CN103112337A - Anti-pinch state judging method and system and anti-pinch method and system for electric tailgates - Google Patents
Anti-pinch state judging method and system and anti-pinch method and system for electric tailgates Download PDFInfo
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Abstract
The invention provides an anti-pinch state judging method for electric tailgates and further provides an anti-pinch state judging system and anti-pinch method and system for electric tailgates. The anti-pinch state judging method includes dividing electric states of the tailgates into three different time stages according to a first time value and a second time value, acquiring time length of the electric states of the electric tailgates, judging the time stage of the electric process according to the time length, judging whether the electric tailgates are in anti-pinch states or not by different handling ways rather than judge whether the electric tailgates are in electric state by adopting a threshold during the whole electric process according to characteristics of control variables in the different time stages. By adopting the anti-pinch state judging method to judge whether the electric tailgates are in anti-pinch state or not, misjudgment rate is low.
Description
Technical field
The present invention relates to built-in field, be specifically related to a kind of determination methods and system, anti-clamping method and system of electronic tail-gate anti-pinch state.
Background technology
Along with the progress of automotive field technology with in order to improve the mankind's quality of life, the tail-gate of many automobiles has changed motoring condition into, the mankind send order by teleswitch to automobile tail gate, and automobile tail gate receives order and automatically automobile tail gate opened or closed by program controlled motor.
The state of automobile tail gate is divided into three states, opens, closes and stop.Wherein the process that opens or closes of automobile tail gate is electrokinetic process, if in the electrokinetic process that tail-gate opens or closes, because artificial origin or other reasons have hindered opening or closing of tail-gate, tail-gate can be because obstruction stops, but can be according to original order, therefore continue to open or close, may cause situations such as hindering the injured or article damage of the mankind that tail-gate opens or closes to occur.
Therefore increased the automobile tail gate anti-clamping method in prior art in the program of automobile, in the program of the method, electric current when the extraction tail-gate is in motoring condition in circuit, and judge that whether electric current is greater than some preset values, if greater than this preset value, judge that the electrokinetic process of tail-gate is in the state of being obstructed, i.e. the anti-pinch state, if less than this preset value, judge that the electrokinetic process of tail-gate is in normal condition.
But when tail-gate is in the motoring condition process, electric current is constantly to change, with the electronic example that is opened for of tail-gate, electric current in the tail-gate circuit is increase gradually and suddenly descend by zero, then slowly rise to process to a certain degree, and in prior art in electrokinetic process, only with a fixing preset value as threshold value, then the size with the current value in circuit and preset value (threshold value) compares, and judges whether tail-gate is in the anti-pinch state.for example: establishing current value maximum under normal operating condition is A3, if threshold value is B, and B〉A3(is in order to affect the motoring condition of tail-gate under normal condition), under normal circumstances as the electric current A in the circuit of electronic tail-gate〉during B, judge that electronic tail-gate is in the anti-pinch state, but the value at the initial time electric current A that opens or closes tail-gate is zero or very little, even this moment, electronic tail-gate was in the anti-pinch state, electric current A in the tail-gate circuit is also less than B, be A＜B, program can judge that this moment, tail-gate was not in motoring condition, therefore use in result that the method judgement obtains and reality electronic tail-gate to carve at this moment situation about now being obstructed opposite, when therefore using the method for automobile tail gate anti-pinch of the prior art, the situation of erroneous judgement very easily appears.
Summary of the invention
The invention provides a kind of determination methods and system, anti-clamping method and system of electronic tail-gate anti-pinch state, when judging with this method whether tail-gate is in the anti-pinch state, False Rate is little.
In order to address the above problem, the present invention adopts following methods to realize:
A kind of determination methods of electronic tail-gate anti-pinch state comprises:
If electronic tail-gate is in motoring condition, obtain the time length of described motoring condition;
If described time length was worth less than the very first time, the control variable in electronic tail-gate circuit determines that greater than the first preset value described electronic tail-gate is in the anti-pinch state;
If described time length is greater than very first time value and less than the second time value, described control variable determines that greater than the first adaptation value described electronic tail-gate is in the anti-pinch state;
If described time length greater than the second time value, when satisfying with the next item down at least, determines that described electronic tail-gate is in the anti-pinch state:
Described control variable is greater than the first adaptation value; Perhaps,
The rate of change of described control variable is greater than the second preset value and in next time period, and control variable is greater than the second adaptation value.
Preferably, the computation process of described the first adaptation value comprises:
Within described time length was worth less than the very first time, obtain the maxim of control variable in described electronic tail-gate circuit;
The maxim of described control variable and the first side-play amount with the value as described the first adaptation value;
The computation process of described the second adaptation value comprises:
Described time length greater than the second time value in, the second control variable value of the rate of change that records described control variable during greater than described the second preset value;
With described the second control variable value and the second side-play amount with the value as described the second adaptation value.
Preferably, described method also comprises:
If described time length was worth less than the described very first time, described control variable in described electronic tail-gate circuit is not more than described the first preset value, judge that whether control variable in described electronic tail-gate circuit is greater than described the first preset value, until the motoring condition of described electronic tail-gate changes.
Preferably, described method also comprises:
If described time length was worth greater than the described very first time, described control variable is not more than described the first adaptation value, judges that whether described control variable is greater than described the first adaptation value, until the motoring condition of described electronic tail-gate changes.
Preferably, described method also comprises:
If described time length is greater than described the second time value, the control variable in described next time period is not more than the second adaptation value, judges that whether the rate of change of described control variable is greater than described the second preset value, until described motoring condition changes.
Preferably, after described motoring condition changes, also comprise:
Obtain the time length of motoring condition after changing, after the described change of foundation, the time length of motoring condition judges the anti-pinch state whether described electronic tail-gate is in.
Preferably, described electronic tail-gate definite process of being in motoring condition comprises:
If the status signal of electronic tail-gate is not in halted state, the control variable in described tail-gate circuit determines that greater than the 3rd preset value described electronic tail-gate is in motoring condition.
A kind of judgement system of electronic tail-gate anti-pinch state comprises:
The first judging unit is used for judging whether described electronic tail-gate is in motoring condition;
first processor, be in motoring condition if be used for electronic tail-gate, obtain the time length of described motoring condition, if described time length was worth less than the very first time, control variable in electronic tail-gate circuit is greater than the first preset value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than very first time value and less than the second time value, described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than the second time value, determine that described electronic tail-gate is in the method for anti-pinch state, comprise: if described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, if the rate of change of described control variable is greater than the second preset value, control variable in next time period is greater than the second adaptation value, determine that described electronic tail-gate is in the anti-pinch state.
A kind of anti-clamping method of electronic tail-gate comprises:
Obtain described electronic tail-gate and be in anti-pinch time of anti-pinch state, definite process of described electronic tail-gate anti-pinch state comprises: if electronic tail-gate is in motoring condition, obtain the time length of described motoring condition; If described time length was worth less than the very first time, the control variable in electronic tail-gate circuit determines that greater than the first preset value described electronic tail-gate is in the anti-pinch state; If described time length is greater than very first time value and less than the second time value, described control variable determines that greater than the first adaptation value described electronic tail-gate is in the anti-pinch state; If described time length is greater than the second time value, when satisfying with the next item down at least, determine that described electronic tail-gate is in the anti-pinch state: described control variable is greater than the first adaptation value; Perhaps, the rate of change of described control variable greater than the second preset value and the control variable in next time period greater than the second adaptation value;
If the motoring condition of electronic tail-gate does not change, whether judge the described anti-pinch time less than the 3rd time value, until the described anti-pinch time exceeds described the 3rd time value;
Exceed described the 3rd time value when the described anti-pinch time, carry out anti-pinch and process.
A kind of anti-clipping system of electronic tail-gate comprises:
The second judging unit is used for judging whether described electronic tail-gate is in motoring condition;
the second treater, be in motoring condition if be used for electronic tail-gate, obtain the time length of described motoring condition, if described time length was worth less than the very first time, control variable in electronic tail-gate circuit is greater than the first preset value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than very first time value and less than the second time value, described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than the second time value, determine that described electronic tail-gate is in the method for anti-pinch state, comprise: if described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, if the rate of change of described control variable is greater than the second preset value, control variable in next time period is greater than the second adaptation value, determine that described electronic tail-gate is in the anti-pinch state,
The 3rd treater is used for obtaining the anti-pinch time that described electronic tail-gate is in the anti-pinch state;
If the motoring condition of electronic tail-gate does not change, whether judge the described anti-pinch time less than the 3rd time value, until the described anti-pinch time exceeds described the 3rd time value;
Exceed described the 3rd time value when the described anti-pinch time, carry out anti-pinch and process;
Performance element is used for carrying out described anti-pinch and processes.
the invention provides a kind of determination methods of electronic tail-gate anti-pinch state, if in this method, electronic tail-gate is in motoring condition, obtain the time length of described motoring condition, if described time length was worth less than the very first time, control variable in electronic tail-gate circuit is greater than the first preset value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than very first time value and less than the second time value, described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than the second time value, determine that described electronic tail-gate is in the method for anti-pinch state, comprise, first method, if described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, second method, if the rate of change of described control variable is greater than the second preset value, control variable in next time period is greater than the second adaptation value, determine that described electronic tail-gate is in the anti-pinch state, the third method, carry out simultaneously described first method and described second method.
Be worth and the second time value according to the very first time in the present invention, the process of the motoring condition of tail-gate is divided into three different time periods, obtain the time length of electronic tail-gate motoring condition, time range residing according to time length, characteristics according to control variable in the different time scope, adopt different processing modes to judge whether anti-pinch state of electronic tail-gate, when therefore judging with this method whether tail-gate is in the anti-pinch state, False Rate is little.
Description of drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or description of the Prior Art, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the determination methods diagram of circuit of the disclosed electronic tail-gate anti-pinch state of the embodiment of the present invention;
The schematic diagram of control variable in electronic tail-gate opening procedure and electronic closing process when Fig. 2 is the disclosed normal operation of the embodiment of the present invention;
Fig. 3 is the determination methods diagram of circuit of the disclosed another electronic tail-gate anti-pinch state of the embodiment of the present invention;
Fig. 4 is the diagram of circuit whether disclosed definite electronic tail-gate of the embodiment of the present invention is in motoring condition;
Fig. 5 is the diagram of circuit of the determination methods of the disclosed another electronic tail-gate anti-pinch state of the embodiment of the present invention;
Fig. 6 is the diagram of circuit of the disclosed electronic tail-gate anti-clamping method of the embodiment of the present invention;
Fig. 7 is the structural representation of the judgement system of the disclosed electronic tail-gate anti-pinch state of the embodiment of the present invention;
Fig. 8 is the structural representation of the disclosed electronic tail-gate anti-clipping system of the embodiment of the present invention.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
As shown in Figure 1, the invention provides a kind of the first embodiment of determination methods of electronic tail-gate anti-pinch state, the present invention includes:
Step S101: if electronic tail-gate is in motoring condition, obtain the duration T of described motoring condition;
Whether electronic tail-gate is in motoring condition, status identifies by status signal, it is three kinds that the status signal of common electronic tail-gate divides status, be respectively and open, close and stop, if status signal status be open or close the time, judge that electronic tail-gate is in motoring condition, only be in motoring condition for simply introducing the electronic tail-gate of how to confirm at this, describe in detail in a second embodiment.When electronic tail-gate is in halted state, carry out other programs, this part wouldn't be the content that institute of the present invention emphasis relates to, and no longer describes in detail at this.
as shown in Figure 2, left figure is under normal operating condition, the schematic diagram of the change procedure of the control variable in electronic opening procedure in electronic tail-gate circuit, right figure is in electronic closing process, the change procedure of control variable in electronic tail-gate circuit, before carrying out the present invention, by technical personnel in the practical operation situation, artificial situation of change according to control variable con_var, the overall process of motoring condition is worth T1 by the very first time and the second time value T2 is divided into three time periods, wherein, with the duration T of described motoring condition during less than very first time value T1, when being T＜T1, as very first time section 100, when duration T during greater than very first time value T1 and less than the second time value T2, when being T1＜T＜T2, as the second time period 200, when duration T greater than the second time value T2, as the 3rd time period 300.
The control variable con_var that uses in the present invention can be any one or the several combinations in control variable con_var such as electric current, voltage or power in electronic tail-gate circuit, can decide according to concrete situation, is not construed as limiting at this.
Step S102: if T＜T1, con_var〉con1 determines that electronic tail-gate is in the anti-pinch state, even described duration T is worth T1 less than the very first time, and the control variable con_var in electronic tail-gate circuit determines that greater than the first preset value con1 described electronic tail-gate is in the anti-pinch state;
duration T and very first time value T1 and the second time value T2 are compared, if described duration T is worth T1 less than the very first time, the motoring condition that represents electronic tail-gate is in very first time section 100, very first time section 100 is the initial period of motoring condition, this stage time length is shorter, but the fluctuation of control variable con_var is larger, the rate of change rate of change is fast again, therefore the first preset value con1 is set as the threshold value in this time period, control variable con_var is less than the first preset value con1 in the process of the normal operation of electronic tail-gate, if the control variable con_var in electronic tail-gate circuit is greater than the first preset value con1, determine that described electronic tail-gate is in the anti-pinch state.
Step S103: if T1＜T＜T2, con_var〉Z1, determine that electronic tail-gate is in the anti-pinch state, even described duration T is greater than very first time value T1 and less than the second time value T2, described control variable con_var determines that greater than the first adaptation value Z1 described electronic tail-gate is in the anti-pinch state;
the second time period 200 was the transitional time period, if in section, object blocks arranged at this moment or hinder the electrokinetic process of electronic tail-gate, control variable con_var can increase suddenly, even the maxim than the control variable con_var in very first time section 100 is also large, the threshold value that arranges within this time period is too high, the excessive situation of anti-pinch power appears, the present invention is interior in the second time period 200 is the first adaptation value Z1 with threshold value setting, the first adaptation value Z1 can be seen as a variable, its numerical value be the maxim of very first time section 100 interior control variable con_var and the first side-play amount and value, the first side-play amount is a fixed value, when the maxim of control variable in very first time section changes, the first adaptation value can change thereupon, when described control variable during greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state.
In the second time period, the first adaptation value is a variable, therefore in the present invention, method can adapt to the different vehicle of each producer, the first adaptation value changes with the maxim of control variable in very first time section, adapt to judge whether to be in motoring condition in different situations within the second time period, so comformability is stronger.
Step S104: if T〉T2, if con_var〉Z1, and determine that electronic tail-gate is in the anti-pinch state, if V〉con2, nextcon_var〉Z2, satisfy with the next item down at least, determine that electronic tail-gate is in the anti-pinch state:
Described control variable is greater than the first adaptation value; Perhaps,
The rate of change of described control variable is greater than the second preset value, and the control variable in next time period is greater than the second adaptation value.
As shown in Figure 2, if described duration T is greater than the second time value T2, the duration T that represents electronic tail-gate motoring condition was in for the 3rd time period 300, the main process of opening or closing for electronic tail-gate in the 3rd time period 300, when if electronic tail-gate is electronic opening within the 3rd time period 300, control variable con_var is the little process of amplitude mild, fluctuation, if when electronic tail-gate is electronic closing, and the process of control variable con_var for reducing gradually with a certain rate of change.
In order to make the present invention both adapt to the electronic process of opening in the 3rd time period 300, adapt to again electronic process of closing, and can adapt to the obstruction of the object of different hardness, judge in the following ways in the present invention that whether electronic tail-gate is in the anti-pinch state, comprising:
First kind of way is carried out two deterministic processes simultaneously, and two deterministic processes have an establishment at least, determines that electronic tail-gate is in the anti-pinch state, comprising:
First deterministic process: whether judge control variable con_var greater than the first adaptation value Z1, if control variable con_var greater than the first adaptation value Z1, determines that electronic tail-gate is in the anti-pinch state;
Second deterministic process: judge that whether the rate of change V of control variable is greater than the second preset value con2, if the rate of change V of control variable is greater than the second preset value con2, judge that whether control variable nextcon_var in next time period is greater than the second adaptation value Z2, if the control variable nextcon_var in next time period greater than the second adaptation value Z2, determines that electronic tail-gate is in the anti-pinch state.
The second way, carry out the first nested judgement, comprise: carry out first deterministic process at skin, when control variable nextcon_var is not more than the first adaptation value Z1, carry out second deterministic process, in two judgements, both judge jointly whether electronic tail-gate is in the anti-pinch state, at least one deterministic process judgement is set up, and thinks that namely electronic tail-gate is in the anti-pinch state.
The third mode, carry out the second nested judgement, comprise: carry out second deterministic process at skin, if the control variable nextcon_var within next time period is not more than the second adaptation value Z2, carry out first deterministic process, both judge whether electronic tail-gate is in the anti-pinch state jointly, and at least one deterministic process judgement is set up, and thinks that namely electronic tail-gate is in the anti-pinch state.
Within the 3rd time period 300, the rate of change V of control variable during greater than the second preset value con2 the value of control variable become the second control variable, with the second control variable and the second side-play amount with value as the second adaptation value.
When T=T1, the T that judges this moment be in very first time section 100 or the second time period 200 all can, be not construed as limiting at this, in like manner, when T=T2, the T that judges this moment be in the second time period 200 or the 3rd time period 300 all can, can decide according to specific circumstances.
Be worth and the second time value according to the very first time in the present invention, the process of the motoring condition of tail-gate is divided into three different time periods, obtain the time length of electronic tail-gate motoring condition, time range residing according to time length, characteristics according to control variable in the different time scope, adopt different processing modes to judge whether anti-pinch state of electronic tail-gate, when therefore judging with this method whether tail-gate is in the anti-pinch state, False Rate is little.
Only explain main portion of the present invention in the first embodiment, the description of remainder second embodiment that meets each other.
As shown in Figure 3, the invention provides a kind of the second embodiment of determination methods of electronic tail-gate anti-pinch state, comprising:
Step S201: judge whether electronic tail-gate is in motoring condition, enter step S202 if be in motoring condition, otherwise carry out other programs;
The status signal stutas of electronic tail-gate has three kinds, be respectively and open, close and stop, generally represent by status signal in program, status signal in the application with 0 expression stop, 1 expression is electronicly opened, 2 electronic the closing of expression, status signal can be identified with program and get final product in this application, is not limited to this.When status signal is non-vanishing, judge that electronic tail-gate is in motoring condition.The change of the status signal of electronic tail-gate has three kinds of situations, and the first is controlled by teleswitch, such as, teleswitch is opened by representing that once tail-gate is electronic; Press once, tail-gate just stops action, namely is in halted state again; Press once, tail-gate is electronic closes again; Press once, tail-gate stops action again; The second motoring condition finishes automatically, and automatic right open mode is to halted state, and the third is because of unforeseen circumstances, by motoring condition to halted state.
The present invention determines that in program electronic tail-gate is in motoring condition and can realizes by following two kinds of methods:
First method:
The present invention is directly by judging whether status signal status is zero, whether judge that electronic tail-gate is in is in motoring condition, if status signal status is zero, represent that electronic tail-gate is in halted state, if status signal is non-vanishing, expression is in the motoring condition that electronic tail-gate is opened or closed.
Second method:
Because need are removed the door-lock opening time and eliminated the impact of door-lock opening surge of current, as shown in Figure 4, determine that the step that electronic tail-gate is in motoring condition comprises:
Step S401: judgement status=0? judge whether status signal status is in halted state, if status signal status is in halted state, status=0 carries out other programs, if status signal is not in halted state, status ≠ 0 item enters step S402;
Step S402: judgement con_var〉con3, judge that namely whether the value of control variable con_var in electronic tail-gate is greater than the 3rd preset value con3, if judge that greater than the 3rd preset value con3 electronic tail-gate is in motoring condition, if be not more than the 3rd preset value con3, enter step S401.
if status signal status is 0, represent that electronic tail-gate is in halted state, carry out other programs, if status signal status is not 0, represent that electronic tail-gate is in motoring condition, carry out further deterministic process, the 3rd preset value con3 is the value that the tail-gate circuit is in control variable con_var after motoring condition, therefore the control variable con_var in described tail-gate circuit is greater than the 3rd preset value con3, can determine that described electronic tail-gate is in motoring condition, if less than the 3rd preset value con3, directly return and rejudge status signal status and whether be in motoring condition.
Step S202: the duration T of obtaining described motoring condition;
timer is set in the present invention the duration T that electronic tail-gate is in motoring condition is carried out record, if electronic tail-gate advances motoring condition by halted state, opening timing device, if enter another kind of motoring condition by a kind of motoring condition, namely by electronic open mode to electronic closed condition, or by electronic closed condition to electronic open mode, reopen timer, re-start and record the duration T that electronic tail-gate is in motoring condition, when the duration T that needs motoring condition, directly use the current time of timer, the current time of timer is the motoring condition duration T.
Step S203: if described duration T is worth T1 less than the very first time, judge that in electronic tail-gate, whether control variable con_var is greater than the first preset value con1, if the control variable con_var in electronic tail-gate circuit is not more than the first preset value con1, enter step S204;
Step S204: judge whether motoring condition changes, if change, enter step S201, not changing as motoring condition enters step S203;
The essence of this step is: if described duration T is less than described very first time value T1, described control variable con_var in described electronic tail-gate circuit is not more than described the first preset value con1, judge that whether control variable con_var in described electronic tail-gate circuit is greater than described the first preset value con1, until the motoring condition of described electronic tail-gate changes.
Step S205: if described duration T is greater than very first time value T1 and less than the second time value T2, judge that whether described control variable con_var is greater than the first adaptation value Z1, if described control variable con_var is not more than the first adaptation value Z1, enter step S206;
Wherein the acquisition process of the first adaptation value comprises: described time length less than very first time value in, obtain the maxim of control variable in described electronic tail-gate circuit; The maxim of described control variable and the first side-play amount with the value as described the first adaptation value.
Step S206: judge whether motoring condition changes, if change, enter step S201, not changing as motoring condition enters step S205;
The essence of this step is: if described duration T is greater than described very first time value T1, described control variable con_var is not more than described the first adaptation value Z1, judge that whether described control variable con_var is greater than described the first adaptation value Z1, until the motoring condition of described electronic tail-gate changes.
Step S207: if described duration T greater than the second time value T2, judges that described control variable con_var whether greater than the first adaptation value Z1, if described control variable con_var is not more than the first adaptation value Z1, enters step S208;
Whether judge the rate of change of described control variable con_var greater than the second preset value con2, the rate of change of described control variable con_var is not more than the second preset value con2, enters step S208,
The computation process of described the second adaptation value comprises: described time length greater than the second time value in, the second control variable value of the rate of change that records described control variable during greater than described the second preset value; With described the second control variable value and the second side-play amount with the value as described the second adaptation value.
Step S208: judge whether motoring condition changes, if change, enter step S201, not changing as motoring condition enters step S207;
The essence of step S208 is:
If described duration T is greater than described very first time value T1, described control variable con_var is not more than described the first adaptation value Z1, judge that whether described control variable con_var is greater than described the first adaptation value Z1, until the motoring condition of described electronic tail-gate changes.If described duration T is greater than described the second time value T2, the control variable con_var of described next time period is not more than the second adaptation value Z2, judge that whether the rate of change of described control variable con_var is greater than described the second preset value con2, until described motoring condition changes.
After described motoring condition changes, enter step S201, and continue the described program of execution in step S201～S208, namely judge according to described duration T the anti-pinch state whether described electronic tail-gate is in, this process is the process of cycle criterion.
The reason of carrying out two judgements in the 3rd time period 300, in order to adapt to the judgement of anti-pinch state under different situations, for example: within the 3rd time period 300, there is a solid hard object to hinder suddenly the electrokinetic process of electronic tail-gate, no matter be electronic opening procedure or electronic closing process, the capital makes the value of control variable and the rate of change of control variable increase suddenly, if the value of control variable exceeds the first adaptation value, directly judges the folder state of putting that is in.If in the 3rd time period 300, when the value of control variable is not more than the first adaptation value, judge that whether the rate of change of control variable is greater than the second adaptation value.
But the object that a softness was arranged within the 3rd time period 300 has hindered the electrokinetic process of electronic tail-gate, the rate of change of the value of control variable and control variable can not increase suddenly, the control variable rate of change is almost constant can not exceed the second preset value certainly, so judge that whether rate of change is greater than the second preset value in section at this moment, erroneous judgement will certainly appear, because the value of control variable becomes large gradually along with the increase meeting of time, therefore during greater than the first adaptation value, can directly judge that electronic tail-gate is in the anti-pinch state when the value of control variable.Adopt dual mode to judge whether electronic tail-gate is in the anti-pinch state, for different situations, diverse ways is set in the 3rd time period 300, therefore make decision process more accurate.
The process that in the present invention, electronic tail-gate is in motoring condition is divided into three different time periods, characteristics according to electric current in different time sections, adopt different processing modes to judge whether anti-pinch state of electronic tail-gate, when therefore judging with this method whether tail-gate is in the anti-pinch state, False Rate is little, judge more accurately whether electronic tail-gate is in the anti-pinch state, makes the use of electronic tail-gate safer, relieved.
The above has introduced detailed content of the present invention, and the below introduces the present invention and is applied to detailed step in program design.
As shown in Figure 5, the diagram of circuit for determination methods the 3rd embodiment that the invention provides a kind of electronic tail-gate anti-pinch state comprises:
Step S301: judgement status=0? if status ≠ 0 enters step S302, if status=0 carries out other programs;
If status signal is 0, represent that electronic tail-gate is in halted state, carry out other programs, if status signal is not 0, represent that electronic tail-gate may be in motoring condition, therefore carry out further deterministic process.
Step S302: judgement con_var〉if con3 is con_var〉con3, enter step S303, if con_var less than con3, enters step S301.
Remove the impact of door-lock opening time and elimination door-lock opening surge of current because of need, judge that whether control variable con_var is greater than the 3rd preset value con3, as con_var〉during con3, be in motoring condition provable this moment, otherwise whether be zero, enter step S301 if continuing next status signal status constantly.
Step S303: carry out the initialization setting, even tail-gate is in motoring condition, and opening timing device T, anti-pinch signal F are set to 0;
If electronic tail-gate is in motoring condition, at first carry out the initialization setting, be opening timing device T, adopt timer T to record the time that electronic tail-gate is in motoring condition, by the T judgement residing time period of electronic tail-gate, and anti-pinch signal F is set to 0, F=0 and represents that electronic tail-gate is not in the anti-pinch state, and F=1 represents that electronic tail-gate is in the folder state of putting.
Step S304: judgement con_var〉con1? if con_var〉con1, enter step S305, if con_var≤con1 enters step S306;
Step S305: make F=1, be about to described anti-pinch signal F and be set to 1;
Step S306: if judgement stutas=exstutas is stutas=exstutas, if enter step S307 stutas ≠ exstutas, enter step S301.
Whether the status signal that namely judges electronic tail-gate changes, if status signal changes, enters step S301, re-executes this program;
The status signal of electronic tail-gate is divided into three kinds, stop, opening and closing, if status signal changes closed condition into by open mode, change halted state into, change open mode into or change any in four kinds of halted states into by closed condition by closed condition by open mode, the status signal that shows electronic tail-gate changes, enter step S307, if status signal does not change, enter step S301.
Step S307: judgement T＜T1 judges that namely the time value T of timer is whether in very first time section 100, if T＜T1 enters step S304, if T 〉=T1 enters step S308;
Whether the time T that judges timer in very first time section 100, if in very first time section, continues judgement con_var〉con1? otherwise entered for the second time period 200.
Step S308: judgement con_var〉Z1?, judge that namely whether described control variable con_var is greater than the first adaptation value Z1, if con_var〉and Z1, enter step S305, if con_var≤Z1 enters step S309;
The first adaptation value be maxim in very first time section and the first side-play amount and value, as control variable con_var during greater than the first adaptation value Z1, judge that electronic tail-gate is in the anti-pinch state, when if control variable con_var is not more than the first adaptation value Z1, judge whether the motoring condition of electronic tail-gate changes in order to enter at any time the time that next process is upgraded timer.
Step S309: if judgement stutas=exstutas is stutas=exstutas, enter step S310, if stutas ≠ exstutas enters step S301;
Whether the motoring condition that judges electronic tail-gate changes, if motoring condition changes, enters step S310, does not enter step S301 if motoring condition changes;
Step S310: judgement T＜T2?, judge that namely described timer T is whether within the second time period 200, if T＜T2 enters step S308, if T 〉=t2 enters step S311;
If within the second time period, continue judgement con_var〉Z1? if, exceeded for the second time period, entered for the 3rd time period, change judges whether electronic tail-gate is in the judgment mode of motoring condition.
Step S311: judgement con_var〉Z1? if con_var〉Z1 enters step S305, if con_var≤Z1 enters step S314.
Step S312: judgement V〉con2? judge that namely whether the rate of change V of described control variable is greater than the second preset value con2, if V〉con2, enter step S313, if V1≤Z2 enters step S314;
Under normal operating condition, the rate of change of control variable has a limit the second preset value con2, when the rate of change V of electric current exceeds the second preset value con2, anti-pinch might appear, in order to ensure anti-pinch occurring, judge further whether the value in next time period of control variable is in rising trend.
Step S313: judgement nextcon_var〉Z2, if the rate of change V of described control variable enters step S313 greater than described the second preset value con2, otherwise enter step S314,
Step S314: judgement judgement nextcon_var〉Z2? namely judge the value nextcon_var of control variable in next time period and the size of the second adaptation value Z2, if nextcon_var〉Z2, enter step S305, otherwise, enter step S313;
The second adaptation value be the second preset value and the second side-play amount and value.When the control variable con_var2 in the time period is greater than the second adaptation value instantly, can judge that the variation of control variable is in rising trend, can judge that electronic tail-gate is in the anti-pinch state.
Step S315: if judgement stutas=exstutas is stutas=exstutas, enter step S311, if stutas ≠ exstutas enters step S301;
Whether the motoring condition that judges electronic tail-gate changes, if the state of electronic tail-gate changes, enters step S301, if the state of electronic tail-gate does not change, enters step S311.
If the state of electronic tail-gate does not change, show that electronic tail-gate is in the 3rd time period, proceed judgement, when motoring condition changes, have three kinds may cause motoring condition to change: artificial Push switch, tail-gate be electronic is opened to desired location, the tail-gate electronic desired location that is closed to, when motoring condition changes, execution in step S301.
If tail-gate withdraws from from electric control state, i.e. external control instruction becomes 0 from 1 or 2, will be in halted state, and anti-pinch detects and finishes, if in whole anti-pinch testing process, the electronic control signal of tail-gate changes, and reinitializes the anti-pinch strategy.
T1 in said method of the present invention, the value of T2, different according to concrete vehicle, concrete can decide according to actual conditions, is not construed as limiting at this.The state that equals in said method in the present invention can belong to less than a side, also can belong to greater than a side, concrete decides with the concrete situation of foundation, again do not do restriction, be understandable that, even the state that equals in embodiments of the present invention belong to less than a side, it will be appreciated by persons skilled in the art that equal state also can belong to greater than a side.
As shown in Figure 6, the first embodiment for the present invention also provides a kind of electronic tail-gate anti-clamping method comprises:
S401: obtain the anti-pinch time that described electronic tail-gate is in the anti-pinch state, definite process of described electronic tail-gate anti-pinch state comprises: if electronic tail-gate is in motoring condition, obtain the time length of described motoring condition; If described time length was worth less than the very first time, the control variable in electronic tail-gate circuit determines that greater than the first preset value described electronic tail-gate is in the anti-pinch state; If described time length is greater than very first time value and less than the second time value, described control variable determines that greater than the first adaptation value described electronic tail-gate is in the anti-pinch state; If described time length is greater than the second time value, when satisfying with the next item down at least, determine that described electronic tail-gate is in the anti-pinch state: described control variable is greater than the first adaptation value; Perhaps, the rate of change of described control variable greater than the second preset value and the control variable in next time period greater than the second adaptation value;
When definite electronic tail-gate is in the anti-pinch state, opening timing device, concrete when opening timing device during F=1 in anti-pinch signal determination methods, the time of obtaining timer is in the anti-pinch time of anti-pinch state as electronic tail-gate.Judge whether motoring condition changes, concrete determination methods above introducing in detail, does not repeat them here, if the state of electronic tail-gate does not change, the 3rd time value is the threshold value of anti-pinch time, surpass the anti-pinch processing of this threshold value, if do not exceed the 3rd time value, continue to judge whether the state of electronic tail-gate changes, if change, re-execute the determination methods of anti-pinch signal, re-start initialization, and judge whether to be in the anti-pinch state.
S402: if the motoring condition of electronic tail-gate does not change, whether judge the described anti-pinch time less than the 3rd time value, until the described anti-pinch time exceeds described the 3rd time value;
S403: exceed described the 3rd time value when the described anti-pinch time, carry out anti-pinch and process.
Exceed the 3rd time value when the anti-pinch time, report to the police, stop by force the anti-pinch processing such as motoring condition
As shown in Figure 7, the present invention also provides a kind of judgement system of electronic tail-gate anti-pinch state, it is characterized in that, comprising:
The first judging unit 400 is used for judging whether described electronic tail-gate is in motoring condition;
As shown in Figure 8, the present invention also provides a kind of anti-clipping system of electronic tail-gate, it is characterized in that, comprising:
The second judging unit 600 is used for judging whether described electronic tail-gate is in motoring condition;
the second treater 700, be in motoring condition if be used for electronic tail-gate, obtain the time length of described motoring condition, if described time length was worth less than the very first time, control variable in electronic tail-gate circuit is greater than the first preset value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than very first time value and less than the second time value, described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than the second time value, determine that described electronic tail-gate is in the method for anti-pinch state, comprise: if described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, if the rate of change of described control variable is greater than the second preset value, control variable in next time period is greater than the second adaptation value, determine that described electronic tail-gate is in the anti-pinch state,
The 3rd treater 800 is used for obtaining the anti-pinch time that described electronic tail-gate is in the anti-pinch state;
If the motoring condition of electronic tail-gate does not change, whether judge the described anti-pinch time less than the 3rd time value, until the described anti-pinch time exceeds described the 3rd time value;
Exceed described the 3rd time value when the described anti-pinch time, carry out anti-pinch and process;
If the described function of the present embodiment method realizes with the form of SFU software functional unit and during as independently production marketing or use, can be stored in a computing equipment read/write memory medium.Based on such understanding, the part that the embodiment of the present invention contributes to prior art or the part of this technical scheme can embody with the form of software product, this software product is stored in a storage medium, comprise that some instructions are with so that a computing equipment (can be Personal Computer, server, mobile computing device or the network equipment etc.) carry out all or part of step of the described method of each embodiment of the present invention.And aforesaid storage medium comprises: the various media that can be program code stored such as USB flash disk, portable hard drive, read-only memory (ROM) (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD.
In this specification sheets, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is and the difference of other embodiment that between each embodiment, same or similar part is mutually referring to getting final product.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be apparent concerning those skilled in the art, and General Principle as defined herein can be in the situation that do not break away from the spirit or scope of the present invention, realization in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. the determination methods of an electronic tail-gate anti-pinch state, is characterized in that, comprising:
If electronic tail-gate is in motoring condition, obtain the time length of described motoring condition;
If described time length was worth less than the very first time, the control variable in electronic tail-gate circuit determines that greater than the first preset value described electronic tail-gate is in the anti-pinch state;
If described time length is greater than very first time value and less than the second time value, described control variable determines that greater than the first adaptation value described electronic tail-gate is in the anti-pinch state;
If described time length greater than the second time value, when satisfying with the next item down at least, determines that described electronic tail-gate is in the anti-pinch state:
Described control variable is greater than the first adaptation value; Perhaps,
The rate of change of described control variable is greater than the second preset value and in next time period, and control variable is greater than the second adaptation value.
2. the method for claim 1, is characterized in that, the computation process of described the first adaptation value comprises:
Within described time length was worth less than the very first time, obtain the maxim of control variable in described electronic tail-gate circuit;
The maxim of described control variable and the first side-play amount with the value as described the first adaptation value;
The computation process of described the second adaptation value comprises:
Described time length greater than the second time value in, the second control variable value of the rate of change that records described control variable during greater than described the second preset value;
With described the second control variable value and the second side-play amount with the value as described the second adaptation value.
3. the method for claim 1, is characterized in that, also comprises:
If described time length was worth less than the described very first time, described control variable in described electronic tail-gate circuit is not more than described the first preset value, judge that whether control variable in described electronic tail-gate circuit is greater than described the first preset value, until the motoring condition of described electronic tail-gate changes.
4. the method for claim 1, is characterized in that, also comprises:
If described time length was worth greater than the described very first time, described control variable is not more than described the first adaptation value, judges that whether described control variable is greater than described the first adaptation value, until the motoring condition of described electronic tail-gate changes.
5. the method for claim 1, is characterized in that, also comprises:
If described time length is greater than described the second time value, the control variable in described next time period is not more than the second adaptation value, judges that whether the rate of change of described control variable is greater than described the second preset value, until described motoring condition changes.
6. as claim 3,4 or 5 described methods, it is characterized in that, after described motoring condition changes, also comprise:
Obtain the time length of motoring condition after changing, after the described change of foundation, the time length of motoring condition judges the anti-pinch state whether described electronic tail-gate is in.
7. the method for claim 1, is characterized in that, definite process that described electronic tail-gate is in motoring condition comprises:
If the status signal of electronic tail-gate is not in halted state, the control variable in described tail-gate circuit determines that greater than the 3rd preset value described electronic tail-gate is in motoring condition.
8. the judgement system of an electronic tail-gate anti-pinch state, is characterized in that, comprising:
The first judging unit is used for judging whether described electronic tail-gate is in motoring condition;
first processor, be in motoring condition if be used for electronic tail-gate, obtain the time length of described motoring condition, if described time length was worth less than the very first time, control variable in electronic tail-gate circuit is greater than the first preset value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than very first time value and less than the second time value, described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than the second time value, determine that described electronic tail-gate is in the method for anti-pinch state, comprise: if described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, if the rate of change of described control variable is greater than the second preset value, control variable in next time period is greater than the second adaptation value, determine that described electronic tail-gate is in the anti-pinch state.
9. the anti-clamping method of an electronic tail-gate, is characterized in that, comprising:
Obtain described electronic tail-gate and be in anti-pinch time of anti-pinch state, definite process of described electronic tail-gate anti-pinch state comprises: if electronic tail-gate is in motoring condition, obtain the time length of described motoring condition; If described time length was worth less than the very first time, the control variable in electronic tail-gate circuit determines that greater than the first preset value described electronic tail-gate is in the anti-pinch state; If described time length is greater than very first time value and less than the second time value, described control variable determines that greater than the first adaptation value described electronic tail-gate is in the anti-pinch state; If described time length is greater than the second time value, when satisfying with the next item down at least, determine that described electronic tail-gate is in the anti-pinch state: described control variable is greater than the first adaptation value; Perhaps, the rate of change of described control variable greater than the second preset value and the control variable in next time period greater than the second adaptation value;
If the motoring condition of electronic tail-gate does not change, whether judge the described anti-pinch time less than the 3rd time value, until the described anti-pinch time exceeds described the 3rd time value;
Exceed described the 3rd time value when the described anti-pinch time, carry out anti-pinch and process.
10. the anti-clipping system of an electronic tail-gate, is characterized in that, comprising:
The second judging unit is used for judging whether described electronic tail-gate is in motoring condition;
the second treater, be in motoring condition if be used for electronic tail-gate, obtain the time length of described motoring condition, if described time length was worth less than the very first time, control variable in electronic tail-gate circuit is greater than the first preset value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than very first time value and less than the second time value, described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, if described time length is greater than the second time value, determine that described electronic tail-gate is in the method for anti-pinch state, comprise: if described control variable is greater than the first adaptation value, determine that described electronic tail-gate is in the anti-pinch state, if the rate of change of described control variable is greater than the second preset value, control variable in next time period is greater than the second adaptation value, determine that described electronic tail-gate is in the anti-pinch state,
The 3rd treater is used for obtaining the anti-pinch time that described electronic tail-gate is in the anti-pinch state;
If the motoring condition of electronic tail-gate does not change, whether judge the described anti-pinch time less than the 3rd time value, until the described anti-pinch time exceeds described the 3rd time value;
Exceed described the 3rd time value when the described anti-pinch time, carry out anti-pinch and process; Performance element is used for carrying out described anti-pinch and processes.
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Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Patentee after: Beijing Jingwei Hirain Technologies Co.,Inc. Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101 Patentee before: Beijing Jingwei HiRain Technologies Co.,Ltd. |