CN115788209A - Anti-pinch method, system, equipment and storage medium for electric tail gate of vehicle - Google Patents
Anti-pinch method, system, equipment and storage medium for electric tail gate of vehicle Download PDFInfo
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- CN115788209A CN115788209A CN202211446971.XA CN202211446971A CN115788209A CN 115788209 A CN115788209 A CN 115788209A CN 202211446971 A CN202211446971 A CN 202211446971A CN 115788209 A CN115788209 A CN 115788209A
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Abstract
The application discloses anti-pinch method, system, equipment and storage medium of vehicle electric tail gate is applied to vehicle control technical field, includes: in the motion process of an electric tail gate of a vehicle, when the motion blockage of the electric tail gate is detected through a first anti-pinch algorithm, the electric tail gate is controlled to stop moving or move reversely; when the electric tail gate is detected to be in a uniform motion stage, judging whether the duty ratio of the PWM signal exceeds a set duty ratio threshold value or not by using a second anti-pinch algorithm, wherein the duration time reaches a first time; if so, controlling the electric tail gate to stop moving or reversely moving. The scheme of using this application has set up two kinds simultaneously and has prevented pressing from both sides the trigger mode, and realizes preventing pressing from both sides based on the duty cycle of PWM signal, is difficult to receive the influence of the current operating mode of vehicle, and the reliability is very high, can avoid pressing from both sides the condition of hindering the user effectively.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an anti-pinch method, an anti-pinch system, anti-pinch equipment and a storage medium for an electric tail gate of a vehicle.
Background
When the electric tail gate of the vehicle is opened or closed, the electric tail gate is likely to touch an obstacle, and when the obstacle is detected to be touched, the electric tail gate moves in the opposite direction, so that the situations of clamping children, damaging the vehicle and the like are effectively prevented.
In the current vehicle, the anti-pinch logic of the electric tail gate is mainly realized based on the speed detection of the tail gate. Namely, the rotation of the rotor of the motor can enable the output shaft of the motor to rotate, so as to drive the magnetic ring, the Hall sensor can detect the magnetic field change in the running process of the motor, convert the magnetic field change into a corresponding pulse signal and send the pulse signal to the tail gate controller, and the tail gate controller calculates the rotating speed of the motor through the pulse signal sent by the Hall sensor, so that the speed of the electric tail gate is obtained. Therefore, when the electric tail gate touches an obstacle in the moving process, the moving speed is reduced, and the tail gate controller can enter an anti-pinch program when the speed change value is larger than a set threshold value, so that the anti-pinch function is realized.
However, in recent years, accidents in which the electric tailgate pinches a user still occur. For example, when a user's finger or other soft physical object is pinched, the speed of the power tailgate is slowly decreased, and therefore, the speed variation value is not necessarily larger than the set threshold value, or the user is pinched before triggering the pinch prevention. In addition, especially under special working conditions such as ascending and descending, high and low temperature, the accident that the electric tail gate clamps the user is more frequent.
In summary, how to effectively prevent the electric tailgate from being pinched and improve the safety is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide an anti-pinch method, an anti-pinch system, anti-pinch equipment and a storage medium for an electric tail gate of a vehicle, so that the anti-pinch of the electric tail gate is effectively realized, and the safety is improved.
In order to solve the technical problems, the invention provides the following technical scheme:
an anti-pinch method for a vehicle power tailgate, comprising:
in the motion process of an electric tail gate of a vehicle, when the motion blockage of the electric tail gate is detected through a first anti-pinch algorithm, controlling the electric tail gate to stop moving or move reversely;
when the electric tailgate is detected to be in a uniform motion stage, judging whether the duty ratio of a PWM signal exceeds a set duty ratio threshold value or not by using a second anti-pinch algorithm, wherein the duration time reaches a first time;
if yes, controlling the electric tail gate to stop moving or reversely move;
wherein, the motor drive signal of PWM signal for being used for controlling the target motor rotational speed, the target motor passes through the drive structure and drives the motion of electronic tail-gate, first prevent pressing from both sides the algorithm with the algorithm is prevented pressing from both sides for the difference by the second.
Preferably, the duty ratio threshold is a first value within a second time period when the electric tailgate enters the uniform motion stage, and the duty ratio threshold is a second value after the electric tailgate enters the second time period of the uniform motion stage;
wherein the first value is higher than the second value.
Preferably, first anti-pinch algorithm is based on the algorithm that the rotational speed detected, and is corresponding, detect out through first anti-pinch algorithm electronic tail-gate motion is obstructed, include:
and when the detected rotating speed change value of the target motor reaches a set rotating speed change value threshold value, determining that the motion of the electric tail gate is blocked.
Preferably, in the motion process of the electric tailgate of the vehicle, when it is detected by the first anti-pinch algorithm that the motion of the electric tailgate is blocked, the electric tailgate is controlled to stop moving or move in a reverse direction, including:
in the process of opening the door of an electric tail gate of a vehicle, when the motion blockage of the electric tail gate is detected through a first anti-pinch algorithm, controlling the electric tail gate to stop moving;
in the door closing movement process of an electric tail gate of a vehicle, when the first anti-pinch algorithm detects that the movement of the electric tail gate is blocked, the electric tail gate is controlled to move reversely.
Preferably, the method further comprises the following steps:
when the electric tail gate is detected to be in a uniform motion stage, judging whether the change rate of the duty ratio of the PWM signal exceeds a set change rate threshold value or not;
if so, controlling the power tail gate to stop moving or move reversely.
Preferably, the method further comprises the following steps:
in the motion process of an electric tail gate of a vehicle, when the motion blockage of the electric tail gate is detected through a third anti-pinch algorithm or a fourth anti-pinch algorithm, controlling the electric tail gate to stop moving or move reversely;
and the third anti-pinch algorithm and the fourth anti-pinch algorithm are different anti-pinch algorithms.
Preferably, the third is for the algorithm based on moment detects, and is corresponding, detects through the third algorithm of preventing pressing from both sides the motion of electronic tail-gate is obstructed, includes:
when the detected torque variation value of the target motor reaches a set torque variation value threshold value, determining that the motion of the electric tail gate is blocked;
the fourth prevents pressing from both sides algorithm for the algorithm based on current detection, it is corresponding, prevents pressing from both sides algorithm through the fourth and detects that electronic tail-gate motion is obstructed, include:
and when the detected current change value of the target motor reaches a set current change value threshold value, determining that the motion of the electric tail gate is blocked.
An anti-pinch system for a power tailgate of a vehicle, comprising:
the first anti-pinch module is used for controlling the electric tailgate to stop moving or move reversely when the movement of the electric tailgate is detected to be blocked by a first anti-pinch algorithm in the movement process of the electric tailgate of the vehicle;
the duty ratio detection module is used for judging whether the duty ratio of the PWM signal exceeds a set duty ratio threshold value or not by using a second anti-pinch algorithm when the electric tail gate is detected to be in a uniform motion stage, and the duration time reaches a first time length; if yes, triggering an execution module;
the execution module is used for controlling the electric tail gate to stop moving or move reversely;
wherein, the motor drive signal of PWM signal for being used for controlling the target motor rotational speed, the target motor passes through the drive structure and drives the motion of electronic tail-gate, first prevent pressing from both sides the algorithm with the algorithm is prevented pressing from both sides for the difference by the second.
An anti-pinch device for a power tailgate of a vehicle, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the anti-pinch method for the power tailgate of the vehicle as described above.
A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the anti-pinch method for a vehicle power tailgate as described above.
By applying the technical scheme provided by the embodiment of the invention, two anti-pinch triggering modes are simultaneously set, and any 1 of the two anti-pinch triggering modes can execute anti-pinch measures, namely, the electric tail gate can be controlled to stop moving or move reversely, so that the safety is favorably improved compared with the traditional single anti-pinch strategy.
Specifically, the first anti-pinch algorithm can take effect in the whole motion process of the electric tail gate of the vehicle, and when the motion of the electric tail gate is detected to be blocked through the first anti-pinch algorithm, the electric tail gate can be controlled to stop moving or move reversely, so that a user is prevented from being pinched.
Meanwhile, aiming at the uniform motion stage of the electric tail gate, a second anti-pinch algorithm is set, specifically, whether the duty ratio of a PWM signal exceeds a set duty ratio threshold value or not is judged, the PWM signal is a motor driving signal for controlling the rotating speed of a target motor, and the target motor drives the electric tail gate to move through a transmission structure.
In addition, it should be noted that, in the applicant, it is considered that, under different working conditions such as an ascending slope, a descending slope, a high temperature, a low temperature, and the like, the operation speed of the electric tailgate may be different, that is, the operation speed of the electric tailgate may be affected by an actual working condition, which is a reason why, in a conventional scheme, an accident that a user is injured by the electric tailgate is more frequent under a special working condition. And can realize preventing pressing from both sides based on PWM signal's duty cycle in the scheme of this application, go up, the downhill path, different operating modes such as high, low temperature, and the influence to PWM signal is very little, consequently this application realizes preventing pressing from both sides the mode based on PWM signal's duty cycle, and the rate of accuracy is higher, is difficult to appear the condition that does not trigger when the spurious triggering perhaps presss from both sides the object promptly.
To sum up, the scheme of this application has set up two kinds simultaneously and has prevented pressing from both sides the trigger mode, and the duty cycle based on the PWM signal realizes that the mode of preventing pressing from both sides is difficult to receive the influence of vehicle current operating mode, consequently the reliability of this application scheme is very high, can avoid pressing from both sides effectively and hinder the user.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flowchart illustrating an anti-pinch method for a power tailgate of a vehicle according to an embodiment of the present invention;
FIG. 2 is a graph illustrating a typical door opening motion profile of a power tailgate;
FIG. 3 is a schematic diagram showing the change of the duty ratio of the PWM signal in the first instance;
FIG. 4 is a diagram illustrating the variation of the duty ratio of the PWM signal in the second case;
FIG. 5 is a diagram illustrating the variation of the duty ratio of the PWM signal in the third instance;
FIG. 6 is a schematic view of an anti-pinch system of a power tailgate of a vehicle according to an embodiment of the present invention.
Detailed Description
The core of the invention is to provide the anti-pinch method of the electric tail gate of the vehicle, two anti-pinch triggering modes are simultaneously arranged, and the anti-pinch mode realized based on the duty ratio of the PWM signal is not easily influenced by the current working condition of the vehicle, so that the reliability is very high, and the condition that a user is pinched can be effectively avoided.
In order that those skilled in the art will better understand the disclosure, reference will now be made in detail to the embodiments of the disclosure as illustrated in the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating an anti-pinch method for a power-driven tailgate of a vehicle according to an embodiment of the present invention, wherein the anti-pinch method for the power-driven tailgate of the vehicle includes:
step S101: in the motion process of the electric tail gate of the vehicle, when the motion blockage of the electric tail gate is detected through a first anti-pinch algorithm, the electric tail gate is controlled to stop moving or move reversely.
Specifically, two anti-pinch triggering modes are set simultaneously, so that the step S101 and the step S102 are not in sequence, and the two modes can be executed simultaneously.
When the first anti-pinch algorithm detects that the motion of the electric tailgate is blocked, the electric tailgate can clamp an object, so that set anti-pinch measures can be executed, namely, the electric tailgate is controlled to stop moving or move reversely. It can be understood that, if the door is closed during the motion of the electric tail gate, the reverse motion is to control the opening of the electric tail gate, and similarly, if the door is opened during the motion of the electric tail gate, the reverse motion is to control the closing of the electric tail gate.
The specific content of first anti-pinch algorithm can be set for and adjust according to actual need to can understand because at the overall process of the electronic tail-gate motion of vehicle, all can realize preventing the pinch through first anti-pinch algorithm, consequently, should select the anti-pinch algorithm that can use effectively at electronic tail-gate motion overall process, come the first anti-pinch algorithm of this application.
For example, considering that the speed change of the electric tailgate should be within a certain range when the electric tailgate is normally opened or closed regardless of an acceleration stage, a deceleration stage or a uniform speed stage, in a specific embodiment of the present invention, the first anti-pinch algorithm may be an algorithm based on a rotation speed detection, and accordingly, detecting that the movement of the electric tailgate is blocked by the first anti-pinch algorithm may specifically include:
and when the detected rotating speed change value of the target motor reaches a set rotating speed change value threshold value, determining that the motion of the electric tail gate is blocked.
In the implementation mode, the target motor drives the electric tail gate to move through the transmission structure, namely, the rotating speed of the target motor can effectively reflect whether the movement of the electric tail gate is blocked or not.
When the detected rotating speed change value of the target motor reaches the set rotating speed change value threshold value, the rotating speed of the target motor is reduced too much, so that the situation that the electric tailgate is blocked in movement can be determined, and set anti-pinch measures are further implemented, namely the electric tailgate is controlled to stop moving or move reversely.
The specific implementation manner of detecting the rotating speed of the target motor can be various, and the rotating speed can be directly detected or calculated through other parameters. For example, a common embodiment is to provide a magnetic ring on the output shaft of the target motor, so as to detect the change of the magnetic field by the hall sensor, and then determine the corresponding rotation speed value based on the pulse signal output by the hall sensor. In addition, the specific value of the set threshold value of the rotating speed change value can be set and adjusted according to actual needs.
In other specific embodiments, other first anti-pinch algorithms besides the algorithm based on the rotation speed detection can be selected according to actual needs, and the implementation of the invention is not influenced.
Step S102: when the electric tail gate is detected to be in a uniform motion stage, judging whether the duty ratio of the PWM signal exceeds a set duty ratio threshold value or not by using a second anti-pinch algorithm, wherein the duration time reaches a first time;
if so, step S103: controlling the electric tail gate to stop moving or move reversely;
for different types of vehicles, the opening and closing speed curves of the electric tail gate can be different, but the electric tail gate usually has a uniform motion stage. For example, fig. 2 is a schematic diagram of an operation speed curve of a conventional door opening motion process of the electric tailgate, and if the door opening motion process is performed, the door opening motion process is performed by firstly accelerating, then uniformly decelerating, and finally decelerating.
In addition, it should be noted that, in the door opening process of the electric tailgate, the operation speed of the electric tailgate can be made to conform to the preset operation speed curve of the door opening motion process through feedback control, and similarly, in the door closing process of the electric tailgate, the operation speed of the electric tailgate can be made to conform to the preset operation speed curve of the door closing motion process through feedback control. The feedback control described here may be, for example, a commonly used PID control. In addition, when the PID is used for controlling the running speed of the electric tail gate, a mechanism such as shaking removal and the like can be added, the running stability is further improved, and excessive adjustment is avoided.
The specific manner of detecting that the electric tailgate is in the uniform motion stage may also be various, for example, in a specific occasion, the starting position and the ending position in the uniform motion stage may be preset by taking the door opening as a positive direction, that is, when the door is opened, the starting position passes through the ending position, and when the door is closed, the ending position passes through the revealing position. And in the movement process of the electric tail gate, the current position of the electric tail gate can be determined by detecting the number of rotation turns of the motor, so that whether the electric tail gate enters a uniform motion stage or not is determined.
This application is in when the uniform motion stage to electronic tail-gate, has set up the second and has prevented pressing from both sides the algorithm, and it can be understood that, first prevent pressing from both sides the algorithm with the algorithm is prevented pressing from both sides for the difference by the second.
Specifically, when the electric tailgate is in the uniform motion stage, under the normal condition, the duty ratio of the PWM signal is fixed or slightly fluctuated, the PWM signal described in the present application is a motor driving signal for controlling the rotation speed of the target motor, and the target motor drives the electric tailgate to move through the transmission structure.
If the duty ratio of the PWM signal exceeds the set duty ratio threshold, the situation shows that the motion of the power tail gate can be blocked. In order to avoid false triggering, the set anti-pinch measure is executed only when the required duration reaches the first duration, that is, the operation of controlling the electric tailgate to stop moving or to move in the reverse direction in step S103 is executed.
Referring to fig. 3 to fig. 5, schematic diagrams of the duty ratio variation of the PWM signal in different situations are shown, for example, the set duty ratio threshold is 30%, and the first time duration is 300ms. Then in the scenario of fig. 3, the duty cycle of the PWM signal breaches the duty cycle threshold value of 30% at 80ms, and the timing duration exceeds 300ms, so anti-pinch is triggered at 380ms, i.e. the operation of step S103 is triggered.
In the case of fig. 4, the duty cycle of the PWM signal breaches the duty cycle threshold of 30% at 80ms, but drops back below 30% without the duration reaching the first duration of 300ms. The duty cycle threshold is again breached at 30% at 400ms and returned to 30% or less at 660ms, so anti-pinch is not triggered in the scenario of fig. 4.
In the case of fig. 5, the duty cycle of the PWM signal breaches the duty cycle threshold of 30% at 80ms, but falls back below 30% without the duration reaching the first duration of 300ms. The duty cycle threshold is again breached at 30% at 400ms and the timing duration exceeds 300ms, thus triggering anti-pinch at 700 ms.
In other embodiments, the duty cycle threshold and the first duration may be set to other values, it being understood that the greater the duty cycle threshold is set, the greater the anti-pinch force is, i.e., the less likely the anti-pinch measure is to be triggered, and the longer the first duration is set, the greater the anti-pinch force is.
In some cases, the duty ratio threshold may be preset, and in some cases, the duty ratio threshold used this time may be determined when the electric tailgate enters a uniform motion phase. For example, when the power tailgate enters the uniform motion phase, the duty ratio of the PWM signal at that time is multiplied by a certain coefficient to serve as the duty ratio threshold used this time, and it is understood that the coefficient should be greater than 1, for example, set to 1.3.
It should be noted that, under different working conditions such as ascending and descending, high and low temperature, the operation speed of the electric tailgate may be different. The uphill working condition is taken as an example, and compared with a flat position, due to the change of the gravity center, the target motor is required to do more work in the door opening process of the electric tail gate, namely, the running speed of the electric tail gate under the uphill working condition when the electric tail gate is opened is lower than the running speed of the electric tail gate under the flat position when the electric tail gate is opened. Therefore, the operating speed based on electronic tail-gate realizes preventing pressing from both sides, can receive operating condition's influence to make in the traditional scheme under special operating mode, the accident that user was hindered to the wrong trigger and electronic tail-gate clamp appear more easily. Can prevent pressing from both sides based on PWM signal's duty cycle realization in the scheme of this application, go up, the downhill path, different operating modes such as high, low temperature, it is very little to PWM signal's influence, consequently this application realizes preventing the mode of pressing from both sides based on PWM signal's duty cycle, and the rate of accuracy is higher, is difficult to appear the condition that does not trigger when the spurious triggering perhaps presss from both sides the object promptly.
Further, in a specific embodiment of the present invention, the duty ratio threshold is a first value during a second time period when the electric tailgate enters the uniform motion stage, and the duty ratio threshold is a second value after the second time period when the electric tailgate enters the uniform motion stage;
wherein the first value is higher than the second value.
The embodiment further considers that the rotating speed is still unstable when the electric tail gate just enters the uniform motion stage, for example, in some cases, when the electric tail gate just enters the uniform motion stage, because the operating speed of the electric tail gate does not conform to the preset operating speed curve of the door closing motion process, the target motor rotating speed is adjusted through the PID feedback algorithm, and further the operating speed of the electric tail gate is adjusted.
Therefore, in order to avoid false triggering in this embodiment, a larger duty cycle threshold is used when the power tailgate enters the uniform motion stage. That is, during the second period of time when the power tailgate enters the constant motion phase, the duty cycle threshold is at a first, higher value, for example 50%, and after the second period of time, the duty cycle threshold may be returned to a normal value, for example 30%, of the second value.
As described above, the set anti-pinch measure can be selectively controlled to stop the power tailgate or to move in the reverse direction. In a specific embodiment of the present invention, step S101 may specifically include:
in the process of opening the door of the electric tail gate of the vehicle, when the motion blockage of the electric tail gate is detected through a first anti-pinch algorithm, controlling the electric tail gate to stop moving;
in the process of door closing movement of an electric tail gate of a vehicle, when the movement blockage of the electric tail gate is detected through a first anti-pinch algorithm, the electric tail gate is controlled to move reversely.
In the embodiment, if the electric tail gate is detected to be blocked in the opening movement process of the electric tail gate of the vehicle, the electric tail gate is usually blocked by an obstacle, so that the electric tail gate does not need to be controlled to close, but the electric tail gate is directly controlled to stop moving.
In the process of door closing movement of the electric tailgate of the vehicle, if the electric tailgate is detected to be blocked, the electric tailgate is likely to be clamped by an object, and therefore, in order to ensure safety, the electric tailgate should be immediately controlled to move reversely.
It can be seen that in the specific implementation manner, different anti-pinch measures are specifically executed according to the difference between the door opening motion process and the door closing motion process, which is beneficial to improving the use experience of users in practical application.
It should be understood that, in this embodiment, taking step S101 as an example, different anti-pinch measures are specifically implemented for the door opening motion process and the door closing motion process. Similarly, in step S103, different anti-pinch measures may be implemented according to the different door opening and closing according to the description of the embodiment. In the following embodiments, when it is detected that the movement of the power tailgate is blocked based on another anti-pinch algorithm, different anti-pinch measures may be executed according to the difference between the door opening and the door closing.
In an embodiment of the present invention, the method may further include:
when the electric tail gate is detected to be in a uniform motion stage, judging whether the change rate of the duty ratio of the PWM signal exceeds a set change rate threshold value or not;
if yes, the power tail gate is controlled to stop moving or move reversely.
In the foregoing embodiment, it is necessary that the electric tailgate movement is considered to be blocked when the duty ratio of the PWM signal exceeds the set duty ratio threshold and the duration reaches the first duration. Because the duration is required to reach the first duration, the situation of false triggering is not easy to occur.
In this embodiment, it is further considered that the setting of the first time period means that when the anti-pinch detection is implemented based on the duty ratio of the PWM signal, the anti-pinch measure is triggered only at the first time period, which is not beneficial to early detection of the motion blockage of the electric tailgate.
Therefore, the embodiment can further judge whether the change rate of the duty ratio of the PWM signal exceeds the set change rate threshold, and if the change rate of the duty ratio of the PWM signal is too large, the method does not need to wait for a certain time period, but can directly consider that the motion of the electric tailgate is blocked, and then perform an anti-pinch measure, i.e. control the electric tailgate to stop moving or move in the reverse direction.
It can be seen that, in this kind of implementation mode, realize preventing pressing from both sides the detection based on the duty cycle of PWM signal, can have 2 kinds of trigger modes, improved the sensitivity, can discover more in time promptly that electronic tail-gate motion is obstructed the condition, ensure user's safety.
Further, in an embodiment of the present invention, the method may further include:
in the movement process of the electric tail gate of the vehicle, when the movement blockage of the electric tail gate is detected through the third anti-pinch algorithm or the fourth anti-pinch algorithm, the electric tail gate is controlled to stop moving or move reversely.
In the above embodiment, two anti-pinch triggering modes are simultaneously arranged, and anti-pinch measures can be executed when any 1 of the two anti-pinch triggering modes is triggered, so that the safety is improved. In this kind of embodiment, then 2 kinds of prevent pressing from both sides trigger mode have been further set up, promptly, when detecting out through third prevent pressing from both sides algorithm or fourth prevent that the electronic tail-gate motion is obstructed, also can control electronic tail-gate stop motion or reverse motion, be favorable to further improving the security.
Of course, specific contents of the third anti-pinch algorithm and the fourth anti-pinch algorithm may be set and adjusted according to actual needs, but it is understood that the third anti-pinch algorithm and the fourth anti-pinch algorithm are different anti-pinch algorithms.
For example, in an embodiment of the present invention, the third anti-pinch algorithm is an algorithm based on torque detection, and accordingly, detecting that the motion of the power tailgate is blocked by the third anti-pinch algorithm includes:
when the detected torque change value of the target motor reaches a set torque change value threshold, determining that the motion of the electric tail gate is blocked;
the fourth prevents pressing from both sides algorithm for the algorithm based on current detection, and is corresponding, prevents pressing from both sides algorithm through the fourth and detects that electronic tail-gate motion is obstructed, includes:
and when the detected current change value of the target motor reaches a set current change value threshold value, determining that the motion of the electric tail gate is blocked.
In the embodiment, the motion condition of the electric tailgate can be reflected on the torque and the motor current in addition to the motor rotating speed and the driving signal of the motor, and the torque and the motor current are both convenient to detect and high in reliability.
By applying the technical scheme provided by the embodiment of the invention, two anti-pinch triggering modes are simultaneously set, and any 1 of the two anti-pinch triggering modes can execute anti-pinch measures, namely, the electric tail gate can be controlled to stop moving or move reversely.
Specifically, the first anti-pinch algorithm can be effective in the whole motion process of the electric tail gate of the vehicle, and when the first anti-pinch algorithm detects that the motion of the electric tail gate is blocked, the electric tail gate can be controlled to stop moving or move reversely, so that a user is prevented from being pinched.
Meanwhile, aiming at the uniform motion stage of the electric tail gate, a second anti-pinch algorithm is set, and specifically, whether the duty ratio of a PWM signal exceeds a set duty ratio threshold value or not is judged, the PWM signal is a motor driving signal used for controlling the rotating speed of a target motor, and the target motor drives the electric tail gate to move through a transmission structure.
In addition, it should be noted that, in the applicant, it is considered that, under different working conditions such as an ascending slope, a descending slope, a high temperature, a low temperature, and the like, the operation speed of the electric tailgate may be different, that is, the operation speed of the electric tailgate may be affected by an actual working condition, which is a reason why, in a conventional scheme, an accident that a user is injured by the electric tailgate is more frequent under a special working condition. And can realize preventing pressing from both sides based on the duty cycle of PWM signal in the scheme of this application, go up, the downhill path, different operating modes such as high, low temperature, and the influence to the PWM signal is very little, consequently this application realizes preventing the mode of pressing from both sides based on the duty cycle of PWM signal, and the rate of accuracy is higher, is difficult to appear the condition that the spurious triggering did not trigger when pressing from both sides the object promptly.
To sum up, the scheme of this application is through having set up two kinds simultaneously and preventing pressing from both sides the trigger mode, and the duty cycle based on the PWM signal realizes that the mode of preventing pressing from both sides is difficult to receive the influence of vehicle current operating mode, therefore the reliability of this application scheme is very high, can avoid pressing from both sides the user of hindering effectively.
Corresponding to the above method embodiments, the embodiment of the present invention further provides an anti-pinch system for a power-operated tailgate of a vehicle, which can be referred to above correspondingly.
Referring to fig. 6, a schematic structural view of an anti-pinch system of a power tailgate of a vehicle according to the present invention includes:
the first anti-pinch module 601 is used for controlling the electric tailgate to stop moving or move reversely when the movement of the electric tailgate is detected to be blocked by a first anti-pinch algorithm in the movement process of the electric tailgate of the vehicle;
the duty ratio detection module 602 is configured to, when it is detected that the electric tailgate is in a uniform motion stage, determine whether a duty ratio of the PWM signal exceeds a set duty ratio threshold using a second anti-pinch algorithm, and a duration reaches a first duration; if yes, the execution module 603 is triggered;
the execution module 603 is used for controlling the electric tailgate to stop moving or move reversely;
the PWM signal is a motor driving signal used for controlling the rotating speed of a target motor, and the target motor drives the electric tail gate to move through a transmission structure.
In a specific embodiment of the present invention, the duty ratio threshold is a first value during a second time period when the electric tailgate enters the uniform motion stage, and the duty ratio threshold is a second value after the electric tailgate enters the second time period of the uniform motion stage;
wherein the first value is higher than the second value.
In one embodiment of the present invention, the first anti-pinch algorithm is an algorithm based on rotation speed detection, and accordingly, the method for detecting that the motion of the electric tailgate is blocked by the first anti-pinch algorithm comprises:
and when the detected rotating speed change value of the target motor reaches a set rotating speed change value threshold value, determining that the motion of the electric tail gate is blocked.
In one embodiment of the present invention, the first anti-pinch module 601 is specifically configured to:
in the process of opening the door of the electric tail gate of the vehicle, when the motion blockage of the electric tail gate is detected through a first anti-pinch algorithm, controlling the electric tail gate to stop moving;
in the process of door closing movement of an electric tail gate of a vehicle, when the movement blockage of the electric tail gate is detected through a first anti-pinch algorithm, the electric tail gate is controlled to move reversely.
In an embodiment of the present invention, the duty cycle detecting module 602 is further configured to:
when the electric tail gate is detected to be in a uniform motion stage, judging whether the change rate of the duty ratio of the PWM signal exceeds a set change rate threshold value or not;
if so, the execution module 603 is triggered.
In one embodiment of the present invention, the method further comprises:
the second anti-pinch module is used for controlling the stop motion or the reverse motion of the electric tail gate when the third anti-pinch algorithm or the fourth anti-pinch algorithm detects that the motion of the electric tail gate is blocked in the motion process of the electric tail gate of the vehicle.
In a specific embodiment of the present invention, the third anti-pinch algorithm is an algorithm based on torque detection, and accordingly, detecting that the motion of the power tailgate is blocked by the third anti-pinch algorithm includes:
when the detected torque change value of the target motor reaches a set torque change value threshold, determining that the motion of the electric tail gate is blocked;
the fourth prevents pressing from both sides algorithm for the algorithm based on current detection, and is corresponding, prevents pressing from both sides algorithm through the fourth and detects that electronic tail-gate motion is obstructed, includes:
and when the detected current change value of the target motor reaches a set current change value threshold, determining that the motion of the electric tail gate is blocked.
In accordance with the above method and system embodiments, embodiments of the present invention also provide an anti-pinch device for a power tailgate of a vehicle and a computer-readable storage medium, which are referenced in a corresponding manner to the above
This anti-pinch device of vehicle power tailgate can include:
a memory for storing a computer program;
a processor for executing a computer program to implement the steps of the anti-pinch method for the power tailgate of the vehicle as described in any one of the above embodiments.
The computer readable storage medium has a computer program stored thereon, and the computer program is executed by a processor to implement the steps of the anti-pinch method for the power tailgate of the vehicle as described in any one of the above embodiments. The computer-readable storage medium referred to herein may include Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understanding the technical solution and the core idea of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall into the protection scope of the present invention.
Claims (10)
1. An anti-pinch method of a vehicle power tailgate, comprising:
in the motion process of an electric tail gate of a vehicle, when the motion blockage of the electric tail gate is detected through a first anti-pinch algorithm, controlling the electric tail gate to stop moving or move reversely;
when the electric tailgate is detected to be in a uniform motion stage, judging whether the duty ratio of a PWM signal exceeds a set duty ratio threshold value or not by using a second anti-pinch algorithm, wherein the duration time reaches a first time;
if yes, controlling the electric tail gate to stop moving or move reversely;
wherein, the PWM signal is for being used for controlling the motor drive signal of target motor rotational speed, the target motor passes through the drive structure and drives the motion of electronic tail-gate, first prevent pressing from both sides the algorithm with the algorithm is prevented pressing from both sides for the difference by the second.
2. The anti-pinch method of a vehicle electric tailgate according to claim 1, wherein the duty cycle threshold is a first value during a second duration of the electric tailgate entering the uniform motion phase, and the duty cycle threshold is a second value after the second duration of the electric tailgate entering the uniform motion phase;
wherein the first value is higher than the second value.
3. The anti-pinch method of the electric tailgate of the vehicle of claim 1, wherein the first anti-pinch algorithm is an algorithm based on rotation speed detection, and correspondingly, the detecting of the motion of the electric tailgate by the first anti-pinch algorithm is blocked comprises:
and when the detected rotating speed change value of the target motor reaches a set rotating speed change value threshold, determining that the motion of the electric tail gate is blocked.
4. The anti-pinch method for a power tailgate of a vehicle according to claim 1, wherein the step of controlling the power tailgate to stop moving or to move in a reverse direction when it is detected that the power tailgate is moved in a motion process by a first anti-pinch algorithm comprises:
in the process of opening the door of an electric tail gate of a vehicle, when the motion blockage of the electric tail gate is detected through a first anti-pinch algorithm, controlling the electric tail gate to stop moving;
in the door closing movement process of the electric tail gate of the vehicle, when the first anti-pinch algorithm detects that the movement of the electric tail gate is blocked, the electric tail gate is controlled to move reversely.
5. The anti-pinch method of the electric tailgate of the vehicle of claim 1, further comprising:
when the electric tail gate is detected to be in a uniform motion stage, judging whether the change rate of the duty ratio of the PWM signal exceeds a set change rate threshold value or not;
if so, controlling the power tail gate to stop moving or move reversely.
6. The anti-pinch method for the power tailgate of the vehicle according to any one of claims 1 to 5, further comprising:
in the motion process of an electric tail gate of a vehicle, when the motion blockage of the electric tail gate is detected through a third anti-pinch algorithm or a fourth anti-pinch algorithm, controlling the electric tail gate to stop moving or move reversely;
and the third anti-pinch algorithm and the fourth anti-pinch algorithm are different anti-pinch algorithms.
7. The anti-pinch method for the electric tailgate of the vehicle of claim 6, wherein the third anti-pinch algorithm is a torque detection-based algorithm, and accordingly, the detection of the motion blockage of the electric tailgate through the third anti-pinch algorithm comprises:
when the detected torque variation value of the target motor reaches a set torque variation value threshold value, determining that the motion of the electric tail gate is blocked;
the fourth prevents pressing from both sides the algorithm for based on current detection, and is corresponding, prevents pressing from both sides the algorithm through the fourth and detects out electronic tail-gate motion is obstructed, includes:
and when the detected current change value of the target motor reaches a set current change value threshold, determining that the motion of the electric tail gate is blocked.
8. An anti-pinch system of a vehicle power tailgate, comprising:
the first anti-pinch module is used for controlling the electric tail gate to stop moving or move reversely when the movement of the electric tail gate is detected to be blocked by a first anti-pinch algorithm in the movement process of the electric tail gate of the vehicle;
the duty ratio detection module is used for judging whether the duty ratio of the PWM signal exceeds a set duty ratio threshold value or not by using a second anti-pinch algorithm when the electric tail gate is detected to be in a uniform motion stage, and the duration time reaches a first time length; if yes, triggering an execution module;
the execution module is used for controlling the electric tail gate to stop moving or reversely move;
wherein, the PWM signal is for being used for controlling the motor drive signal of target motor rotational speed, the target motor passes through the drive structure and drives the motion of electronic tail-gate, first prevent pressing from both sides the algorithm with the algorithm is prevented pressing from both sides for the difference by the second.
9. The utility model provides an anti-pinch device of electronic tail-gate of vehicle which characterized in that includes:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the method of preventing pinching of a power tailgate of a vehicle as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the anti-pinch method for a vehicle power tailgate according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211446971.XA CN115788209A (en) | 2022-11-18 | 2022-11-18 | Anti-pinch method, system, equipment and storage medium for electric tail gate of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211446971.XA CN115788209A (en) | 2022-11-18 | 2022-11-18 | Anti-pinch method, system, equipment and storage medium for electric tail gate of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115788209A true CN115788209A (en) | 2023-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211446971.XA Pending CN115788209A (en) | 2022-11-18 | 2022-11-18 | Anti-pinch method, system, equipment and storage medium for electric tail gate of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115788209A (en) |
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2022
- 2022-11-18 CN CN202211446971.XA patent/CN115788209A/en active Pending
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