for anti-pinch detection, ensuring anti-pinch safety under extreme operating conditions. As an example, multiple preset baseline thresholds can be included. Different temperature ranges correspond to different preset baseline thresholds. As another example, preset baseline thresholds can also be set according to different vehicle speed ranges. As yet another example, preset baseline thresholds can be set in combination with different temperature ranges and vehicle speed ranges.

[0096] Adaptive gear parameter calibration, calibration graded compensation rules, balancing the sensitivity of false triggering under normal working conditions and jamming conditions.

[0097] Data collection of current changes under normal operating conditions. With no obstructions, perform 10 normal window raising and lowering cycles, collecting |A(N) for each tap section. 1) A(N 2) | Calculate the 95th percentile value as the maximum variation ΔA(normal) under normal operating conditions. For conventional vehicle models, the operating current fluctuation is ±0.2A according to industry standards, and ΔA(normal) is approximately 200 (corresponding to level 1). Actual data needs to be adjusted according to the actual vehicle model.

[0098] Turn off anti-pinch or increase anti-pinch force. Example (gear-related data to be adjusted according to specific working conditions): At different stroke positions (midpoint of tap section), apply a force of 40N and 80N using an anti-pinch force fixture, and collect the instantaneous velocity A (N) at the moment of clamping. 1) A(N 2) |, Statistically calculate the changes corresponding to different forces: 40N: ΔA≈400 (corresponding to gear 2); 80N: ΔA≈600 (corresponding to gear 3); 100N: ΔA≈800.

[0099] ΔA should have a linear relationship with the anti-pinch force. According to equations (1) and (2), when the current increases, the anti-pinch force should also increase if the supply voltage remains constant.

[0100] The current adjustment range varies depending on the temperature. For example, at room temperature, the maximum current change ΔA is only 800. However, at low temperatures, the current change ΔA may reach 1000 to 3000. Different adjustment ranges can be set according to the temperature. Please refer to Table 1, which is an example of a preset adaptive adjustment range table. In actual use, the specific number of adjustment ranges and the current change ΔA range (current change range) corresponding to each adjustment range can be set by those skilled in the art. The current change ΔA range may also differ for different operating conditions. The adaptive compensation value X (initial compensation value) corresponding to each current change range can be calibrated using the calibration method provided above.

[0101] Table 1

[0102] Assuming the anti-pinch force of the car window needs to be less than 85N, and to ensure consistency in performance for end users, the anti-pinch force can be limited to the range of (75N ± 10N). This range meets relevant regulations while also providing a certain degree of interference resistance. After setting the settings, the car window needs to undergo a durability test of 100,000 cycles of raising and lowering under three temperatures and three pressures. This durability test simulates the aging process of user-owned car windows, ensuring that the false anti-pinch trigger rate is less than 0.1%. Furthermore, the anti-pinch force should remain stable within this range after the durability test.

[0103] Gear matching logic calibration, using |A(N 1) A(N 2) | Match gear position, determine the adaptive threshold X of the current segment, and the formula for determining the total threshold is as follows: Z = J + X (4) Where Z is the total threshold, J is the preset baseline threshold, and X is the preset compensation value.

[0104] The current anti-pinch current threshold is obtained by summing the total threshold with the baseline current data determined based on the current baseline value corresponding to the tap segment. The current baseline can be obtained in a manner known to those skilled in the art, and characterizes the current data corresponding to the target object at different locations. As an example, the same baseline can be used under different operating conditions.

[0105] Normal window raising and lowering confirmed no false triggering of the anti-pinch system; the clamping test confirmed that the anti-pinch system is 100% triggered by a force below 85N.

[0106] The above methods can be used to pre-configure preset baseline thresholds, preset adaptive gear tables, preset travel position ranges, etc.

[0107] The following provides a specific example of an anti-pinch control method for detailed explanation. Please refer to [link / reference]. Figure 7 , Figure 7 A flowchart illustrating a specific anti-pinch control method according to an embodiment of this application is shown below. Figure 7 As shown, after starting, initialization is performed, including the initialization of stages, thresholds, and gears, specifically as follows: A segmented current baseline library for the entire window lifting stroke is established, dividing the entire window lifting stroke into different regions (preset stroke position intervals). An initial multi-dimensional current baseline is configured for each segment (preset stroke position interval), and the initial multi-dimensional current baseline is calibrated based on window lifting current collection data under different voltage and temperature conditions. The current baseline learning and updating mechanism can use online adaptive learning of the baseline: each valid normal lifting condition (no anti-pinch trigger, no stall, no button interruption, complete stroke) is used as a learning sample to update the current baseline of the corresponding segment and corresponding condition. As an example, the current baseline is fixed during the anti-pinch control process, which can be obtained through self-learning before the vehicle leaves the factory, or through other methods known to those skilled in the art.

[0108] Sample the position and current, and calculate A_N to obtain the current current data corresponding to the current travel position.

[0109] The system collects real-time data on the window motor operating current (current current data), vehicle power supply voltage (current power supply voltage), ambient temperature (current temperature), and window travel position (current travel position) to differentiate between different operating conditions and utilize the relevant data in real-time within related algorithms. Different operating conditions refer to the trend characteristics of the operating current under three temperatures (high temperature, low temperature, and normal temperature) and three pressures (high voltage, low voltage, and normal voltage).

[0110] ΔA is calculated using A_N-1 and A_N-2, and the adaptive compensation value X is obtained through gear matching, specifically as follows: Based on valid normal operating condition samples, adaptive threshold X compensation is performed at different levels (range of current change) according to the previously learned operating current and the operating current before that. Reasonable adaptive levels are set according to different operating conditions to update the segmented current baseline in real time. Simultaneously, online adaptive learning and updating of the baseline are performed, and invalid samples are removed. Invalid samples include operating condition samples where current fluctuation exceeds the sudden change threshold, stroke is incomplete, anti-pinch triggering occurs, or the rotor is stalled. Operating current exhibits a positive correlation under different voltages, and as the core formula previously mentioned, current changes with voltage. Therefore, the operating current ΔA under three voltage conditions also needs to be set separately. For example, the setting can be configured for -30℃ (low temperature), 25℃ (normal temperature), and 80℃ (high temperature). -30℃ and 80℃ are the two most severe environments; if a product performs well under these two conditions, it's generally understood that it will also have issues at other temperatures.

[0111] The total threshold can be calculated by referring to formula (4).

[0112] The system extracts real-time operating current information (real-time current, current data) and compares it with a total threshold in real time. If the current data is greater than the sum of the current baseline and the total threshold, i.e., the real-time current is greater than the sum of the current baseline and the total threshold, it is determined to be an anti-pinch event. After an anti-pinch event is determined, the window motor is controlled to stop running and reverse a preset distance. If no anti-pinch event is determined, the window continues to operate normally, and the current baseline is continuously updated. At this time, when the window moves to the next preset travel position range, a switching phase is performed, and the above sampling to switching phase steps are repeated until the end.

[0113] The total threshold is equal to the sum of the baseline threshold and the adaptive threshold. For example, if the current real-time current value is 5000, the current baseline is 4000, the baseline threshold is 500, and the adaptive threshold is 400, then since 4000 + 500 + 400 = 4900, and 5000 is greater than 4900, the anti-pinch test will be triggered.

[0114] The anti-pinch control method provided in the above embodiments also has the following beneficial effects: The accuracy of anti-pinch protection is significantly improved, reducing false triggers and missed detections. The dynamic baseline (generated based on the current anti-pinch current threshold corresponding to different preset travel position intervals) is adaptively updated, adapting in real time to battery voltage fluctuations, high and low temperature environments, guide rail / seal aging, and sediment accumulation. This largely avoids false triggers (such as false stops during high-speed window lifting or low-temperature window lifting) or missed detections (such as excessive anti-pinch force after aging) caused by changes in operating conditions due to a fixed baseline. Multi-feature fusion recognition can accurately distinguish between "obstacle clamping" and "normal mechanical resistance fluctuations (bumps, wind resistance, sediment)," reducing the false trigger rate by over 90% and largely avoiding missed detections of flexible / rigid obstacles, thus improving anti-pinch reliability. For example, the rate of change of current can be used to distinguish between obstacle clamping and normal mechanical resistance fluctuations (bumps, wind resistance, sediment). In the case of obstacle clamping, the rate of change of current is more significant and larger than in normal mechanical resistance fluctuations, while normal mechanical resistance fluctuations are due to various reasons, and the current gradually increases, but this increase is very weak and gradual. Moreover, it's a holistic phenomenon; the overall trend will experience fluctuations in resistance. These two situations can be distinguished by observing changes in the current trend.

[0115] As an example, if the current current data is greater than or equal to the current anti-pinch current threshold, the change of the current current data during the process can be statistically analyzed, such as calculating the rate of change of current during the movement of the target object, and then determining the anti-pinch type (obstacle clamping or normal mechanical resistance fluctuation) by the rate of change of current.

[0116] Full lifecycle adaptation reduces maintenance costs and failure risks. The online adaptive learning mechanism tracks the aging and degradation of the motor and mechanical structure, automatically updating the baseline and anti-pinch parameters. The anti-pinch performance of new vehicles remains consistent with that of vehicles used for 3-5 years, eliminating the need for manual recalibration. Intelligent rejection of invalid samples and extreme condition locking protection largely prevent baseline contamination, ensuring long-term stability of the anti-pinch function and reducing the frequency and cost of maintenance for the window anti-pinch system.

[0117] Multi-condition adaptation enhances user experience and vehicle compatibility. Multi-condition linkage compensation (power supply, environment) adapts to various scenarios including rain and snow (different humidity levels), high and low temperatures, high-power load startup (different power supply voltages), high voltage, and low voltage, effectively preventing anti-pinch malfunctions under different conditions and improving user experience. It can be extended to anti-pinch control of other electric components such as sunroofs, power tailgates, and power seats, offering strong versatility, reducing R&D costs, and adapting to multiple vehicle models.

[0118] The method described above is based on current-driven adaptive anti-pinch technology, replacing the traditional "fixed and rigid" approach with "dynamic intelligence." It upgrades from simply "comparing current" to "recognizing resistance, classifying scenarios, and self-evolving." The entire travel is segmented into many segments, moving away from a one-size-fits-all approach. The acceleration segment protects against high-current surges, the constant-speed segment accurately captures changes in resistance, and the stopping segment distinguishes between hard stops and obstacles. Through online self-learning, the system records a current curve as a new sample each time the system is used normally (without obstruction), automatically fine-tuning the baseline as the motor ages and the guide rail wears.

[0119] In one embodiment, an anti-pinch control device is provided, which is used to execute the anti-pinch control method provided in any of the above embodiments. Please refer to [link to previous document]. Figure 8 , Figure 8 A schematic diagram of the anti-pinch control device provided in one embodiment of this application is shown below. Figure 8 As shown, the anti-pinch control device 800 includes: an acquisition module 810, used to acquire the current travel position and current current data during the movement of the target object; a threshold determination module 820, used to match the current travel position with a preset travel position interval in the current anti-pinch data to obtain a successfully matched preset travel position interval, wherein the complete movement of the target object includes at least two preset travel position intervals; and to query the current anti-pinch data based on the successfully matched preset travel position intervals to obtain the current anti-pinch current threshold, wherein the current anti-pinch data includes the current anti-pinch current threshold corresponding to the target object in different preset travel position intervals, wherein at least two preset travel position intervals correspond to different current anti-pinch current thresholds; and a strategy determination module 830, used to determine the anti-pinch control strategy based on the comparison result between the current current data and the current anti-pinch current threshold.

[0120] Specific limitations regarding the anti-pinch control device can be found in the limitations of the anti-pinch control method described above, and will not be repeated here. Each module in the aforementioned anti-pinch control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the electronic device in hardware form or independently of it, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0121] In this embodiment, the anti-pinch control device is essentially equipped with multiple modules to execute the anti-pinch control method in any of the above embodiments. The specific functions and technical effects can be referred to the above embodiments, and will not be repeated here.

[0122] In one embodiment, a vehicle is provided, the vehicle including a target object, a data acquisition device, and an anti-pinch controller. The data acquisition device is used to acquire the current travel position and current current data of the target object during movement, and the anti-pinch controller is used to perform the method as described in any of the above embodiments.

[0123] For more detailed information about the anti-pinch controller and the vehicle, please refer to the previous section on anti-pinch control methods; it will not be repeated here.

[0124] Referring to Figure 9, which is a schematic diagram of an electronic device provided in an embodiment of this application, as shown in Figure 9, this application embodiment also provides an electronic device 900, including a processor 901, a memory 902 and a communication bus 903; the communication bus 903 is used to connect the processor 901 and the memory 902; the processor 901 is used to execute a computer program stored in the memory 902 to implement the method mentioned in any of the above embodiments.

[0125] As an example, the electronic device could be a vehicle or similar device.

[0126] This application also provides a computer-readable storage medium having a computer program stored thereon, the computer program being used to cause a computer to perform the method provided in any of the above embodiments.

[0127] This application also provides a non-volatile readable storage medium storing one or more modules (programs) that, when applied to a device, enable the device to execute the instructions included in the steps provided in this application.

[0128] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0129] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0130] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0131] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0132] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0133] It should be understood that the terms "first," "second," etc., used in this application are used to distinguish similar objects and do not necessarily indicate a specific order or sequence. The technical features to which these terms are used can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the figures or text.

[0134] It should be understood that although the flowcharts provided in the embodiments of this application indicate the various steps with arrows, the order indicated by the arrows does not necessarily limit the implementation order of these steps. Those skilled in the art can perform these steps in other orders according to different implementation scenarios and requirements.

[0135] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for preventing pinching, characterized in that, The method includes: During the movement of the target object, acquire the current travel position and current current data; The current travel position is matched with the preset travel position interval in the current anti-pinch data to obtain the successfully matched preset travel position interval. The complete movement of the target object includes at least two preset travel position intervals. Based on the successfully matched preset travel position interval, the current anti-pinch current threshold is obtained by querying the current anti-pinch data. The current anti-pinch data includes the current anti-pinch current threshold corresponding to the target object in different preset travel position intervals, and at least two preset travel position intervals correspond to different current anti-pinch current thresholds. The anti-pinch control strategy is determined based on the comparison between the current current data and the current anti-pinch current threshold.

2. The anti-pinch control method as described in claim 1, characterized in that, The method further includes at least one of the following: If the comparison result is that the current current data is greater than or equal to the current anti-pinch current threshold, the anti-pinch control strategy includes controlling the control motor of the target object to stop running and reverse; If the comparison result indicates that the current current data is less than the current anti-pinch current threshold, the anti-pinch control strategy includes controlling the target object to continue moving via the control motor.

3. The anti-pinch control method as described in claim 1, characterized in that, If the comparison result indicates that the current current data is less than the current anti-pinch current threshold, and the target object has completed the movement of the target stroke, the anti-pinch control strategy includes: Acquire multiple target object currents during the target travel process and generate first self-learning sample data; Acquire second self-learning sample data and a preset baseline threshold. The second self-learning sample data is generated based on the current of multiple target objects corresponding to the previous movement of the target object to complete the target journey. The adaptive compensation value is updated based on the first self-learning sample data and the second self-learning sample data; A new current anti-pinch current threshold is determined based on the preset baseline threshold and the updated adaptive compensation value; The current anti-pinch current threshold in the current anti-pinch data is replaced with the new current anti-pinch current threshold. If the target object moves the target stroke again, a new anti-pinch control strategy is determined by comparing the replaced current anti-pinch current threshold with the new current current data.

4. The anti-pinch control method as described in claim 3, characterized in that, The adaptive compensation value is updated based on the first self-learning sample data and the second self-learning sample data, including: Multiple current changes are determined based on the first self-learning sample data and the second self-learning sample data; All current changes are sorted, and the target current change is determined based on the sorted current changes. Obtain current operating condition data; Determine the preset compensation value based on the current operating condition data and the target current change; The preset compensation value is determined as the current adaptive compensation value.

5. The anti-pinch control method as described in claim 4, characterized in that, The method further includes: Determining the target current change based on the sorted current changes includes: determining the current change corresponding to a preset quantile value among the sorted current changes as the target current change, wherein the preset quantile value is less than 1 and the preset quantile value is greater than a preset fraction threshold. Determining a preset compensation value based on the current operating condition data and the target current change includes: determining a target adaptive gear table from multiple preset adaptive gear tables based on the current operating condition data; determining a target current change range based on the target current change; and determining the initial compensation value corresponding to the target current change range as the preset compensation value. Each preset adaptive gear table corresponds to a specific operating condition data range, and the preset adaptive gear table includes initial compensation values ​​corresponding to different current change ranges.

6. The anti-pinch control method according to any one of claims 1-5, characterized in that, The method further includes: The method for determining the current anti-pinch data based on the current travel position includes: obtaining the current working condition data; matching the current working condition data with multiple preset working condition data to obtain successfully matched preset working condition data; and determining the preset anti-pinch data corresponding to the successfully matched preset working condition data as the current anti-pinch data, wherein each preset working condition data has a corresponding preset anti-pinch data pre-set. The target objects include vehicle windows, sunroofs, power tailgates, or power seats; Current operating data includes at least one of the following: current temperature, current power supply voltage, current weather data, current vehicle speed, and current power load.

7. The anti-pinch control method according to any one of claims 1-5, characterized in that, The methods for determining the preset travel position range include: The complete movement of the target object is divided into at least two sampling strokes, and multiple initial current samples of the target object are obtained during the movement of each sampling stroke. The initial current of multiple samples corresponding to a sampling stroke is filtered to obtain the average current of the samples, and then the average current of the samples corresponding to each sampling stroke is obtained. The target object is controlled to repeat the movement N times to complete the entire movement stroke, thereby obtaining the average current of multiple samples corresponding to each sampling stroke, where N is greater than or equal to 1; The average current fluctuation corresponding to a sampling stroke is determined based on the average current of multiple samples corresponding to a sampling stroke, and then the average current fluctuation corresponding to each sampling stroke is obtained. If the average current fluctuation corresponding to all sampling strokes is less than or equal to the preset fluctuation threshold, the preset stroke position range is determined according to the sampling stroke. If the average current fluctuation corresponding to at least one sampling trip is greater than the preset fluctuation threshold, the step of dividing the complete movement trip of the target object into at least two sampling trips is re-executed to determine the average current fluctuation corresponding to the sampling trip based on the average current of multiple samples corresponding to the sampling trip, and then obtaining the average current fluctuation corresponding to each sampling trip, until the average current fluctuation corresponding to all sampling trips is less than or equal to the preset fluctuation threshold.

8. A vehicle, characterized in that, The vehicle includes a target object, a data acquisition device, and an anti-pinch controller. The data acquisition device is used to acquire the current travel position and current current data of the target object during its movement. The anti-pinch controller is used to execute the method as described in any one of claims 1 to 7.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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