Anti-pinch control method and system for a self-sucking door lock and vehicle

Abstract

This invention relates to the field of vehicle technology and discloses an anti-pinch control method, an anti-pinch control system, and a vehicle for a self-closing door lock. The anti-pinch control method for the self-closing door lock includes: when the door is detected to be closed to a half-lock position, controlling the drive motor to drive the door lock mechanism to perform a closing operation; during the closing process, detecting the real-time operating parameters of the drive motor and their changes; and determining whether anti-pinch control is triggered during the closing process based on the real-time operating parameters and / or their changes. This application achieves anti-pinch detection by monitoring the operating status of the drive motor inside the door lock mechanism. The drive motor is located inside the door, isolated from the external environment, which avoids aging and damage caused by long-term exposure and reduces the impact of the external environment on detection, thus improving the accuracy, stability, and long-term reliability of foreign object detection in the self-closing door lock.

Description

Technical Field

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

[0002] To enhance the driving experience, some vehicles are equipped with self-closing door locks. These locks automatically engage the locking mechanism when the door is pushed close to a preset position near the door frame, significantly reducing the force required to close the door and avoiding the noise and component damage caused by slamming the door.

[0003] In existing technology, to prevent injuries or damage to the door caused by hands, clothing, or other foreign objects trapped in the door gaps during the automatic locking process of a self-closing door lock, a sensor-activated barrier is typically installed along the door edge. This barrier can be a resistive or capacitive sensor, which detects the presence of foreign objects by monitoring changes in the barrier's resistance or capacitance in real time. When an abnormal signal is detected, the self-closing door lock stops operating to prevent injury.

[0004] However, the aforementioned baffles are prone to aging and damage when exposed to the external environment for a long time, which can lead to a decrease in sensor detection sensitivity or even complete failure, thus seriously affecting the accuracy and reliability of foreign object detection. Summary of the Invention

[0005] This invention provides an anti-pinch control method, an anti-pinch control system, and a vehicle for a self-closing door lock, to solve the problem in the prior art that when detecting foreign objects through a sensor bar for anti-pinch, the sensor bar is prone to aging and damage, affecting the accuracy and reliability of foreign object detection.

[0006] In a first aspect, the present invention provides an anti-pinch control method for a self-closing door lock, comprising: when it is detected that the door is closed to a half-lock position, controlling a drive motor to drive the door lock mechanism of the door to perform a closing operation, and during the closing process, detecting the real-time operating parameters of the drive motor and the changes in the real-time operating parameters; and determining whether anti-pinch control is triggered during the closing process based on the real-time operating parameters and / or the changes in the real-time operating parameters.

[0007] According to the aforementioned technical means, when a hand, clothing, or other foreign object exists between the door and the door frame, if the drive motor continues to drive the door lock mechanism to perform the closing operation, it will cause the door lock mechanism to experience additional resistance. This additional resistance is transmitted to the drive motor, causing abnormal changes in the real-time operating parameters of the drive motor, such as current and speed, or the rate of change of current and speed. Therefore, the presence of a foreign object and whether anti-pinch control is triggered can be determined based on the real-time operating parameters of the drive motor and their changes. Thus, compared to related technologies that use sensor strips for foreign object detection, this application achieves anti-pinch detection by monitoring the operating status of the drive motor inside the door lock mechanism. The drive motor is located inside the door, isolated from the external environment, which avoids aging and damage caused by long-term exposure and reduces the impact of the external environment on detection, thereby improving the accuracy, stability, and long-term reliability of foreign object detection in self-closing door locks.

[0008] In one optional implementation, before detecting the real-time operating parameters of the drive motor, the method further includes: during the engagement process, detecting whether the latch in the door lock mechanism reaches the engagement area; if the latch reaches the engagement area, continuously controlling the drive motor to drive the door lock mechanism to perform engagement until reaching the fully locked position; or, if the latch does not reach the engagement area, detecting the running time of the drive motor, and when the running time is greater than or equal to a preset time, performing the step of detecting the real-time operating parameters of the drive motor.

[0009] Therefore, the risk of foreign objects being trapped in the door between the latching zone and the fully locked position is low. Once the latch reaches the latching zone, there's no need to continue monitoring the motor's real-time operating parameters and their changes; the drive motor can directly drive it to the fully locked position, saving computational resources and improving the maintainability of the anti-pinch control system. Between the half-lock position and the latching zone, there is a risk of foreign objects being trapped in the door. Therefore, real-time monitoring of the drive motor's operating status is necessary. However, if the drive motor's running time is less than the preset time, its real-time operating parameters are not yet stable. For example, the drive motor may have a large starting current, easily leading to misjudgments. Therefore, it's necessary to wait until the drive motor's running time is greater than or equal to the preset time before monitoring the drive motor's real-time operating parameters and their changes to determine whether anti-pinch control is triggered during the latching process, thus improving the accuracy of anti-pinch control.

[0010] In one alternative implementation, the preset duration is dynamically adjusted based on ambient temperature and / or the vehicle's battery voltage.

[0011] Thus, in low-temperature environments, the time required for the drive motor to start and the transmission assembly to reach a stable state may be relatively longer, and the controller can appropriately extend the preset time. When the power supply voltage is low, the acceleration process of the drive motor may be slower, and the controller can also adjust the preset time according to the voltage situation. Through dynamic adjustment, the control adaptability under different environmental conditions can be improved.

[0012] In one optional implementation, the real-time operating parameters include motor speed and motor current, and the changes in the real-time operating parameters include the rate of change of the motor speed and the rate of change of the motor current.

[0013] Thus, by simultaneously acquiring motor speed, motor current, speed change rate, and current change rate, the presence of foreign objects can be determined from multiple dimensions, including motor motion state, load state, and parameter abrupt change trends. A decrease in motor speed reflects increased mechanical transmission resistance, while an increase in motor current reflects increased torque demand to overcome resistance. The speed change rate and current change rate reflect whether the resistance increases rapidly in a short period. Combining multiple parameters enhances the ability to identify different abnormalities such as human hands, clothing, flexible foreign objects, hard foreign objects, and jammed door lock mechanisms, reducing the risk of misjudgment or missed detection due to relying on a single parameter, and further improving the control accuracy of the anti-pinch control system.

[0014] In one optional implementation, determining whether to trigger anti-pinch control during the engagement process based on the real-time operating parameters and / or the changes in the real-time operating parameters includes: if the motor speed is less than a preset speed threshold and / or the speed change rate is greater than or equal to a first change rate threshold, then determining that anti-pinch control is triggered during the engagement process; and / or, if the motor current is greater than or equal to a preset current threshold and / or the current change rate is greater than or equal to a second change rate threshold, then determining that anti-pinch control is triggered during the engagement process; if the motor speed is greater than or equal to the preset speed threshold, the speed change rate is less than the first change rate threshold, the motor current is less than the preset current threshold, and the current change rate is less than the second change rate threshold, then determining that anti-pinch control is not triggered during the engagement process.

[0015] Thus, a preset speed threshold can be used to determine if the motor is in an abnormally low-speed state; a preset current threshold can be used to determine if the motor is in an abnormally high-load state; a first rate of change threshold can be used to determine if the motor speed has decreased too quickly; and a second rate of change threshold can be used to determine if the motor current has increased too quickly. Setting speed thresholds, speed rate of change thresholds, current thresholds, and current rate of change thresholds, and determining whether to trigger anti-pinch control based on each threshold, allows for targeted identification of both continuous and sudden abnormal resistance. When the motor speed is below the preset speed threshold or the motor current is above the preset current threshold, a relatively continuous obstruction state can be identified; when the speed rate of change or current rate of change reaches the threshold, a sudden change in resistance can be identified before the drive motor has fully slowed down or experienced overcurrent. This helps to shorten the anti-pinch response time, reduce the time that foreign objects are continuously squeezed, and improve the timeliness of anti-pinch protection.

[0016] In one optional implementation, determining whether the motor speed is greater than or equal to a preset speed threshold and the motor current is greater than or equal to a preset current threshold includes: acquiring multiple consecutive sets of motor speeds and motor currents; if each set of motor speeds is greater than or equal to the preset speed threshold, then the condition that the motor speed is greater than or equal to the preset speed threshold is determined to be true; if each set of motor currents is greater than or equal to the preset current threshold, then the condition that the motor current is greater than or equal to the preset current threshold is determined to be true.

[0017] This avoids misjudgments caused by accidental changes in a single parameter, further improving the control accuracy of the anti-pinch control system. Of course, the number of continuously acquired motor speeds and currents can be flexibly adjusted according to factors such as the actual monitoring frequency; this application embodiment does not impose any limitations on this.

[0018] In one optional implementation, the preset speed threshold, preset current threshold, first rate of change threshold, and second rate of change threshold are determined based on the following method: controlling the self-closing door lock to perform multiple standard closing operations, recording the reference current and reference speed, and generating an initial threshold; correcting the initial threshold according to the ambient temperature; and / or dynamically adjusting the initial threshold according to the historical operating parameters of the self-closing door lock, the degree of aging of the sealing strip, or the number of uses.

[0019] In this way, after the vehicle is assembled, multiple standard engagement operations can be performed, and the corresponding motor current and motor speed can be recorded to generate an initial threshold. Then, the changes in door sealing force at different temperatures can be pre-calibrated under different temperature environments, thereby correcting the corresponding threshold in real time. Finally, during the long-term use of the vehicle, the sealing force of the door sealing strip may gradually decrease, so the real-time operating parameters of the drive motor can be continuously learned to dynamically adjust the threshold and ensure the sensitivity of the detection.

[0020] In one optional implementation, after the anti-pinch control is not triggered during the closing process, the method further includes: detecting whether the latch in the door lock mechanism has reached the closing area; if the latch has reached the closing area, continuously controlling the drive motor to drive the door lock mechanism to perform closing until the fully locked position is reached; or, if the latch has not reached the closing area, continuously determining whether the anti-pinch control is triggered during the closing process based on the real-time operating parameters and / or the changes in the real-time operating parameters.

[0021] In this way, foreign object detection can be performed cyclically during the closing process before the latch reaches the closing area, instead of only performing a single detection at a single time point or in the initial stage of self-closing. Even if the foreign object enters the door gap during the subsequent closing process, or if a flexible foreign object does not initially create significant resistance but gradually becomes compressed as the door continues to close, the controller can promptly identify the abnormality and take protective measures, thereby reducing the blind spot of the anti-pinch detection.

[0022] In one optional implementation, after the anti-pinch control is triggered during the engagement process, the method further includes: analyzing the real-time operating parameters and the changes in the real-time operating parameters to determine the anti-pinch operating condition level of the current engagement process; and controlling the drive motor to perform the corresponding level of anti-pinch operation according to the anti-pinch operating condition level.

[0023] In this way, through graded control, the clamping force can be released quickly under high-risk clamping conditions, while the self-priming function can be prevented from being frequently interrupted under slight fluctuations or occasional interference, thus improving the user experience.

[0024] In one optional implementation, the anti-pinch operation includes at least one of the following: controlling the drive motor to stop running; controlling the drive motor to run in reverse for a preset time to make the locking tongue return to the half-lock position; reducing the running speed of the drive motor; preventing the drive motor from performing the engagement operation again and issuing a warning.

[0025] Thus, for minor abnormalities, relatively mild actions such as reducing motor speed, pausing, short-distance retraction, or re-inspection can be taken; when the difference or rate of change is large, it is judged as a serious abnormality. For serious abnormalities, actions such as immediate stop, reverse release, prohibition of automatic engagement again, and fault indication can be taken.

[0026] Secondly, the present invention also provides an anti-pinch control system, comprising: a controller, the controller being used to execute the anti-pinch control method of the self-closing door lock as described in any one of the first aspects; a door lock mechanism, the door lock mechanism comprising a drive motor, a transmission assembly, a traction member, an eccentric wheel, a push rod, and a latch; one end of the traction member is connected to the transmission assembly, the other end of the traction member is connected to the eccentric wheel, one end of the push rod is connected to the eccentric wheel, and the other end of the push rod is used to abut against the latch; the drive motor drives the traction member to tighten through the transmission assembly, so that the traction member pulls the eccentric wheel to rotate, so that the eccentric wheel drives the push rod to press against the latch, so that the latch rotates from a half-lock position to a fully locked position.

[0027] According to the aforementioned technical means, the torque output by the drive motor is transmitted to the traction component via the transmission assembly. After the traction component tightens, it pulls the eccentric wheel to rotate. The eccentric wheel then drives the push rod to press against the latch, causing the latch to rotate from the half-lock position to the fully locked position. This structure can utilize the traction component and the eccentric wheel to achieve the conversion between rotational motion and pushing action, achieving a large tension force within the limited interior space of the car door. Simultaneously, the latch obstruction state can be fed back to the drive motor via this transmission chain, providing a clear mechanical basis for the anti-pinch detection based on motor current and motor speed.

[0028] In one alternative embodiment, a speed sensor is further included; the speed sensor is connected to the drive motor and is used to monitor the output shaft speed of the drive motor.

[0029] Thus, when foreign objects increase the resistance to door closing, the drive motor speed may decrease. The speed sensor can output the corresponding change signal in a timely manner, providing the controller with a basis for calculating the rate of change of speed, judging abnormal obstruction conditions, and controlling the drive motor to stop or reverse.

[0030] In one optional embodiment, a current sensor is further included; the current sensor is connected to the drive motor and is used to monitor the operating current of the drive motor.

[0031] Thus, when the car door closes normally, the operating current of the drive motor is usually within the normal range. However, when there are abnormalities such as foreign object clamping, latch jamming, obstruction of the traction component, or transmission component malfunctions, the drive motor needs to output greater torque to maintain movement, resulting in an increased operating current. Using signals collected by the current sensor for anti-pinch detection helps improve response speed and, together with the speed signal, constitutes a multi-dimensional basis for abnormality detection.

[0032] In one optional embodiment, the drive motor is a Hall motor, which integrates a Hall magnetic ring and a Hall chip. The Hall magnetic ring and the Hall chip are used to monitor the rotational speed of the output shaft of the Hall motor. The drive circuit of the Hall motor is provided with a current sampling module for acquiring the operating current of the Hall motor.

[0033] Thus, the use of a Hall motor with a built-in Hall magnetic ring and Hall chip helps reduce the number of independent sensors and additional wiring harnesses, reduces assembly complexity, and improves the compactness of the internal structure of the self-closing door lock.

[0034] Thirdly, the present invention also provides a vehicle including the anti-pinch control system described in any of the second aspects.

[0035] Based on the aforementioned technical means, by setting up an anti-pinch control system, the risk of injury to people from being pinched by the vehicle is reduced, while also preventing damage to the car door due to foreign objects, which helps to improve the overall driving and riding experience of the vehicle. Attached Figure Description

[0036] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 A flowchart illustrating the anti-pinch control method for a self-closing door lock provided in this application embodiment; Figure 2 A flowchart illustrating an anti-pinch control method for a self-closing door lock provided in another embodiment of this application; Figure 3 This is a schematic diagram of the door lock mechanism provided in an embodiment of this application; Figure 4 for Figure 3 A schematic diagram of the middle door lock mechanism from another angle; Figure 5 This is a schematic diagram of the door lock mechanism in the half-lock position provided in an embodiment of this application; Figure 6 This is a schematic diagram of the door lock mechanism in the fully locked position, as provided in an embodiment of this application.

[0038] Explanation of reference numerals in the attached figures: 100-Door lock mechanism; 110-Drive motor; 120-Transmission assembly; 130-Traction component; 140-Eccentric wheel; 150-Push rod; 160-Lock tongue. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] To facilitate understanding of the embodiments of this application, some terms will be explained below.

[0041] Partial lock position: This refers to the state where, during the closing process, the door lock mechanism's bolt has initially engaged with the latch on the door frame, restricting the door to a near-closed position and preventing it from springing open freely. In the partial lock position, the door is usually not fully pulled to the door frame, so there is still a gap between the door and the door frame.

[0042] Full lock position: This refers to the locking state of the door when the door lock mechanism's bolt engages with the latch on the door frame during the closing process, pulling the door to the predetermined closed position. In the full lock position, the door is stably closed, and the bolt rotates further from the half lock position to complete the final locking, giving the door the corresponding sealing performance, locking reliability, and resistance to accidental opening.

[0043] The latching operation refers to the operation of controlling the drive motor to run after detecting that the door has reached the half-lock position, and moving the latch from the half-lock position to the fully locked position through the corresponding transmission components.

[0044] In related technologies, to prevent injuries or damage to the car door caused by hands, clothing, or other foreign objects trapped in the door gaps during the automatic locking process of a self-closing door lock, a sensor-operated barrier is typically installed on the door edge. This barrier can be a resistive or capacitive sensor, which detects the presence of foreign objects by monitoring changes in the barrier's resistance or capacitance in real time. When an abnormal signal is detected, the self-closing door lock stops operating to prevent injury. However, these barriers are prone to aging and damage when exposed to the external environment for extended periods, leading to decreased sensor sensitivity or even complete failure, severely impacting the accuracy and reliability of foreign object detection. Furthermore, rain, snow, or other adverse weather conditions can cause water to accumulate on the barrier surface, altering its resistance or capacitance and further affecting the accuracy of foreign object detection.

[0045] To address the aforementioned technical problems, this application provides an anti-pinch control method for a self-closing door lock. Based on real-time operating parameters and / or changes in these parameters, it determines whether anti-pinch detection is triggered during the closing process. When a hand, clothing, or other foreign object exists between the door and the door frame, if the drive motor continues to drive the door lock mechanism to perform the closing operation, the door lock mechanism will experience additional resistance. This additional resistance is transmitted to the drive motor, causing abnormal changes in its real-time operating parameters such as current and speed, or its rate of change in current and speed. Therefore, the presence of a foreign object and whether anti-pinch control is triggered can be determined based on the real-time operating parameters of the drive motor and their changes. Thus, compared to related technologies that use sensor strips for foreign object detection, this application achieves anti-pinch detection by monitoring the operating status of the drive motor inside the door lock mechanism. The drive motor is located inside the door, isolated from the external environment, avoiding aging and damage due to long-term exposure and reducing the impact of the external environment on detection. This improves the accuracy, stability, and long-term reliability of foreign object detection in self-closing door locks.

[0046] The following is combined with Figures 1 to 6 The following describes embodiments of the present invention.

[0047] Firstly, see [the following] Figures 1 to 6 As shown, the key points are combined Figure 1 and Figure 2 This application provides an anti-pinch control method for a self-closing door lock, including: when the door is detected to be closed to a half-lock position, controlling the drive motor 110 to drive the door lock mechanism 100 of the door to perform a closing operation, and during the closing process, detecting the real-time operating parameters of the drive motor 110 and the changes in the real-time operating parameters; and determining whether anti-pinch control is triggered during the closing process based on the real-time operating parameters and / or the changes in the real-time operating parameters.

[0048] In this embodiment, when the door is detected to be closed to the half-lock position, the controller starts the drive motor 110, which drives the latch 160 to continue moving from the half-lock position to the fully locked position, so as to complete the automatic tightening and final locking of the door. During the automatic tightening process of the door, if there is a hand, clothing or other foreign object between the door and the door frame, and the drive motor 110 continues to drive the door lock mechanism 100 to perform the engagement operation, the door lock mechanism 100 will be subjected to additional resistance. The additional resistance experienced by the door lock mechanism 100 is transmitted to the drive motor 110, which will cause abnormal changes in the real-time operating parameters of the drive motor 110, such as current and speed, or the changes in real-time operating parameters such as the rate of change of current and the rate of change of speed.

[0049] Therefore, the presence of foreign objects and whether anti-pinch control is triggered can be determined based on the real-time operating parameters of the drive motor 110 and their changes. Compared to related technologies that use sensor bars for foreign object detection, this application achieves anti-pinch detection by monitoring the operating status of the drive motor 110 inside the door lock mechanism 100. The drive motor 110 is located inside the door and isolated from the external environment, which can avoid aging and damage caused by long-term exposure and reduce the impact of the external environment on detection. This is beneficial to improving the accuracy, stability, and long-term reliability of foreign object detection in self-closing door locks.

[0050] Furthermore, the anti-pinch control can immediately stop the drive motor 110 to prevent the door from being further tightened and causing damage; or, control the drive motor 110 to run in the opposite direction until the latch 160 retracts to the half-lock position, increasing the gap between the door and the door frame so that foreign objects can be removed from between the door and the door frame; or, control the drive motor 110 to slow down, etc., which can be flexibly controlled according to the real-time operating parameters and the changes in the real-time operating parameters. This application embodiment does not impose any limitations.

[0051] It should be noted that the real-time operating parameters in this application embodiment can be parameters reflecting the operating state or load state of the drive motor 110. In addition to the speed and current of the drive motor 110, they may also include the voltage, output power, drive duty cycle, estimated output torque, temperature, back electromotive force, rotor position, cumulative angle, or other parameters that can characterize the operating state of the drive motor 110. The changes in real-time operating parameters can be the difference, rate of change, trend, moving average, cumulative change, deviation from a preset reference value, or degree of deviation from a historical normal curve between different sampling times. This application embodiment does not impose limitations on these aspects and can flexibly adjust them according to the internal structure of the drive motor 110.

[0052] In one embodiment, see Figures 1 to 6 As shown, the key points are combined Figure 1 and Figure 2 Before detecting the real-time operating parameters of the drive motor 110, the method further includes: during the engagement process, detecting whether the latch 160 in the door lock mechanism 100 has reached the engagement area; if the latch 160 has reached the engagement area, continuously controlling the drive motor 110 to drive the door lock mechanism 100 to perform engagement until reaching the fully locked position; or, if the latch 160 has not reached the engagement area, detecting the running time of the drive motor 110, and when the running time is greater than or equal to a preset time, performing the step of detecting the real-time operating parameters of the drive motor 110.

[0053] It should be noted that the engaging area is located between the half-locked and fully-locked positions. When the latch 160 reaches the engaging area, although the door is not yet fully tightened to a stable locked state, the gap between the door and the door frame is small, making it difficult for foreign objects to enter. In practical implementation, the arrival of the latch 160 in the engaging area can be determined by detecting the rotation angle of the latch 160, the drive motor stroke, and the door position. This application embodiment does not impose any limitations on this.

[0054] Therefore, the risk of foreign objects being caught in the door between the engagement zone and the fully locked position is low. Thus, after the latch 160 reaches the engagement zone, there is no need to continue monitoring the real-time operating parameters of the motor and their changes. The drive motor 110 can directly drive it to the fully locked position, which helps to save computing power and improve the maintainability of the anti-pinch control system.

[0055] Furthermore, there is a risk of foreign objects being trapped between the semi-locked position and the suction area of ​​the door. Therefore, it is necessary to monitor the operating status of the drive motor 110 in real time. However, when the running time of the drive motor 110 is less than the preset time, its real-time operating parameters have not yet stabilized. For example, the drive motor 110 may have a large starting current, which can easily lead to misjudgment. Therefore, it is necessary to wait until the running time of the drive motor 110 is greater than or equal to the preset time before detecting the real-time operating parameters of the drive motor 110 and their changes, and determine whether the anti-pinch control is triggered during the suction process. This helps to improve the accuracy of the anti-pinch control.

[0056] The preset duration can be a fixed value, for example, the preset duration is 150ms.

[0057] In some embodiments, the preset duration can be dynamically adjusted based on ambient temperature and / or vehicle battery voltage. For example, in low-temperature environments, the time required for the drive motor 110 to start and the transmission assembly 120 to reach a stable state may be relatively longer, and the controller can appropriately extend the preset duration. When the power supply voltage is low, the acceleration process of the drive motor 110 may be slower, and the controller can also adjust the preset duration according to the voltage conditions. Through dynamic adjustment, the control adaptability under different environmental conditions can be improved. In addition, dynamic adjustments can also be made based on different parameters such as the temperature of the drive motor 110, the number of times the self-closing door lock is used, the vehicle model, the door position, or historical learning data, and this application embodiment does not impose any limitations on this.

[0058] In one embodiment, see Figures 1 to 6 As shown, the key points are combined Figure 1 and Figure 2 Real-time operating parameters include motor speed and motor current. The changes in real-time operating parameters include the rate of change of motor speed and the rate of change of motor current.

[0059] In practical implementation, motor speed can be acquired by a speed sensor, Hall effect chip, encoder, back EMF detection unit, or other speed measurement structures. The controller can calculate the motor output shaft speed based on the number of pulses per unit time, pulse period, encoder output value, or corresponding analog signal. Motor current can be acquired by a current sensor, shunt resistor, current sampling unit inside the motor driver chip, Hall effect current detection module, or other current detection structures.

[0060] Furthermore, by simultaneously acquiring motor speed, motor current, speed change rate, and current change rate, the presence of foreign objects can be determined from multiple dimensions, including motor motion state, load state, and parameter abrupt change trends. For example, a decrease in motor speed reflects increased mechanical transmission resistance, an increase in motor current reflects increased torque demand to overcome resistance, and the speed change rate and current change rate reflect whether resistance increases rapidly in a short period. Combining multiple parameters enhances the ability to identify various abnormalities such as human hands, clothing, flexible foreign objects, hard foreign objects, and jammed door lock mechanisms, reducing the risk of misjudgment or missed detection due to relying on a single parameter, and further improving the control accuracy of the anti-pinch control system.

[0061] In one embodiment, see Figures 1 to 6 As shown, the key points are combined Figure 1 and Figure 2 Based on real-time operating parameters and / or changes in real-time operating parameters, determine whether to trigger anti-pinch control during the engagement process, including: if the motor speed is less than a preset speed threshold and / or the speed change rate is greater than or equal to a first change rate threshold, then determine that anti-pinch control is triggered during the engagement process; and / or, if the motor current is greater than or equal to a preset current threshold and / or the current change rate is greater than or equal to a second change rate threshold, then determine that anti-pinch control is triggered during the engagement process; if the motor speed is greater than or equal to a preset speed threshold, the speed change rate is less than the first change rate threshold, the motor current is less than a preset current threshold, and the current change rate is less than the second change rate threshold, then determine that anti-pinch control is not triggered during the engagement process.

[0062] Specifically, the controller can preset a speed threshold, a current threshold, a first rate of change threshold, and a second rate of change threshold. The preset speed threshold can be used to determine if the motor is in an abnormally low-speed state; the preset current threshold can be used to determine if the motor is in an abnormally high-load state; the first rate of change threshold can be used to determine if the motor speed is decreasing too rapidly; and the second rate of change threshold can be used to determine if the motor current is increasing too rapidly. Setting these thresholds, and determining whether to trigger anti-pinch control based on each threshold, allows for targeted identification of both continuous and sudden abnormal resistance. When the motor speed is below the preset speed threshold or the motor current is above the preset current threshold, a relatively continuous obstruction state can be identified; when the rate of change of speed or current reaches the threshold, a sudden change in resistance can be identified before the drive motor 110 reaches full low speed or experiences overcurrent. This helps to shorten the anti-pinch response time, reduce the time that foreign objects are continuously squeezed, and improve the timeliness of anti-pinch protection.

[0063] In some embodiments, the controller can trigger anti-pinch control when any condition is met. For example, if only the motor speed is less than a preset speed threshold, the controller determines that the motor movement is significantly obstructed and triggers anti-pinch control; or, if only the motor current is greater than or equal to a preset current threshold, the controller determines that the motor load is too large and triggers anti-pinch control; or, if only the rate of change of speed is greater than or equal to a first rate of change threshold, it indicates that the motor speed has dropped significantly in a short period of time, and although the motor speed has not yet fallen below the preset speed threshold, it can still be determined that there is a risk of sudden obstruction, thereby triggering anti-pinch control; or, if only the rate of change of current is greater than or equal to a second rate of change threshold, it indicates that the motor load has increased rapidly in a short period of time, and although the motor current has not yet reached the preset current threshold, it can still trigger anti-pinch control.

[0064] In other embodiments, the controller may trigger anti-pinch control only when multiple conditions are met. For example, when the motor speed is less than a preset speed threshold and the motor current is greater than or equal to a preset current threshold, an abnormal resistance with a high degree of confidence is determined, and anti-pinch control is triggered; or, when the rate of change of speed is greater than or equal to a first rate of change threshold and the rate of change of current is greater than or equal to a second rate of change threshold, a sudden risk of clamping is determined, and anti-pinch control is triggered; or, when the motor speed is less than a preset speed threshold and the rate of change of speed is greater than or equal to the first rate of change threshold, anti-pinch control is triggered; or, when the motor current is greater than or equal to a preset current threshold and the rate of change of current is greater than or equal to the second rate of change threshold, anti-pinch control is triggered; or, when the motor speed is less than a preset speed threshold and the rate of change of current is greater than or equal to the second rate of change threshold, anti-pinch control is triggered; or, when the motor current is greater than or equal to a preset current threshold and the rate of change of speed is greater than or equal to the first rate of change threshold, anti-pinch control is triggered; or, when the motor current is greater than or equal to a preset current threshold... Anti-pinch control is triggered when the motor speed is less than a preset speed threshold, the motor current is greater than or equal to a preset current threshold, and the current change rate is greater than or equal to a second change rate threshold; or, when the motor speed is less than a preset speed threshold, the motor current is greater than or equal to a preset current threshold, and the current change rate is greater than or equal to a second change rate threshold; or, when the motor speed is less than a preset speed threshold, the motor current is greater than or equal to a preset current threshold, and the current change rate is greater than or equal to a second change rate threshold; or, when the motor speed is less than a preset speed threshold, the motor current is greater than or equal to a preset current threshold, and the speed change rate is greater than or equal to a first change rate threshold; or, when the motor speed is less than a preset speed threshold, the motor current is greater than or equal to a preset current threshold, the speed change rate is greater than or equal to a first change rate threshold, and the current change rate is greater than or equal to a second change rate threshold.

[0065] In another embodiment, if the motor speed is greater than or equal to a preset speed threshold and the speed change rate is less than a first change rate threshold, and the motor current is less than a preset current threshold and the current change rate is less than a second change rate threshold, then the controller determines that the current engagement process has not triggered anti-pinch control. The controller can continue to drive the motor 110 to perform engagement and make the judgment again in subsequent sampling cycles.

[0066] In practical applications, the preset speed threshold, preset current threshold, first rate of change threshold, and second rate of change threshold can be calibrated separately for different side doors of the vehicle. Since the mass, sealing strip resistance, door lock structure, bolt movement trajectory, and self-priming motor specifications of the front door, rear door, tailgate, or sliding door may differ, the thresholds for each door can be the same or different. Alternatively, different thresholds can be set based on the door's location. For example, in the early stage of the self-priming stroke, the door seal compression is relatively small, so a lower current threshold and a higher speed threshold can be set to improve the sensitivity of foreign object detection; in the later stage of the self-priming stroke, the door seal compression resistance may increase normally, so the thresholds can be adjusted accordingly to reduce the probability of misjudging normal sealing strip compression resistance as a clamping risk. Alternatively, the preset speed threshold, preset current threshold, first rate of change threshold, and second rate of change threshold can be dynamically adjusted based on ambient temperature, drive motor temperature, number of times the self-priming door lock has been used, vehicle model, or historical learning data.

[0067] For example, see Figures 1 to 6 As shown, the key points are combined Figure 1 and Figure 2 The preset speed threshold, preset current threshold, first rate of change threshold, and second rate of change threshold are determined based on the following methods: controlling the self-closing door lock to perform multiple standard closing operations, recording the reference current and reference speed, and generating the initial threshold; correcting the initial threshold according to the ambient temperature; and / or dynamically adjusting the initial threshold according to the historical operating parameters of the self-closing door lock, the degree of aging of the sealing strip, or the number of uses.

[0068] Specifically, after vehicle assembly, multiple standard engagement operations can be performed, and the corresponding motor current and speed can be recorded to generate an initial threshold. Then, the changes in door sealing force at different temperatures are pre-calibrated to correct the threshold in real time. Finally, during long-term vehicle use, the sealing force of the door seals may gradually decrease; therefore, the real-time operating parameters of the drive motor 110 can be continuously learned to dynamically adjust the threshold and ensure detection sensitivity. Furthermore, to ensure detection accuracy, an error term can be added to the calculated current and speed reference values ​​to obtain the actual threshold. For example, if the current reference value is I, the preset current threshold can be set to I + 0.4A; if the speed reference value is N, the preset speed threshold can be set to N - 200 r / min. This embodiment does not impose limitations on this; appropriate choices can be made based on actual conditions.

[0069] In one embodiment, see Figures 1 to 6 As shown, the key points are combined Figure 1 and Figure 2Determining whether the motor speed is greater than or equal to a preset speed threshold and the motor current is greater than or equal to a preset current threshold are true includes: acquiring multiple consecutive sets of motor speed and motor current; for example, acquiring 3 to 5 consecutive sets of motor speed and motor current. If the motor speed in each set is greater than or equal to the preset speed threshold, then the condition that the motor speed is greater than or equal to the preset speed threshold is true; if the motor current in each set is greater than or equal to the preset current threshold, then the condition that the motor current is greater than or equal to the preset current threshold is true.

[0070] This avoids misjudgments caused by accidental changes in a single parameter, further improving the control accuracy of the anti-pinch control system. Of course, the number of continuously acquired motor speeds and currents can be flexibly adjusted according to factors such as the actual monitoring frequency; this application embodiment does not impose any limitations on this.

[0071] In one embodiment, see Figures 1 to 6 As shown, the key points are combined Figure 1 and Figure 2 If the anti-pinch control is not triggered during the closing process, the method further includes: detecting whether the latch 160 in the door lock mechanism 100 has reached the closing area; if the latch 160 has reached the closing area, continuously controlling the drive motor 110 to drive the door lock mechanism 100 to perform closing until it reaches the fully locked position; or, if the latch 160 has not reached the closing area, continuously determining whether the anti-pinch control is triggered during the closing process based on real-time operating parameters and / or changes in real-time operating parameters.

[0072] Understandably, even after a single detection fails to trigger the anti-pinch control, the system continues to monitor whether the latch 160 has reached the engagement zone, and continuously monitors the motor's operating status while the latch 160 remains outside this zone. This method allows for cyclical foreign object detection during the engagement process, before the latch 160 reaches the engagement zone, rather than performing a single detection at a single point in time or during the initial self-engaging phase. Even if a foreign object enters the door gap during subsequent engagement, or if a flexible foreign object initially presents no significant resistance but gradually becomes compressed as the door continues to engage, the controller can promptly identify the anomaly and take protective measures, thereby reducing the blind spot in the anti-pinch detection.

[0073] In one embodiment, see Figures 1 to 6 As shown, the key points are combined Figure 1 and Figure 2 After the anti-pinch control is triggered during the suction process, the method further includes: analyzing the real-time operating parameters and the changes in the real-time operating parameters to determine the anti-pinch operating level of the current suction process; and controlling the drive motor 110 to perform the corresponding level of anti-pinch operation according to the anti-pinch operating level.

[0074] In this embodiment, after triggering the anti-pinch control, the anti-pinch condition level is further determined based on the real-time operating parameters of the drive motor 110 and their changes, and different anti-pinch operations are performed for different levels. Through graded control, the clamping force can be quickly released under high-risk clamping conditions, while avoiding frequent interruptions of the self-priming function under slight fluctuations or occasional interference, thus improving the user experience.

[0075] In one embodiment, see Figures 1 to 6 As shown, the key points are combined Figure 1 and Figure 2 The anti-pinch operation includes at least one of the following: controlling the drive motor 110 to stop running; controlling the drive motor 110 to run in reverse for a preset time, so that the locking tongue 160 returns to the half-lock position; reducing the running speed of the drive motor 110; preventing the drive motor 110 from performing the engagement operation again and issuing a warning.

[0076] For example, the anti-pinch condition level can be divided according to the difference between the motor current and a preset current threshold and / or the difference between the motor speed and a preset speed threshold, or according to the rate of change of current and / or the rate of change of speed. When the difference or the rate of change is small, it is judged as a minor abnormality. For minor abnormalities, relatively mild actions such as reducing the motor speed, pausing, short-distance retraction, or re-inspection can be taken. When the difference or the rate of change is large, it is judged as a serious abnormality. For serious abnormalities, actions such as immediate stop, reverse release, prohibition of automatic engagement again, and fault indication can be taken. This application embodiment does not limit the specific division method of the anti-pinch condition level or the specific anti-pinch operation under different anti-pinch condition levels. It can be reasonably set according to the actual situation.

[0077] Secondly, see Figures 3 to 6 As shown, this application embodiment also provides an anti-pinch control system, including: a controller and a door lock mechanism 100. The controller is used to execute the anti-pinch control method of the self-closing door lock of the first aspect. The self-closing door lock includes a drive motor 110, a transmission assembly 120, a traction member 130, an eccentric wheel 140, a push rod 150, and a latch 160. One end of the traction member 130 is connected to the transmission assembly 120, and the other end of the traction member 130 is connected to the eccentric wheel 140. One end of the push rod 150 is connected to the eccentric wheel 140, and the other end of the push rod 150 is used to abut against the latch 160. The drive motor 110 drives the traction member 130 to tighten through the transmission assembly 120, so that the traction member 130 pulls the eccentric wheel 140 to rotate, so that the eccentric wheel 140 drives the push rod 150 to press against the latch 160, so that the latch 160 rotates from the half-lock position to the fully locked position.

[0078] The specific working principle of the anti-pinch control method of the self-closing door lock has been explained in detail in the above embodiments, and will not be repeated here.

[0079] The controller may include a processor, a memory, a communication unit, and a drive unit. The processor may be a microcontroller unit, a digital signal processor, a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), or other hardware units capable of performing logic operations and control functions. The memory may store the anti-pinch control program, parameter thresholds, normal operating condition curves, fault codes, learning data, and related control strategies. The drive unit may include a motor drive chip, a relay, a bridge circuit, a power switching device, or other circuits for controlling the forward, reverse, stop, and speed regulation of the drive motor 110. This application embodiment does not limit this, as long as it can execute the aforementioned anti-pinch control method.

[0080] In practical implementation, the torque output by the drive motor 110 is transmitted to the traction member 130 via the transmission assembly 120. After the traction member 130 tightens, it pulls the eccentric wheel 140 to rotate. The eccentric wheel 140 then drives the push rod 150 to press against the latch 160, causing the latch 160 to rotate from the half-lock position to the fully locked position. This structure can utilize the traction member 130 and the eccentric wheel 140 to achieve the conversion between rotational motion and pushing action, achieving a large tightening force within the limited interior space of the door. Simultaneously, the obstructed state of the latch 160 can be fed back to the drive motor 110 via this transmission chain, providing a clear mechanical basis for the anti-pinch detection based on motor current and motor speed.

[0081] In one embodiment, see Figures 3 to 6 As shown, it also includes a speed sensor; the speed sensor is connected to the drive motor 110 and is used to monitor the output shaft speed of the drive motor 110.

[0082] In a practical implementation, the speed sensor can be installed near the output shaft of the drive motor 110, or near a gear, shaft, reel, or other rotating component that has a fixed transmission relationship with the output shaft. The speed sensor can be a magnetoelectric sensor, Hall sensor, photoelectric encoder, rotary encoder, tachogenerator, or other detection structure. This application embodiment does not limit the specific installation position and structure of the speed sensor, as long as it can directly or indirectly detect the motor speed of the drive motor 110.

[0083] Understandably, when foreign objects increase the resistance to door closing, the speed of drive motor 110 may decrease. The speed sensor can output corresponding change signals in a timely manner, providing a basis for the controller to calculate the rate of change of speed, determine abnormal obstruction conditions, and control drive motor 110 to stop or reverse.

[0084] In one embodiment, see Figures 3 to 6 As shown, it also includes a current sensor; the current sensor is connected to the drive motor 110 and is used to monitor the operating current of the drive motor 110.

[0085] Understandably, when the car door closes normally, the operating current of the drive motor 110 is usually within the normal range. However, when there are abnormalities such as foreign object clamping, jamming of the latch 160, obstruction of the traction component 130, or transmission component 120, the drive motor 110 needs to output greater torque to maintain movement, thus increasing the operating current. Using the signal collected by the current sensor for anti-pinch detection helps improve response speed and, together with the speed signal, constitutes a multi-dimensional basis for abnormality detection.

[0086] The current sensor can be placed in the power supply line of the drive motor 110, the motor drive bridge arm, inside the motor controller, or other locations where the motor current can be detected. The current sensor can be a Hall effect current sensor, a shunt resistor current detection unit, a magnetoresistive current sensor, an integrated current sampling chip, or other current detection structures. This application embodiment does not limit the specific placement and structure of the current sensor, and can be reasonably set according to the actual situation.

[0087] In one embodiment, see Figures 3 to 6 As shown, the drive motor 110 is a Hall motor, which integrates a Hall magnetic ring and a Hall chip. The Hall magnetic ring and Hall chip are used to monitor the rotational speed of the output shaft of the Hall motor. The drive circuit of the Hall motor is equipped with a current sampling module to obtain the operating current of the Hall motor.

[0088] It should be noted that the Hall effect magnetic ring can be fixed to the motor rotor, output shaft, input shaft of the reduction gear, or other components related to motor rotation. The Hall effect chip can be fixed to the motor housing or control circuit board. When the Hall effect magnetic ring rotates with the rotor or output shaft, the Hall effect chip detects the periodically changing magnetic field and outputs a corresponding pulse signal. The controller can calculate the motor speed based on the pulse frequency output by the Hall effect chip. The drive circuit of the Hall effect motor can include a current sampling function. The controller can obtain the operating current of the Hall effect motor through the current sampling module in the drive circuit, thereby achieving synchronous detection of motor speed and motor current with a high degree of integration.

[0089] Therefore, the use of Hall motors with built-in Hall magnetic rings and Hall chips helps to reduce the number of independent sensors and additional wiring harnesses, reduce assembly complexity, and improve the compactness of the internal structure of the self-closing door lock.

[0090] Thirdly, embodiments of this application also provide a vehicle including the anti-pinch control system of any one of the second aspects.

[0091] In this embodiment, the anti-pinch control system can be installed on the front door, rear door, tailgate, trunk door, sliding door, double doors, or other openable components with locking requirements. This embodiment does not impose any limitations on this. By setting up an anti-pinch control system, the risk of injury from being pinched by the vehicle is reduced, and damage to the doors due to foreign objects is avoided, which helps to improve the overall driving and riding experience.

[0092] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for preventing pinching in a self-closing door lock, characterized in that, include: When the door is detected to be closed to the half-lock position, the drive motor (110) is controlled to drive the door lock mechanism (100) of the door to perform a latching operation. During the latching process, the real-time operating parameters of the drive motor (110) and the changes of the real-time operating parameters are detected. Based on the real-time operating parameters and / or the changes in the real-time operating parameters, determine whether anti-pinch control is triggered during the suction process.

2. The anti-pinch control method for a self-closing door lock according to claim 1, characterized in that, Before detecting the real-time operating parameters of the drive motor (110), the method further includes: During the engagement process, it is detected whether the latch (160) in the door lock mechanism (100) reaches the engagement area; If the latch (160) reaches the engagement area, the drive motor (110) is continuously controlled to drive the door lock mechanism (100) to engage until it reaches the fully locked position; or, if the latch (160) does not reach the engagement area, the running time of the drive motor (110) is detected, and when the running time is greater than or equal to a preset time, the step of detecting the real-time operating parameters of the drive motor (110) is executed.

3. The anti-pinch control method for a self-closing door lock according to claim 2, characterized in that, The preset duration is dynamically adjusted based on ambient temperature and / or the vehicle's battery voltage.

4. The anti-pinch control method for a self-closing door lock according to claim 1, characterized in that, The real-time operating parameters include motor speed and motor current, and the changes in the real-time operating parameters include the rate of change of the motor speed and the rate of change of the motor current.

5. The anti-pinch control method for a self-closing door lock according to claim 4, characterized in that, The step of determining whether to trigger anti-pinch control during the engagement process based on the real-time operating parameters and / or changes in the real-time operating parameters includes: If the motor speed is less than a preset speed threshold and / or the speed change rate is greater than or equal to a first change rate threshold, then it is determined that anti-pinch control is triggered during the engagement process; and / or, if the motor current is greater than or equal to a preset current threshold and / or the current change rate is greater than or equal to a second change rate threshold, then it is determined that anti-pinch control is triggered during the engagement process. If the motor speed is greater than or equal to a preset speed threshold, the speed change rate is less than a first change rate threshold, the motor current is less than a preset current threshold, and the current change rate is less than a second change rate threshold, then it is determined that the anti-pinch control will not be triggered during the engagement process.

6. The anti-pinch control method for a self-closing door lock according to claim 5, characterized in that, Determining whether the motor speed is greater than or equal to a preset speed threshold and the motor current is greater than or equal to a preset current threshold are true includes: Obtain multiple consecutive sets of motor speed and motor current; If the speed of each group of motors is greater than or equal to the preset speed threshold, then the condition that the motor speed is greater than or equal to the preset speed threshold is true. If the current of each group of motors is greater than or equal to the preset current threshold, then the condition that the motor current is greater than or equal to the preset current threshold is true.

7. The anti-pinch control method for a self-closing door lock according to claim 5, characterized in that, The preset speed threshold, preset current threshold, first rate of change threshold, and second rate of change threshold are determined based on the following method: The self-closing door lock is controlled to perform multiple standard closing operations, and the reference current and reference speed are recorded to generate an initial threshold. The initial threshold is corrected based on the ambient temperature; and / or the initial threshold is dynamically adjusted based on the historical operating parameters of the self-closing door lock, the degree of aging of the sealing strip, or the number of uses.

8. The anti-pinch control method for a self-closing door lock according to claim 1, characterized in that, After the anti-pinch control is not triggered during the suction process, the method further includes: Detect whether the latch (160) in the door lock mechanism (100) has reached the engagement area; If the latch (160) reaches the engagement area, the drive motor (110) is continuously controlled to drive the door lock mechanism (100) to perform engagement until the fully locked position is reached; or, if the latch (160) does not reach the engagement area, the anti-pinch control is continuously determined based on the real-time operating parameters and / or the changes in the real-time operating parameters during the engagement process.

9. The anti-pinch control method for a self-closing door lock according to claim 1, characterized in that, After the anti-pinch control is triggered during the suction process, the method further includes: Analyze the real-time operating parameters and their changes to determine the anti-pinch condition level of the current engagement process; According to the anti-pinch condition level, the drive motor (110) is controlled to perform the corresponding level of anti-pinch operation.

10. The anti-pinch control method for a self-closing door lock according to claim 9, characterized in that, The anti-pinch operation includes at least one of the following: Control the drive motor to stop running; Control the drive motor to run in reverse for a preset time, so that the latch (160) of the door lock mechanism (100) returns to the half-lock position; Reduce the operating speed of the drive motor; The drive motor is prevented from performing the engagement operation again, and a prompt is issued.

11. An anti-pinch control system, characterized in that, include: A controller, the controller being used to execute the anti-pinch control method of the self-closing door lock according to any one of claims 1 to 10; The door lock mechanism (100) includes a drive motor (110), a transmission assembly (120), a traction member (130), an eccentric wheel (140), a push rod (150), and a latch (160). One end of the traction member (130) is connected to the transmission assembly (120), the other end of the traction member (130) is connected to the eccentric wheel (140), one end of the push rod (150) is connected to the eccentric wheel (140), and the other end of the push rod (150) is used to abut against the locking tongue (160). The drive motor (110) drives the traction member (130) to tighten through the transmission assembly (120), so that the traction member (130) pulls the eccentric wheel (140) to rotate, so that the eccentric wheel (140) drives the push rod (150) to press against the locking tongue (160), so that the locking tongue (160) rotates from the half-lock position to the fully locked position.

12. The anti-pinch control system according to claim 11, characterized in that, It also includes a speed sensor; The speed sensor is connected to the drive motor (110) and is used to monitor the output shaft speed of the drive motor (110).

13. The anti-pinch control system according to claim 11, characterized in that, It also includes a current sensor; The current sensor is connected to the drive motor (110) and is used to monitor the operating current of the drive motor (110).

14. The anti-pinch control system according to claim 11, characterized in that, The drive motor (110) is a Hall motor, which integrates a Hall magnetic ring and a Hall chip. The Hall magnetic ring and the Hall chip are used to monitor the rotational speed of the output shaft of the Hall motor. The drive circuit of the Hall motor is equipped with a current sampling module for obtaining the operating current of the Hall motor.

15. A vehicle, characterized in that, Includes the anti-pinch control system as described in any one of claims 11-14.

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