CN103112337B - 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 electric tail gate anti-pinch state.
Background technology
Along with the progress of automotive field technology and the quality of life in order to improve the mankind, the tail-gate of many automobiles changes motoring condition into, the mankind send order by teleswitch to automobile tail gate, and automobile tail gate is received order and opened or closed by automobile tail gate automatically by program controlled motor.
The state of automobile tail gate is divided into three states, opens, closes and stops.The process that wherein automobile tail gate opens or closes is electrokinetic process, if in the electrokinetic process that tail-gate opens or closes, because artificial origin or other reasons hinder opening or closing of tail-gate, then tail-gate can not stop due to obstruction, but can according to original order, continue to open or close, situations such as hindering the injured or article damage of the mankind that open or close of tail-gate therefore may be caused to occur.
Therefore in the program of automobile, automobile tail gate anti-clamping method is added in prior art, in the program of the method, extract the electric current in circuit when tail-gate is in motoring condition, and judge whether electric current is greater than some preset values, if be greater than this preset value, then judge that the electrokinetic process of tail-gate is in the state of being obstructed, i.e. anti-pinch state, if be less than this preset value, then judge that the electrokinetic process of tail-gate is in normal condition.
But when tail-gate is in motoring condition process, electric current is constantly change, example is opened for so that tail-gate is electronic, electric current in tail-gate circuit is for increasing gradually by zero and suddenly decline, then process to a certain degree is slowly risen to, and in prior art in electrokinetic process, only using a fixing preset value as threshold value, then compare with the size of the current value in circuit and preset value (threshold value), judge whether tail-gate is in anti-pinch state.Such as: current value maximum under setting normal operating condition is as A3, if threshold value is B, and B>A3(is not in order to affect the motoring condition of tail-gate under normal condition), during electric current A>B under normal circumstances in the circuit of electric tail gate, judge that electric tail gate is in anti-pinch state, but be zero or very little in the value of the initial time electric current A opening or closing tail-gate, even if now electric tail gate is in anti-pinch state, electric current A in tail-gate circuit is also less than B, i.e. A<B, then program can judge that now tail-gate is not in motoring condition, therefore it is contrary that the result using the method to judge to obtain and electric tail gate in reality carve situation about being now obstructed at this moment, when therefore using the method for automobile tail gate anti-pinch of the prior art, very easily there is situation about judging by accident.
Summary of the invention
The invention provides a kind of determination methods and system, anti-clamping method and system of electric tail gate anti-pinch state, when using this method to judge whether tail-gate is in anti-pinch state, False Rate is little.
In order to solve the problem, the present invention adopts following methods to realize:
A determination methods for electric tail gate anti-pinch state, comprising:
If electric tail gate is in motoring condition, obtain the time length of described motoring condition;
If described time length is less than very first time value, the control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state;
If described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state;
If described time length is greater than the second time value, when at least meeting with the next item down, then determine that described electric tail gate is in anti-pinch state:
Described control variable is greater than the first adaptation value; Or,
The rate of change of described control variable is greater than the second preset value and in subsequent time period, control variable is greater than the second adaptation value.
Preferably, the computation process of described first adaptation value, comprising:
Be less than in very first time value at described time length, obtain the maxim of control variable in described electric tail gate circuit;
The maxim of described control variable and the first side-play amount be worth as described first adaptation value;
The computation process of described second adaptation value, comprising:
Be greater than in the second time value at described time length, the rate of change recording described control variable is greater than the second control variable value during described second preset value;
Using described second control variable value and the second side-play amount be worth as described second adaptation value.
Preferably, described method also comprises:
If described time length is less than described very first time value, described control variable in described electric tail gate circuit is not more than described first preset value, then judge whether the control variable in described electric tail gate circuit is greater than described first preset value, until the motoring condition of described electric tail gate changes.
Preferably, described method also comprises:
If described time length is greater than described very first time value, described control variable is not more than described first adaptation value, then judge whether described control variable is greater than described first adaptation value, until the motoring condition of described electric tail gate changes.
Preferably, described method also comprises:
If described time length is greater than described second time value, the control variable in described subsequent time period is not more than the second adaptation value, then judge whether the rate of change of described control variable is greater than described 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, judge according to the time length of motoring condition after described change the anti-pinch state whether described electric tail gate is in.
Preferably, the deterministic process that described electric tail gate is in motoring condition comprises:
If the status signal of electric tail gate is not in halted state, the control variable in described tail-gate circuit is greater than the 3rd preset value, then determine that described electric tail gate is in motoring condition.
A judgement system for electric tail gate anti-pinch state, comprising:
First judging unit, for judging whether described electric tail gate is in motoring condition;
First processor, if be in motoring condition for electric tail gate, obtain the time length of described motoring condition, if described time length is less than very first time value, control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than the second time value, then determine that described electric tail gate is in the method for anti-pinch state, comprise: if described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if the rate of change of described control variable is greater than the second preset value, control variable in subsequent time period is greater than the second adaptation value, then determine that described electric tail gate is in anti-pinch state.
An anti-clamping method for electric tail gate, comprising:
Obtain the anti-pinch time that described electric tail gate is in anti-pinch state, the deterministic process of described electric tail gate anti-pinch state comprises: if electric tail gate is in motoring condition, obtain the time length of described motoring condition; If described time length is less than very first time value, the control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state; If described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state; If described time length is greater than the second time value, when at least meeting with the next item down, then determine that described electric tail gate is in anti-pinch state: described control variable is greater than the first adaptation value; Or the rate of change of described control variable is greater than the second preset value and control variable in subsequent time period is greater than the second adaptation value;
If the motoring condition of electric tail gate does not change, judge whether the described anti-pinch time is less than the 3rd time value, until the described anti-pinch time exceeds described 3rd time value;
Exceed described 3rd time value when the described anti-pinch time, carry out anti-pinch process.
An anti-clipping system for electric tail gate, comprising:
Second judging unit, for judging whether described electric tail gate is in motoring condition;
Second treater, if be in motoring condition for electric tail gate, obtain the time length of described motoring condition, if described time length is less than very first time value, control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than the second time value, then determine that described electric tail gate is in the method for anti-pinch state, comprise: if described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if the rate of change of described control variable is greater than the second preset value, control variable in subsequent time period is greater than the second adaptation value, then determine that described electric tail gate is in anti-pinch state,
3rd treater, is in the anti-pinch time of anti-pinch state for obtaining described electric tail gate;
If the motoring condition of electric tail gate does not change, judge whether the described anti-pinch time is less than the 3rd time value, until the described anti-pinch time exceeds described 3rd time value;
Exceed described 3rd time value when the described anti-pinch time, carry out anti-pinch process;
Performance element, for performing described anti-pinch process.
The invention provides a kind of determination methods of electric tail gate anti-pinch state, if electric tail gate is in motoring condition in this method, obtain the time length of described motoring condition, if described time length is less than very first time value, control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than the second time value, then determine that described electric tail gate is in the method for anti-pinch state, comprise, first method, if described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, second method, if the rate of change of described control variable is greater than the second preset value, control variable in subsequent time period is greater than the second adaptation value, then determine that described electric tail gate is in anti-pinch state, the third method, perform described first method and described second method simultaneously.
According to very first time value and the second time value in the present invention, the process of the motoring condition of tail-gate is divided into the time period that three different, obtain the time length of electric tail gate motoring condition, time range residing for time length, according to the feature of control variable within the scope of different time, adopt different processing modes to judge electric tail gate whether anti-pinch state, when therefore using this method to judge whether tail-gate is in anti-pinch state, False Rate is little.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The determination methods diagram of circuit of Fig. 1 electric tail gate anti-pinch state disclosed in the embodiment of the present invention;
Fig. 2 schematic diagram of control variable in electric tail gate opening procedure and electronic closing process when to be that the embodiment of the present invention is disclosed normal run;
The determination methods diagram of circuit of Fig. 3 another electric tail gate anti-pinch state disclosed in the embodiment of the present invention;
Fig. 4 determines disclosed in the embodiment of the present invention whether electric tail gate is in the diagram of circuit of motoring condition;
The diagram of circuit of Fig. 5 determination methods of another electric tail gate anti-pinch state disclosed in the embodiment of the present invention;
The diagram of circuit of Fig. 6 electric tail gate anti-clamping method disclosed in the embodiment of the present invention;
The structural representation of Fig. 7 judgement system of electric tail gate anti-pinch state disclosed in the embodiment of the present invention;
The structural representation of Fig. 8 electric tail gate anti-clipping system disclosed in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, the invention provides a kind of first embodiment of determination methods of electric tail gate anti-pinch state, the present invention includes:
Step S101: if electric tail gate is in motoring condition, obtains the duration T of described motoring condition;
Whether electric tail gate is in motoring condition, identified by status signal status, the status signal of usual electric tail gate divides status to be three kinds, be respectively and open, close and stop, if status signal status be open or close time, judge that electric tail gate is in motoring condition, be only simple introduction at this and how determine that electric tail gate is in motoring condition, describes in detail in a second embodiment.When electric tail gate is in halted state, then perform 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 conditions, the schematic diagram of the change procedure of the control variable in electronic opening procedure in electric tail gate circuit, right figure is in electronic closing process, the change procedure of control variable in electric tail gate circuit, before execution the present invention, by technical personnel in practical operation situation, artificially according to the situation of change of control variable con_var, the overall process of motoring condition is divided into three time periods by very first time value T1 and the second time value T2, wherein, when the duration T of described motoring condition is less than very first time value T1, namely during T<T1, as first time period 100, when duration T is greater than very first time value T1 and is less than the second time value T2, namely during T1<T<T2, as the second time period 200, when duration T is greater than the second time value T2, as the 3rd time period 300.
The control variable con_var used in the present invention can be any one or several combinations in the control variable con_var such as electric current, voltage or power in electric tail gate circuit, can determine according to concrete situation, in this no limit.
Step S102: if T<T1, con_var>con1 then determines that electric tail gate is in anti-pinch state, even described duration T is less than very first time value T1, control variable con_var in electric tail gate circuit is greater than the first preset value con1, then determine that described electric tail gate is in anti-pinch state;
Duration T and very first time value T1 and the second time value T2 are contrasted, if described duration T is less than very first time value T1, then represent that the motoring condition of electric tail gate is in first time period 100, first time period 100 is the initial period of motoring condition, this phase duration is shorter, but the fluctuation of control variable con_var is larger, rate of change rate of change is fast again, therefore first preset value con1 is set as the threshold value in this time period, in the process that electric tail gate is normally run, control variable con_var is less than the first preset value con1, if the control variable con_var in electric tail gate circuit is greater than the first preset value con1, then determine that described electric tail gate is in anti-pinch state.
Step S103: if T1<T<T2, con_var>Z1, then determine that electric tail gate is in anti-pinch state, even described duration T is greater than very first time value T1 and is less than the second time value T2, described control variable con_var is greater than the first adaptation value Z1, then determine that described electric tail gate is in anti-pinch state;
Second time period 200 was the transitional time period, if have object to stop at this moment in section or hinder the electrokinetic process of electric tail gate, then control variable con_var can increase suddenly, even also large than the maxim of the control variable con_var in first time period 100, the threshold value arranged within this time period is too high, there is the situation that anti-grip force is excessive, threshold value is set to the first adaptation value Z1 by the present invention within the second time period 200, first adaptation value Z1 can be seen as a variable, its numerical value be the maxim of control variable con_var in first time period 100 and the first side-play amount and value, first side-play amount is a fixed value, when in first time period, the maxim of control variable changes, first adaptation value can change thereupon, when described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state.
In second time period, first adaptation value is a variable, therefore in the present invention, method can adapt to the different vehicle of each producer, first adaptation value changes with the maxim change of control variable in first time period, judge whether to be in motoring condition when adapting to different within the second time period, therefore comformability is stronger.
Step S104: if T>T2, if con_var>Z1, determine that electric tail gate is in anti-pinch state, if V>con2, nextcon_var>Z2, at least meet with the next item down, then determine that electric tail gate is in anti-pinch state:
Described control variable is greater than the first adaptation value; Or,
The rate of change of described control variable is greater than the second preset value, and the control variable in subsequent 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, then represent that the duration T of electric tail gate motoring condition was in for the 3rd time period 300, in the 3rd time period 300 for electric tail gate carries out the main process of opening or closing, if when within the 3rd time period 300, electric tail gate is electronic opening, control variable con_var is the little process of amplitude that is mild, fluctuation, if when electric tail gate is electronic closedown, control variable con_var is the process reduced gradually with a certain rate of change.
In order to make the present invention both adapt to the electronic process opened in the 3rd time period 300, adapting to again the process of electronic closedown, and the obstruction of the object of different hardness can be adapted to, carry out in the following ways in the present invention judging whether electric tail gate is in anti-pinch state, comprising:
First kind of way, carries out two deterministic processes simultaneously, and two deterministic processes have an establishment at least, then determine that electric tail gate is in anti-pinch state, comprising:
First deterministic process: judge whether control variable con_var is greater than the first adaptation value Z1, if control variable con_var is greater than the first adaptation value Z1, then determines that electric tail gate is in anti-pinch state;
Second deterministic process: judge 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, then judge whether the control variable nextcon_var in subsequent time period is greater than the second adaptation value Z2, if the control variable nextcon_var in subsequent time period is greater than the second adaptation value Z2, then determine that electric tail gate is in 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 judging at two, both judge whether electric tail gate is in anti-pinch state jointly, at least one deterministic process judges to set up, and namely thinks that electric tail gate is in anti-pinch state.
The third mode, carry out the second nested judgement, comprise: carry out second deterministic process at skin, if when the control variable nextcon_var in subsequent time period is not more than the second adaptation value Z2, carry out first deterministic process, both judge whether electric tail gate is in anti-pinch state jointly, and at least one deterministic process judges to set up, and namely thinks that electric tail gate is in anti-pinch state.
Within the 3rd time period 300, when the rate of change V of control variable is greater than the second preset value con2, the value of control variable becomes the second control variable, using the second control variable and the second side-play amount be worth as the second adaptation value.
As T=T1, judge T be now in first time period 100 or the second time period 200 all can, in this no limit, in like manner, as T=T2, the T judging now be in the second time period 200 or the 3rd time period 300 all can, can determine according to specific circumstances.
According to very first time value and the second time value in the present invention, the process of the motoring condition of tail-gate is divided into the time period that three different, obtain the time length of electric tail gate motoring condition, time range residing for time length, according to the feature of control variable within the scope of different time, adopt different processing modes to judge electric tail gate whether anti-pinch state, when therefore using this method to judge whether tail-gate is in anti-pinch state, False Rate is little.
Only state main portion of the present invention in first embodiment, the description of remainder is met each other the second embodiment.
As shown in Figure 3, the invention provides a kind of second embodiment of determination methods of electric tail gate anti-pinch state, comprising:
Step S201: judge whether electric tail gate is in motoring condition, if be in motoring condition to enter step S202, otherwise performs other programs;
The status signal stutas of electric tail gate has three kinds, be respectively and open, close and stop, generally represented by status signal in a program, status signal in the application 0 to represent that stopping, 1 represents electronic and opens, 2 represent electronic closedown, status signal can identify with program in this application, is not limited to this.When status signal is non-vanishing, judge that electric tail gate is in motoring condition.The change of the status signal of electric tail gate has three kinds of situations, and the first, controlled by teleswitch, and such as, teleswitch is opened by once representing that tail-gate is electronic; Press once, tail-gate just stops action, is namely in halted state again; Press once again, the electronic closedown of tail-gate; Press once, tail-gate stops action again; The second motoring condition terminates 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 electric tail gate is in motoring condition and realizes by following two kinds of methods in a program:
First method:
The present invention is directly by judging whether status signal status is zero, judge that electric tail gate is in and whether be in motoring condition, if status signal status is zero, then represent that electric tail gate is in halted state, if status signal is non-vanishing, then represent the motoring condition being in electric tail gate and opening or close.
Second method:
Because the door-lock opening time need be removed and eliminate the impact of door-lock opening surge of current, as shown in Figure 4, determine that the step that electric tail gate is in motoring condition comprises:
Step S401: judge status=0? judge whether status signal status is in halted state, if status signal status is in halted state, status=0 then performs other programs, if status signal is not in halted state, status ≠ 0 item enters step S402;
Step S402: judge con_var>con3, namely judge whether the value of control variable con_var in electric tail gate is greater than the 3rd preset value con3, if be greater than the 3rd preset value con3, judge that electric tail gate is in motoring condition, if be not more than the 3rd preset value con3, then enter step S401.
If status signal status is 0, then represent that electric tail gate is in halted state, perform other programs, if status signal status is not 0, represent that electric tail gate is in motoring condition, carry out further deterministic process, 3rd preset value con3 is the value that tail-gate circuit is in control variable con_var after motoring condition, therefore when the control variable con_var in described tail-gate circuit is greater than the 3rd preset value con3, then can determine that described electric tail gate is in motoring condition, if be less than the 3rd preset value con3, then directly return and rejudge status signal status and whether be in motoring condition.
Step S202: the duration T obtaining described motoring condition;
Timer is set in the present invention record is carried out to the duration T that electric tail gate is in motoring condition, if electric tail gate enters motoring condition by halted state, then opening timing device, if enter another kind of motoring condition by a kind of motoring condition, namely by electronic open mode extremely electronic closed condition, or by electronic closed condition to electronic open mode, then reopen timer, re-start the duration T that record electric tail gate is in motoring condition, when needing the duration T of motoring condition, then directly use the current time of timer, timer current time is motoring condition duration T.
Step S203: if described duration T is less than very first time value T1, judge in electric tail gate, whether control variable con_var is greater than the first preset value con1, if the control variable con_var in electric tail gate circuit is not more than the first preset value con1, then enter step S204;
Step S204: judge whether motoring condition changes, if change, then enter step S201, as motoring condition does not change, enter 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 electric tail gate circuit is not more than described first preset value con1, then judge whether the control variable con_var in described electric tail gate circuit is greater than described first preset value con1, until the motoring condition of described electric tail gate changes.
Step S205: if described duration T is greater than very first time value T1 and be less than the second time value T2, judge 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, then enter step S206;
Wherein the acquisition process of the first adaptation value comprises: be less than in very first time value at described time length, obtains the maxim of control variable in described electric tail gate circuit; The maxim of described control variable and the first side-play amount be worth as described first adaptation value.
Step S206: judge whether motoring condition changes, if change, then enter step S201, as motoring condition does not change, enter 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 first adaptation value Z1, then judge whether described control variable con_var is greater than described first adaptation value Z1, until the motoring condition of described electric tail gate changes.
Step S207: if described duration T is greater than the second time value T2, judges 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, then enters step S208;
Judge whether the rate of change of described control variable con_var is 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, then enter step S208,
The computation process of described second adaptation value, comprising: be greater than in the second time value at described time length, and the rate of change recording described control variable is greater than the second control variable value during described second preset value; Using described second control variable value and the second side-play amount be worth as described second adaptation value.
Step S208: judge whether motoring condition changes, if change, then enter step S201, as motoring condition does not change, enter 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 first adaptation value Z1, then judge whether described control variable con_var is greater than described first adaptation value Z1, until the motoring condition of described electric tail gate changes.If described duration T is greater than described second time value T2, the control variable con_var of described subsequent time period is not more than the second adaptation value Z2, then judge whether the rate of change of described control variable con_var is greater than described second preset value con2, until described motoring condition changes.
After described motoring condition changes, enter step S201, and continue to perform the program described in step S201 ~ S208, namely judge according to described duration T the anti-pinch state whether described electric tail gate is in, this process is the process of cycle criterion.
Two reasons judged are carried out in the 3rd time period 300, it is the judgement in order to adapt to anti-pinch state under different situations, such as: within the 3rd time period 300, a solid hard object is had to hinder suddenly the electrokinetic process of electric tail gate, no matter be electronic opening procedure or electronic closing process, 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, then directly judges to be in put clip-like state.If in the 3rd time period 300, when the value of control variable is not more than the first adaptation value, then judge whether the rate of change of control variable is greater than the second adaptation value.
But within the 3rd time period 300, there is a soft object to hinder the electrokinetic process of electric tail gate, then the value of control variable and the rate of change of control variable can not increase suddenly, control variable rate of change is almost constant can not exceed the second preset value certainly, therefore at this moment between judge whether rate of change is greater than the second preset value in section, erroneous judgement will certainly be there is, because the value of control variable can become large gradually along with the increase of time, therefore when the value of control variable is greater than the first adaptation value, then directly can judge that electric tail gate is in anti-pinch state.Adopt in the 3rd time period 300 and judge whether electric tail gate is in anti-pinch state in two ways, diverse ways is set for different situations, therefore makes decision process more accurate.
The process in the present invention, electric tail gate being in motoring condition is divided into three different time periods, according to the feature of electric current in different time sections, different processing modes is adopted to judge electric tail gate whether anti-pinch state, when therefore using this method to judge whether tail-gate is in anti-pinch state, False Rate is little, judge whether electric tail gate is in anti-pinch state more accurately, make the use of electric tail gate safer, relieved.
Be described above detailed content of the present invention, introduce the present invention below and be applied to the detailed step in program design.
As shown in Figure 5, for the invention provides a kind of diagram of circuit of determination methods the 3rd embodiment of electric tail gate anti-pinch state, comprising:
Step S301: judge status=0? if status ≠ 0, then enter step S302, if status=0, then perform other programs;
If status signal is 0, then represent that electric tail gate is in halted state, performs other programs, if status signal is not 0, represents that electric tail gate may be in motoring condition, therefore carry out further deterministic process.
Step S302: if judge con_var>con3 con_var>con3, enter step S303, if con_var is less than con3, then enters step S301.
Because the impact of door-lock opening time and elimination door-lock opening surge of current need be removed, then judge whether control variable con_var is greater than the 3rd preset value con3, as con_var>con3, then provablely now be in motoring condition, otherwise whether the status signal status continuing subsequent time is zero, enters step S301.
Step S303: carry out Initialize installation, even tail-gate is in motoring condition, then opening timing device T, anti-pinch signal F is set to 0;
If electric tail gate is in motoring condition, first Initialize installation is carried out, i.e. opening timing device T, timer T record electric tail gate is adopted to be in the time of motoring condition, the time period residing for electric tail gate is judged by T, and anti-pinch signal F is set to 0, F=0 represents that electric tail gate is not in anti-pinch state, F=1 represents that electric tail gate is in and puts clip-like state.
Step S304: judge con_var>con1? if con_var>con1, then enter step S305, if con_var≤con1, then enter step S306;
Step S305: make F=1, is set to 1 by described anti-pinch signal F;
Step S306: if judge stutas=exstutas stutas=exstutas, if then enter step S307 stutas ≠ exstutas, enter step S301.
Namely judge whether the status signal of electric tail gate changes, if status signal changes, then enters step S301, re-executes this program;
The status signal of electric 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 by open mode, changed into open mode by closed condition or change any one in halted state four kinds into by closed condition, then show that the status signal of electric tail gate changes, enter step S307, if status signal does not change, then enter step S301.
Step S307: judge T<T1, namely judges that the time value T of timer is whether in first time period 100, if T<T1, then enters step S304, if T >=T1, then enters step S308;
Judge that the time T of timer is whether in first time period 100, if in first time period, then continue to judge con_var>con1? otherwise entered for the second time period 200.
Step S308: judge con_var>Z1?, namely judge whether described control variable con_var is greater than the first adaptation value Z1, if con_var>Z1, then enters step S305, if con_var≤Z1, enters step S309;
First adaptation value be maxim in first time period and the first side-play amount and value, when control variable con_var is greater than the first adaptation value Z1, then judge that electric tail gate is in anti-pinch state, if when control variable con_var is not more than the first adaptation value Z1, then judge whether the motoring condition of electric tail gate changes to enter the time that next process upgrades timer at any time.
Step S309: if judge stutas=exstutas stutas=exstutas, then enter step S310, if stutas ≠ exstutas, enters step S301;
Judge whether the motoring condition of electric tail gate changes, if motoring condition changes, then enters step S310, if motoring condition does not change, enters step S301;
Step S310: judge T<T2?, namely judge described timer T whether within the second time period 200, if T<T2, then enter step S308, if T >=t2, then enter step S311;
If within the second time period, then continue to judge con_var>Z1? if exceeded for the second time period, entered for the 3rd time period, then change and judge whether electric tail gate is in the judgment mode of motoring condition.
Step S311: judge con_var>Z1? if con_var>Z1, enter step S305, if con_var≤Z1, then enter step S314.
Step S312: judge V>con2? namely judge whether the rate of change V of described control variable is greater than the second preset value con2, if V>con2, enters step S313, if V1≤Z2, enters step S314;
Under normal operating conditions, the rate of change of control variable has a limit second preset value con2, when the rate of change V of electric current exceeds the second preset value con2, then likely there is anti-pinch, in order to ensure there is anti-pinch, then judge that whether the value in control variable subsequent time period is in rising trend further.
Step S313: judge nextcon_var>Z2, if the rate of change V of described control variable is greater than described second preset value con2, enters step S313, otherwise enters step S314,
Step S314: judge nextcon_var>Z2? namely the value nextcon_var of control variable in subsequent time period and the size of the second adaptation value Z2 is judged, if nextcon_var>Z2, then enter step S305, otherwise, enter step S313;
Second adaptation value be the second preset value and the second side-play amount and value.When the control variable con_var2 in subsequent time period is greater than the second adaptation value, then can judges that the change of control variable is in rising trend, can judge that electric tail gate is in anti-pinch state.
Step S315: if judge stutas=exstutas stutas=exstutas, then enter step S311, if stutas ≠ exstutas, enters step S301;
Judge whether the motoring condition of electric tail gate changes, if the state of electric tail gate changes, then enters step S301, if the state of electric tail gate does not change, then enters step S311.
If the state of electric tail gate does not change, then show that electric tail gate is in the 3rd time period, proceed to judge, when motoring condition changes, there are three kinds motoring condition may be caused to change: artificial Push switch, tail-gate be electronic is opened to desired location, tail-gate is electronic is closed to desired location, when motoring condition changes, then perform step S301.
If tail-gate exits from electric control state, namely external control instruction becomes 0 from 1 or 2, will be in halted state, then anti-pinch detects and terminates, if in whole anti-pinch testing process, tail-gate Electronic control signal changes, then reinitialize anti-pinch strategy.
The value of T1, T2 in said method of the present invention, different according to concrete vehicle, concrete can determine according to actual conditions, in this no limit.The state equaled in said method in the present invention can belong to the side be less than, also the side be greater than can be belonged to, concrete to determine according to concrete situation, again do not limit, be understandable that, even if the state equaled in embodiments of the present invention belongs to the side be less than, it will be appreciated by persons skilled in the art that equaling state also can belong to the side be greater than.
As shown in Figure 6, be the first embodiment that the present invention also provides a kind of electric tail gate anti-clamping method, comprise:
S401: obtain the anti-pinch time that described electric tail gate is in anti-pinch state, the deterministic process of described electric tail gate anti-pinch state comprises: if electric tail gate is in motoring condition, obtain the time length of described motoring condition; If described time length is less than very first time value, the control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state; If described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state; If described time length is greater than the second time value, when at least meeting with the next item down, then determine that described electric tail gate is in anti-pinch state: described control variable is greater than the first adaptation value; Or the rate of change of described control variable is greater than the second preset value and control variable in subsequent time period is greater than the second adaptation value;
When determining that electric tail gate is in anti-pinch state, then opening timing device, concrete when then opening timing device during F=1 in anti-pinch signal determination methods, the time obtaining timer is in the anti-pinch time of anti-pinch state as electric tail gate.Judge whether motoring condition changes, concrete determination methods is introduced in detail above, does not repeat them here, if the state of electric tail gate does not change, 3rd time value is the threshold value of anti-pinch time, exceed the then anti-pinch process of this threshold value, if do not exceed the 3rd time value, then continue to judge whether the state of electric tail gate changes, if change, then re-execute the determination methods of anti-pinch signal, re-start initialization, and judge whether to be in anti-pinch state.
S402: if the motoring condition of electric tail gate does not change, judges whether the described anti-pinch time is less than the 3rd time value, until the described anti-pinch time exceeds described 3rd time value;
S403: exceed described 3rd time value when the described anti-pinch time, carry out anti-pinch process.
Exceed the 3rd time value when the anti-pinch time, report to the police, stop the anti-pinch process such as motoring condition by force
As shown in Figure 7, present invention also offers a kind of judgement system of electric tail gate anti-pinch state, it is characterized in that, comprising:
First judging unit 400, for judging whether described electric tail gate is in motoring condition;
First processor 500, if be in motoring condition for electric tail gate, obtain the time length of described motoring condition, if described time length is less than very first time value, control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than the second time value, then determine that described electric tail gate is in the method for anti-pinch state, comprise: if described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if the rate of change of described control variable is greater than the second preset value, control variable in subsequent time period is greater than the second adaptation value, then determine that described electric tail gate is in anti-pinch state.
As shown in Figure 8, the present invention also provides a kind of anti-clipping system of electric tail gate, it is characterized in that, comprising:
Second judging unit 600, for judging whether described electric tail gate is in motoring condition;
Second treater 700, if be in motoring condition for electric tail gate, obtain the time length of described motoring condition, if described time length is less than very first time value, control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than the second time value, then determine that described electric tail gate is in the method for anti-pinch state, comprise: if described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if the rate of change of described control variable is greater than the second preset value, control variable in subsequent time period is greater than the second adaptation value, then determine that described electric tail gate is in anti-pinch state,
3rd treater 800, is in the anti-pinch time of anti-pinch state for obtaining described electric tail gate;
If the motoring condition of electric tail gate does not change, judge whether the described anti-pinch time is less than the 3rd time value, until the described anti-pinch time exceeds described 3rd time value;
Exceed described 3rd time value when the described anti-pinch time, carry out anti-pinch process;
Performance element 900, for performing described anti-pinch process.
If the function described in the present embodiment method using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computing equipment read/write memory medium.Based on such understanding, the part of the part that the embodiment of the present invention contributes to prior art or this technical scheme can embody with the form of software product, this software product is stored in a storage medium, comprising some instructions in order to make a computing equipment (can be Personal Computer, server, mobile computing device or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: 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 etc. various can be program code stored medium.
In this specification sheets, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiment, between each embodiment same or similar part mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. a determination methods for electric tail gate anti-pinch state, is characterized in that, comprising:
If electric tail gate is in motoring condition, obtain the time length of described motoring condition;
If described time length is less than very first time value, the control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state;
If described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state;
If described time length is greater than the second time value, when at least meeting with the next item down, then determine that described electric tail gate is in anti-pinch state:
Described control variable is greater than the first adaptation value; Or,
The rate of change of described control variable is greater than the second preset value and in subsequent time period, control variable is greater than the second adaptation value;
Wherein, the computation process of described first adaptation value, comprising:
Be less than in very first time value at described time length, obtain the maxim of control variable in described electric tail gate circuit; The maxim of described control variable and the first side-play amount be worth as described first adaptation value;
The computation process of described second adaptation value, comprising:
Be greater than in the second time value at described time length, the rate of change recording described control variable is greater than the second control variable value during described second preset value; Using described second control variable value and the second side-play amount be worth as described second adaptation value.
2. the method for claim 1, is characterized in that, also comprises:
If described time length is less than described very first time value, described control variable in described electric tail gate circuit is not more than described first preset value, then judge whether the control variable in described electric tail gate circuit is greater than described first preset value, until the motoring condition of described electric tail gate changes.
3. the method for claim 1, is characterized in that, also comprises:
If described time length is greater than described very first time value, described control variable is not more than described first adaptation value, then judge whether described control variable is greater than described first adaptation value, until the motoring condition of described electric tail gate changes.
4. the method for claim 1, is characterized in that, also comprises:
If described time length is greater than described second time value, the control variable in described subsequent time period is not more than the second adaptation value, then judge whether the rate of change of described control variable is greater than described second preset value, until described motoring condition changes.
5. the method as described in claim 2,3 or 4, is characterized in that, after described motoring condition changes, also comprises:
Obtain the time length of motoring condition after changing, judge according to the time length of motoring condition after described change the anti-pinch state whether described electric tail gate is in.
6. the method for claim 1, is characterized in that, the deterministic process that described electric tail gate is in motoring condition comprises:
If the status signal of electric tail gate is not in halted state, the control variable in described electric tail gate circuit is greater than the 3rd preset value, then determine that described electric tail gate is in motoring condition.
7. a judgement system for electric tail gate anti-pinch state, is characterized in that, comprising:
First judging unit, for judging whether described electric tail gate is in motoring condition;
First processor, if be in motoring condition for electric tail gate, obtain the time length of described motoring condition, if described time length is less than very first time value, control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than the second time value, then determine that described electric tail gate is in the method for anti-pinch state, comprise: if described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if the rate of change of described control variable is greater than the second preset value, control variable in subsequent time period is greater than the second adaptation value, then determine that described electric tail gate is in anti-pinch state,
Wherein, the computation process of described first adaptation value, comprising:
Be less than in very first time value at described time length, obtain the maxim of control variable in described electric tail gate circuit; The maxim of described control variable and the first side-play amount be worth as described first adaptation value;
The computation process of described second adaptation value, comprising:
Be greater than in the second time value at described time length, the rate of change recording described control variable is greater than the second control variable value during described second preset value; Using described second control variable value and the second side-play amount be worth as described second adaptation value.
8. an anti-clamping method for electric tail gate, is characterized in that, comprising:
Obtain the anti-pinch time that described electric tail gate is in anti-pinch state, the deterministic process of described electric tail gate anti-pinch state comprises: if electric tail gate is in motoring condition, obtain the time length of described motoring condition; If described time length is less than very first time value, the control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state; If described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state; If described time length is greater than the second time value, when at least meeting with the next item down, then determine that described electric tail gate is in anti-pinch state: described control variable is greater than the first adaptation value; Or the rate of change of described control variable is greater than the second preset value and control variable in subsequent time period is greater than the second adaptation value;
If the motoring condition of electric tail gate does not change, judge whether the described anti-pinch time is less than the 3rd time value, until the described anti-pinch time exceeds described 3rd time value;
Exceed described 3rd time value when the described anti-pinch time, carry out anti-pinch process;
Wherein, the computation process of described first adaptation value, comprising:
Be less than in very first time value at described time length, obtain the maxim of control variable in described electric tail gate circuit; The maxim of described control variable and the first side-play amount be worth as described first adaptation value;
The computation process of described second adaptation value, comprising:
Be greater than in the second time value at described time length, the rate of change recording described control variable is greater than the second control variable value during described second preset value; Using described second control variable value and the second side-play amount be worth as described second adaptation value.
9. an anti-clipping system for electric tail gate, is characterized in that, comprising:
Second judging unit, for judging whether described electric tail gate is in motoring condition;
Second treater, if be in motoring condition for electric tail gate, obtain the time length of described motoring condition, if described time length is less than very first time value, control variable in electric tail gate circuit is greater than the first preset value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than very first time value and be less than the second time value, described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if described time length is greater than the second time value, then determine that described electric tail gate is in the method for anti-pinch state, comprise: if described control variable is greater than the first adaptation value, then determine that described electric tail gate is in anti-pinch state, if the rate of change of described control variable is greater than the second preset value, control variable in subsequent time period is greater than the second adaptation value, then determine that described electric tail gate is in anti-pinch state,
Wherein, the computation process of described first adaptation value, comprising:
Be less than in very first time value at described time length, obtain the maxim of control variable in described electric tail gate circuit; The maxim of described control variable and the first side-play amount be worth as described first adaptation value;
The computation process of described second adaptation value, comprising:
Be greater than in the second time value at described time length, the rate of change recording described control variable is greater than the second control variable value during described second preset value; Using described second control variable value and the second side-play amount be worth as described second adaptation value;
3rd treater, is in the anti-pinch time of anti-pinch state for obtaining described electric tail gate;
If the motoring condition of electric tail gate does not change, judge whether the described anti-pinch time is less than the 3rd time value, until the described anti-pinch time exceeds described 3rd time value;
Exceed described 3rd time value when the described anti-pinch time, carry out anti-pinch process;
Performance element, for performing described anti-pinch process.
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| CN105401822B (en) * | 2015-12-31 | 2017-04-05 | 北京经纬恒润科技有限公司 | A kind of electronic side sliding door anti-clamping method and system |
| CN106323642B (en) * | 2016-07-29 | 2019-01-29 | 北京经纬恒润科技有限公司 | A kind of Antipinch detection method and system |
| JP7063600B2 (en) * | 2017-12-19 | 2022-05-09 | 東日本旅客鉄道株式会社 | Door pinch detection device and door pinch detection system |
| CN110656834A (en) * | 2018-09-05 | 2020-01-07 | 辽宁智在前行科技有限公司 | Intelligent anti-pinch device for tail gate |
| CN109402946B (en) * | 2018-11-30 | 2019-12-17 | 无锡小天鹅电器有限公司 | Equipment operation control method and device and clothes treatment device |
| CN111367205B (en) * | 2020-03-05 | 2021-07-09 | 南京美均电子科技有限公司 | Anti-pinch algorithm for electric tail gate control |
| CN111267593B (en) * | 2020-03-24 | 2021-08-24 | 北京经纬恒润科技股份有限公司 | Control method and device for vehicle body closing system |
| CN111706200B (en) * | 2020-05-29 | 2022-04-26 | 东风汽车有限公司 | Anti-pinch control method for electric suction door and electronic equipment |
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