A vehicle window obstacle detection method, system, electronic device and storage medium

Abstract

The application provides a vehicle window obstacle detection method and system, electronic equipment and a storage medium. The method comprises the following steps: collecting an armature current of a vehicle window motor and calculating a current change rate, and collecting a motion feature of the vehicle window motor; determining whether the vehicle window motor enters a loading stage according to the current change rate and the motion feature; and if the vehicle window motor enters the loading stage, performing a vehicle window obstacle detection strategy according to the armature current. In the scheme, the starting process of the vehicle window motor is divided into multiple stages including the loading stage, and whether the vehicle window motor enters the loading stage is determined according to the current change rate and the motion feature. If the vehicle window motor enters the loading stage, the vehicle window obstacle detection strategy is performed according to the armature current, and in this way, the vehicle window obstacle detection is adaptively intervened, the influence of different vehicle window structures on the starting process time is effectively filtered, and the vehicle window obstacle detection effect is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and specifically to a method, system, electronic device, and storage medium for detecting obstacles in vehicle windows. Background Technology

[0002] With the improvement of automotive intelligence and safety standards, window obstacle detection technology has almost become a standard feature in vehicles.

[0003] Current vehicle window obstacle detection technology mainly relies on the current characteristics of the window during its smooth operation to detect the presence of obstacles. However, different environments and window structures cause inconsistent resistance or uncertainties in the starting time and current encountered by the window when it starts at different positions. This results in significant differences in the starting process of windows on different vehicles (and even different windows on the same vehicle), causing window obstacle detection to fail and resulting in poor detection performance. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method, system, electronic device, and storage medium for detecting obstacles in vehicle windows, so as to improve the detection effect of obstacles in vehicle windows.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] The first aspect of this invention discloses a method for detecting obstacles in a vehicle window, the method comprising:

[0007] The armature current of the window motor is collected and the rate of change of current is calculated, and the motion characteristics of the window motor are also collected.

[0008] Based on the current change rate and the motion characteristics, determine whether the window motor has entered the loading stage; the loading stage is the stage in which the armature current begins to rise, the motor speed decreases, and the window begins to move;

[0009] If the window motor enters the loading stage, the window obstacle detection strategy is executed according to the armature current.

[0010] Preferably, the start-up process of the window motor is divided into at least a charging stage, an unloaded stage, a loading stage, and a stable operation stage; the motion characteristics include at least the motor speed;

[0011] The charging stage is defined as the stage where the motor speed is 0 and the armature current increases.

[0012] The no-load stage is the stage in which the motor speed appears and increases, the armature current decreases, and the window speed is 0, so as to eliminate the empty travel of the lifter;

[0013] The stable operation phase is the phase in which the current change rate decreases to a preset range and the motor speed increases to the target speed.

[0014] Preferably, determining whether the window motor has entered the loading stage based on the current change rate and the motion characteristics includes:

[0015] When the current change rate indicates that the armature current is rising and the motor speed is 0, it is determined that the window motor has entered the charging stage.

[0016] After entering the charging stage, when the current change rate indicates that the armature current decreases and the motor speed increases, it is determined that the window motor has entered the no-load stage;

[0017] After entering the no-load stage, when the current change rate indicates that the armature current increases and the motor speed decreases, it is determined that the window motor has entered the loading stage.

[0018] Preferably, if the window motor enters the loading stage, a window obstacle detection strategy is executed based on the armature current, including:

[0019] If the window motor enters the loading stage, compare the armature current with the current threshold.

[0020] When the armature current is greater than or equal to the current threshold, an alarm message is output and the window is controlled to descend.

[0021] Preferably, before comparing the armature current and the current threshold, the method further includes:

[0022] The current threshold is updated based on the current change rate.

[0023] A second aspect of this invention discloses a vehicle window obstacle detection system, the system comprising:

[0024] The acquisition unit is used to acquire the armature current of the window motor and calculate the rate of change of the current, as well as to acquire the motion characteristics of the window motor.

[0025] The determining unit is used to determine whether the window motor has entered the loading stage according to the current change rate and the motion characteristics; the loading stage is the stage in which the armature current begins to rise, the motor speed decreases, and the window begins to move;

[0026] An execution unit is configured to execute a window obstacle detection strategy based on the armature current if the window motor enters the loading phase.

[0027] Preferably, the start-up process of the window motor is divided into at least a charging stage, an unloaded stage, a loading stage, and a stable operation stage; the motion characteristics include at least the motor speed;

[0028] The charging stage is defined as the stage where the motor speed is 0 and the armature current increases.

[0029] The no-load stage is the stage in which the motor speed appears and increases, the armature current decreases, and the window speed is 0, so as to eliminate the empty travel of the lifter;

[0030] The stable operation phase is the phase in which the current change rate decreases to a preset range and the motor speed increases to the target speed.

[0031] Preferably, the determining unit includes:

[0032] The first determining module is used to determine that the window motor has entered the charging stage when the current change rate indicates that the armature current is rising and the motor speed is 0.

[0033] The second determining module is used to determine that the window motor has entered the no-load stage after entering the charging stage, when the current change rate indicates that the armature current decreases and the motor speed increases.

[0034] The third determining module is used to determine that the window motor has entered the loading stage after entering the no-load stage, when the current change rate indicates that the armature current is rising and the motor speed is decreasing.

[0035] A third aspect of the present invention discloses an electronic device, comprising: a processor and a memory, the processor and the memory being connected via a bus; wherein, the processor is used to call and execute a program stored in the memory; the memory is used to store the program, the program being used to implement the vehicle window obstacle detection method disclosed in the first aspect of the present invention.

[0036] A fourth aspect of the present invention discloses a storage medium storing computer-executable instructions for executing the vehicle window obstacle detection method disclosed in the first aspect of the present invention.

[0037] Based on the above embodiments of the present invention, a method, system, electronic device, and storage medium for detecting vehicle window obstacles are provided. The method involves: acquiring the armature current of a vehicle window motor and calculating its rate of change, as well as acquiring the motion characteristics of the vehicle window motor; determining whether the vehicle window motor has entered the loading stage based on the rate of change and motion characteristics; and if the vehicle window motor has entered the loading stage, executing a vehicle window obstacle detection strategy based on the armature current. In this solution, the starting process of the vehicle window motor is divided into multiple stages, including a loading stage, and the entry of the vehicle window motor into the loading stage is determined by the rate of change and motion characteristics. If the vehicle window motor has entered the loading stage, a vehicle window obstacle detection strategy is executed based on the armature current. This adaptive intervention in vehicle window obstacle detection effectively filters out the influence of different window structures on the starting process time, improving the vehicle window obstacle detection effect. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0039] Figure 1 This is an example diagram of the zero-distance start-up condition provided in an embodiment of the present invention;

[0040] Figure 2 An example diagram illustrating the current characteristics of the start-up process of a car window motor provided in an embodiment of the present invention;

[0041] Figure 3 Another example diagram illustrating the current characteristics of the start-up process of the car window motor provided in this embodiment of the invention;

[0042] Figure 4 An example diagram illustrating the motor speed characteristics during the start-up process of a car window motor, provided in an embodiment of the present invention;

[0043] Figure 5 A flowchart of a method for detecting obstacles in a vehicle window provided in an embodiment of the present invention;

[0044] Figure 6 Another flowchart of a vehicle window obstacle detection method provided in an embodiment of the present invention;

[0045] Figure 7 This is a structural block diagram of a vehicle window obstacle detection system provided in an embodiment of the present invention. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0048] With the improvement of automotive intelligence and safety standards, window obstacle detection technology has almost become a standard feature in vehicles. This technology combines sensors and intelligent algorithms to acquire the current signal during the window's upward movement, further processes the current to obtain window movement status information, and then uses this information to derive detection system parameters. Ultimately, based on these parameters, the window can detect obstacles in real time during its upward movement, allowing it to stop or reverse its movement.

[0049] like Figure 1 As shown in the example diagram of the zero-distance start-up condition, this condition refers to the window raising operation when the upper edge of the window is close to the lower edge of the obstacle. Current window obstacle detection technology mainly detects the presence of obstacles based on the current characteristics during the smooth operation of the window. However, its robustness in detecting zero-distance start-up conditions is poor. Due to factors such as different environments and window structures, the resistance encountered by the window when starting at different positions is inconsistent, or the starting time and starting current are uncertain. This leads to significant differences in the starting process of windows in different vehicles (and even different windows in the same vehicle). These differences cause window obstacle detection to fail, resulting in poor detection performance.

[0050] Research has found that when zero-distance start-up occurs, the window motor is still in the starting process. At this time, the armature current of the window motor is characterized by instability, large fluctuations, and uncertain fluctuation duration.

[0051] To address this, this invention proposes a method, system, electronic device, and storage medium for detecting obstacles in vehicle windows. The window motor startup process is divided into multiple stages, including a loading phase. The current change rate and motion characteristics are used to determine whether the window motor has entered the loading phase. If the window motor enters the loading phase, a window obstacle detection strategy is executed based on the armature current. This adaptive intervention in window obstacle detection effectively filters out the influence of different window structures on the startup time, improving the window obstacle detection performance.

[0052] From an overall perspective, this solution segments the current characteristics of the window motor during the startup process, thereby dividing the startup process of the window motor into at least the charging stage, the no-load stage, the loading stage, and the stable operation stage. By processing the current characteristics of different stages, it is determined whether there is abnormal current and whether obstacle detection is triggered.

[0053] Let's first explain in detail the theoretical basis for implementing this solution.

[0054] It should be noted that the armature current is the current in the winding coil of the window motor; that is, the armature current can be understood as the current flowing through the window motor. Due to the free travel of the window regulator, the free travel of the window regulator needs to be eliminated during the startup process before the window motor starts to move the window. This solution is implemented after the window starts to move, so determining when the window starts to move is the key point.

[0055] The main difference between the start of window movement and the elimination of free travel lies in the different loads on the window motor. The characteristics reflecting the load and movement of the window motor are the armature current and motor speed of the window motor. The characteristics reflecting the changes in the load and movement of the window motor are the rate of change of current and the motor angular acceleration.

[0056] The components of the terminal voltage of the car window motor are shown in formula (1).

[0057] (1);

[0058] In formula (1), U is the applied armature voltage, E is the induced electromotive force (back electromotive force), and I is the induced electromotive force (back electromotive force). a R is the armature current. a This is the internal resistance of the armature circuit.

[0059] It should be noted that the armature winding is the copper wire winding part in the window motor, and the component conductor (which can be understood as a single conductor) is the smallest component of the armature winding.

[0060] Assuming the total number of conductors in the armature winding is N, and there are 2a parallel branches, then the total number of conductors in series in each branch is N / 2a, and the current i flowing through the conductors of the element is... a(Or, the branch current flowing through the conductor of the component) can be determined by formula (2).

[0061] (2).

[0062] The torque formula is shown in formula (3), the Ampere force formula is shown in formula (4), and the magnetic induction intensity formula is shown in formula (5).

[0063] (3);

[0064] (4);

[0065] (5);

[0066] In formulas (3) to (5), T is the torque, F is the Ampere force, and B is the magnetic flux density. For the conductor length, R is the magnetic field (magnetic flux), and R is the armature radius (or coil radius). This represents the polar distance.

[0067] Polar distance The relationship between the armature radius R and the magnetic pole pair is shown in formula (6), where p is the number of magnetic pole pairs.

[0068] (6).

[0069] From equations (3) to (5), the electromagnetic torque T on a single conductor can be obtained by combining the equations. em Electromagnetic torque T em The calculation method is shown in formula (7).

[0070] (7).

[0071] The electromagnetic torque T of the armature winding can be further obtained from formulas (2), (6) and (7). e The calculation formula for electromagnetic torque T e The calculation formula is shown in formula (8).

[0072] (8);

[0073] In formula (8), The torque constant C T , The 'a' in this context has the same meaning as the 'a' in the aforementioned "2a parallel branches".

[0074] The armature electromotive force e generated by a single conductor is calculated as shown in formula (9).

[0075] (9);

[0076] In formula (9), v is the linear velocity of the conductor cutting the magnetic field, which can be calculated by formula (10).

[0077] (10);

[0078] In formula (10), n is the motor speed (r / min).

[0079] By combining formulas (5), (9) and (10), we can obtain the formula for calculating the armature electromotive force E, which is shown in formula (11).

[0080] (11);

[0081] In formula (11), The electromotive force coefficient C e .

[0082] The torque balance equation is shown in formula (12).

[0083] (12);

[0084] In formula (12), T0 is the loss torque caused by the window motor itself, T1 is the motor load torque, and J is the motor moment of inertia. This is the angular acceleration of the motor.

[0085] By combining equations (1), (8), (11), and (12), the motor speed n and the motor angular acceleration can be obtained. The relationship between motor speed n and motor angular acceleration The relationship between them is shown in formula (13).

[0086] (13).

[0087] The above is an explanation of the theoretical basis for implementing this solution.

[0088] Based on the motion characteristics and current change rate of the window motor, this solution divides the starting process of the window motor into a charging stage, an unloaded stage, a loading stage, and a stable operation stage. The motion characteristics include at least the motor speed.

[0089] It should be noted that "preset range" refers to the range where the rate of change of current is close to zero, that is, the range where the change of armature current tends to be gradual and without significant fluctuations; "target speed" refers to the motor speed when the window motor is normally dragging the window upward at a constant speed. The specific values ​​of the above-mentioned preset range and target speed can be determined by those skilled in the art through conventional calibration methods based on the actual motor parameters and window system characteristics used, and the embodiments of the present invention do not impose specific limitations on this.

[0090] "Equilibrium state" refers to the dynamic balance between the motor output torque and the load torque. In this solution, "the window motor reaches equilibrium state" means that the current change rate decreases to the preset range and the motor speed increases to the target speed.

[0091] The above explains the distinctions between the charging phase, no-load phase, loading phase, and stable operation phase.

[0092] Based on the above-mentioned "Theoretical Basis for Implementing this Scheme" and "Distinction between the Charging Phase, No-Load Phase, Loading Phase, and Stable Operation Phase," see [link to relevant documentation]. Figure 5 The flowchart illustrates a method for detecting obstacles in a vehicle window according to an embodiment of the present invention. Figure 5 Includes the following steps:

[0093] Step S501: Collect the armature current of the window motor and calculate the rate of change of current, and collect the motion characteristics of the window motor.

[0094] In the specific implementation step S501, after obtaining the start command of the window motor, the armature current of the window motor is collected and the current change rate is calculated accordingly, as well as the motion characteristics of the window motor are collected. Among them, the motion characteristics of the window motor include at least the motor speed and the motor angular acceleration.

[0095] Step S502: Determine whether the window motor has entered the loading stage based on the current change rate and motion characteristics.

[0096] It should be noted that the starting process of the car window motor can be divided into at least the charging stage, the no-load stage, the loading stage, and the stable operation stage. For the distinction between the charging stage, the no-load stage, the loading stage, and the stable operation stage, please refer to the relevant description above, "Distinction between the charging stage, the no-load stage, the loading stage, and the stable operation stage", which will not be repeated here.

[0097] In the specific implementation of step S502, when the current change rate indicates that the armature current is rising and the motor speed is 0, it is determined that the window motor has entered the charging stage.

[0098] After entering the charging stage, when the current change rate indicates that the armature current decreases and the motor speed increases, it is determined that the window motor has entered the no-load stage.

[0099] After entering the no-load stage, when the current change rate indicates that the armature current increases and the motor speed decreases, it is determined that the window motor has entered the loading stage.

[0100] Step S503: If the window motor enters the loading stage, execute the window obstacle detection strategy according to the armature current.

[0101] In the specific implementation of step S503, if it is determined that the window motor has entered the loading stage (manifested as the window starts to move), the window obstacle detection strategy is executed according to the armature current.

[0102] In some embodiments, the specific implementation of the window obstacle detection strategy is as follows: if the window motor enters the loading stage, the armature current and the current threshold are compared; when the armature current is greater than or equal to the current threshold, an alarm message is output and the window is controlled to descend (i.e., an anti-pinch reverse operation is performed), wherein the alarm message indicates the presence of a window obstacle.

[0103] In practical applications, if the armature current is greater than or equal to the current threshold, an alarm message and an anti-pinch reversal flag are output. The anti-pinch reversal flag is used to perform anti-pinch reversal operation.

[0104] It should be noted that the initial value of the current threshold used above can be set as follows: after the window motor starts normally and enters the stable operation stage, record the steady-state value of the armature current, and use this steady-state value to set the initial value of the current threshold.

[0105] For example, the initial value of the current threshold is obtained by adding a preset bias value to the steady-state value of the armature current.

[0106] To adaptively track the load characteristics during the loading process, the current threshold can be dynamically updated.

[0107] In some embodiments, the current threshold is updated based on the rate of change of current before comparing the armature current and the current threshold.

[0108] Specifically, the updated current threshold is determined by formula (14).

[0109] I thr_new =I thr_old +kΔI(14)

[0110] It should be noted that I thr_new For the updated current threshold, I thr_old ΔI is the current threshold used in the previous window obstacle detection, k is the weighting coefficient selected based on the current change rate, and ΔI is the current change rate between two adjacent times.

[0111] The system compares the currently collected armature current with the "updated current threshold". If the armature current is greater than or equal to the "updated current threshold", an alarm message is output and the window is controlled to descend. Conversely, if the armature current is less than the "updated current threshold" and the current change rate is stable within a small range (the change in armature current tends to be gradual), the window motor is determined to have entered a stable operating phase (i.e., the window motor is operating stably).

[0112] In this embodiment of the invention, the start-up process of the window motor is divided into multiple stages, including a loading stage. Whether the window motor has entered the loading stage is determined by the rate of change of current and motion characteristics. If the window motor enters the loading stage, a window obstacle detection strategy is executed based on the armature current. This adaptive intervention in window obstacle detection effectively filters out the influence of different window structures on the start-up time, improving the window obstacle detection effect.

[0113] To better understand the window obstacle detection method in this solution, through Figure 6 The diagram illustrates another flowchart of a vehicle window obstacle detection method, providing an example of this solution from a practical application perspective. Figure 6 Includes the following steps:

[0114] Step S601: Start the window motor.

[0115] Step S602: The window motor enters the charging stage.

[0116] Step S603: Determine whether a peak value of the armature current is detected. If a peak value is detected, proceed to step S604; if no peak value is detected, continue to step S603.

[0117] Step S604: The window motor enters the no-load stage.

[0118] Step S605: Determine whether a valley value of the armature current is detected. If a valley value is detected, proceed to step S606; if no valley value is detected, continue to proceed to step S605.

[0119] Step S606: The window motor enters the loading stage.

[0120] Step S607: Update the current threshold.

[0121] Step S608: Determine whether the armature current is greater than or equal to the current threshold. If the armature current is greater than or equal to the current threshold, proceed to step S609; if the armature current is less than the current threshold, proceed to step S610.

[0122] Step S609: Output alarm information and perform anti-pinch reverse operation.

[0123] Step S610: Determine whether the change in armature current tends to stabilize. If yes, proceed to step S611; otherwise, return to step S608.

[0124] Step S611: The window motor enters the stable operation stage.

[0125] It should be noted that, Figure 6 The execution principle of each step has been explained in detail in the above embodiments, which can be found therein, and will not be repeated here.

[0126] As can be seen from the above embodiments, this solution divides the start-up process of the window motor into a charging stage, an idle stage, a loading stage, and a stable operation stage. By determining the stage transition through the motion characteristics and current information of the window motor, it can adaptively determine the moment when the window starts to move and whether to connect to window obstacle detection. It effectively filters out the impact of different window structures and different life cycles on the start-up process time. At the same time, it dynamically adjusts the current threshold for detecting window obstacles to avoid false detection or missed detection caused by a single current threshold. It is suitable for vehicle door and window systems that require obstacle detection in zero-distance start-up conditions and has good practicality.

[0127] Corresponding to the window obstacle detection method provided in the above embodiments of the present invention, see also... Figure 7 The present invention also provides a structural block diagram of a vehicle window obstacle detection system, which includes: a data acquisition unit 701, a determination unit 702, and an execution unit 703.

[0128] The acquisition unit 701 is used to acquire the armature current of the window motor and calculate the rate of change of current, as well as to acquire the motion characteristics of the window motor.

[0129] The determining unit 702 is used to determine whether the window motor has entered the loading stage based on the current change rate and motion characteristics. The loading stage is the stage where the armature current begins to rise, the motor speed decreases, and the window begins to move.

[0130] The execution unit 703 is used to execute the window obstacle detection strategy according to the armature current if the window motor enters the loading stage.

[0131] Specifically, the execution unit 703 is used to: if the window motor enters the loading stage, compare the armature current with the current threshold; when the armature current is greater than or equal to the current threshold, output an alarm message and control the window to descend.

[0132] Preferably, before comparing the armature current and the current threshold, the execution unit 703 is further configured to update the current threshold according to the rate of change of current.

[0133] In some embodiments, the start-up process of the window motor is divided into at least a charging phase, an unloaded phase, a loading phase, and a stable operation phase; the motion characteristics include at least the motor speed.

[0134] The charging stage is the stage where the motor speed is 0 and the armature current rises.

[0135] The no-load stage is characterized by the emergence and increase of motor speed, decrease of armature current, and 0 window speed, in order to eliminate the empty travel of the lifter.

[0136] The stable operation phase is the phase in which the current change rate decreases to within the preset range and the motor speed increases to the target speed.

[0137] Preferably, the determining unit 702 includes a first determining module, a second determining module, and a third determining module, and the execution principle of each module is as follows:

[0138] The first determining module is used to determine that the window motor has entered the charging stage when the current change rate indicates that the armature current is rising and the motor speed is 0.

[0139] The second determining module is used to determine that the window motor has entered the no-load stage after entering the charging stage, when the current change rate indicates that the armature current decreases and the motor speed increases.

[0140] The third determining module is used to determine that the window motor has entered the loading stage after entering the no-load stage, when the current change rate indicates that the armature current increases and the motor speed decreases.

[0141] Preferably, the present invention also provides an electronic device, including: a processor and a memory, the processor and the memory being connected via a bus; wherein, the processor is used to call and execute a program stored in the memory; the memory is used to store the program, the program being used to implement the window obstacle detection method provided in the above method embodiments.

[0142] Preferably, the present invention also provides a storage medium storing computer-executable instructions for executing the window obstacle detection method provided in the above method embodiments.

[0143] In summary, this invention provides a method, system, electronic device, and storage medium for detecting obstacles in vehicle windows. The window motor startup process is divided into multiple stages, including a loading phase. The current change rate and motion characteristics are used to determine whether the window motor has entered the loading phase. If the window motor enters the loading phase, a window obstacle detection strategy is executed based on the armature current. This adaptive intervention in window obstacle detection effectively filters out the influence of different window structures on the startup time, improving the window obstacle detection effect.

[0144] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0145] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0146] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting obstacles in a vehicle window, characterized in that, The method includes: The armature current of the window motor is collected and the rate of change of current is calculated, and the motion characteristics of the window motor are also collected. Based on the current change rate and the motion characteristics, determine whether the window motor has entered the loading stage; the loading stage is the stage in which the armature current begins to rise, the motor speed decreases, and the window begins to move; If the window motor enters the loading stage, the window obstacle detection strategy is executed according to the armature current.

2. The method according to claim 1, characterized in that, The starting process of the window motor is divided into at least a charging stage, an unloaded stage, a loading stage, and a stable operation stage; the motion characteristics include at least the motor speed; The charging stage is defined as the stage where the motor speed is 0 and the armature current increases. The no-load stage is the stage in which the motor speed appears and increases, the armature current decreases, and the window speed is 0, so as to eliminate the empty travel of the lifter; The stable operation phase is the phase in which the current change rate decreases to a preset range and the motor speed increases to the target speed.

3. The method according to claim 2, characterized in that, Determining whether the window motor has entered the loading stage based on the current change rate and the motion characteristics includes: When the current change rate indicates that the armature current is rising and the motor speed is 0, it is determined that the window motor has entered the charging stage. After entering the charging stage, when the current change rate indicates that the armature current decreases and the motor speed increases, it is determined that the window motor has entered the no-load stage; After entering the no-load stage, when the current change rate indicates that the armature current increases and the motor speed decreases, it is determined that the window motor has entered the loading stage.

4. The method according to claim 1, characterized in that, If the window motor enters the loading phase, a window obstacle detection strategy is executed based on the armature current, including: If the window motor enters the loading stage, compare the armature current with the current threshold. When the armature current is greater than or equal to the current threshold, an alarm message is output and the window is controlled to descend.

5. The method according to claim 4, characterized in that, Before comparing the armature current and the current threshold, the method further includes: The current threshold is updated based on the current change rate.

6. A vehicle window obstacle detection system, characterized in that, The system includes: The acquisition unit is used to acquire the armature current of the window motor and calculate the rate of change of the current, as well as to acquire the motion characteristics of the window motor. The determining unit is used to determine whether the window motor has entered the loading stage according to the current change rate and the motion characteristics; the loading stage is the stage in which the armature current begins to rise, the motor speed decreases, and the window begins to move; An execution unit is configured to execute a window obstacle detection strategy based on the armature current if the window motor enters the loading phase.

7. The system according to claim 6, characterized in that, The starting process of the window motor is divided into at least a charging stage, an unloaded stage, a loading stage, and a stable operation stage; the motion characteristics include at least the motor speed; The charging stage is defined as the stage where the motor speed is 0 and the armature current increases. The no-load stage is the stage in which the motor speed appears and increases, the armature current decreases, and the window speed is 0, so as to eliminate the empty travel of the lifter; The stable operation phase is the phase in which the current change rate decreases to a preset range and the motor speed increases to the target speed.

8. The system according to claim 7, characterized in that, The determining unit includes: The first determining module is used to determine that the window motor has entered the charging stage when the current change rate indicates that the armature current is rising and the motor speed is 0. The second determining module is used to determine that the window motor has entered the no-load stage after entering the charging stage, when the current change rate indicates that the armature current decreases and the motor speed increases. The third determining module is used to determine that the window motor has entered the loading stage after entering the no-load stage, when the current change rate indicates that the armature current is rising and the motor speed is decreasing.

9. An electronic device, characterized in that, include: A processor and a memory are connected via a bus; wherein the processor is used to call and execute a program stored in the memory; The memory is used to store a program for implementing the window obstacle detection method as described in any one of claims 1-5.

10. A storage medium, characterized in that, The storage medium stores computer-executable instructions for performing the window obstacle detection method as described in any one of claims 1-5.

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