CN117823002A - Anti-pinch method and system for power window - Google Patents
Anti-pinch method and system for power window Download PDFInfo
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Abstract
The invention discloses an anti-pinch method and an anti-pinch system for a power window, which relate to the technical field of anti-pinch of the power window and comprise the following steps: starting a motor to collect data information in real time and preprocessing data; calculating the stroke length of the power window, and judging whether the window is in an anti-pinch area or not; fitting to obtain the latest current slope of the motor during operation by utilizing the principle of least square fitting curve; judging the slope magnitude record and controlling the current difference; and further judging whether to trigger an anti-clamping mechanism of the electric vehicle according to the magnitude of the current difference. The invention ensures the normal operation of the anti-pinch mechanism under different road conditions by automatically adjusting the severity of the jolt of the real vehicle, and solves the problem of false triggering of the anti-pinch mechanism caused by jolt in the prior art. The method and the system are easy to implement, do not need complex equipment and high cost, can be widely applied to various power window systems, improve the reliability of the power window, and reduce the risk of window damage caused by false triggering of an anti-pinch mechanism.
Description
Technical Field
The invention relates to the technical field of anti-clamping of power windows, in particular to an anti-clamping method and an anti-clamping system of a power window.
Background
The power window function makes the lifting window operation of driver and passenger convenient, but the rising speed of door window is very fast, and thrust is great in the rising process, and this has the potential safety hazard to a certain extent to take place the clamping accident easily. Therefore, many countries have strict requirements on the power window, and China clearly stipulates that the anti-clamping function of the power window is the standard configuration of the power window of an automobile.
The motor current and the motor rotating speed are the most common and main elements, the magnitude of the motor current changes along with the change of the resistance of the car window, and based on the principle, the motor current anti-pinch method comprises an absolute amplitude method, a slope method, a current storage anti-pinch algorithm and the like.
Absolute amplitude method:
1. the anti-pinch method of the absolute amplitude of the current is easy to cause excessive fluctuation of anti-pinch force, anti-pinch failure or false anti-pinch due to unrecoverable changes of the current caused by external environments such as jolt, adhesive tape aging, voltage change and the like.
Current storage anti-pinch algorithm:
1. the current storage type anti-pinch algorithm needs to record the current of the whole stroke normal operation of the car window as reference data, needs to store data in various environments such as voltage, temperature and the like, and has the advantages of large data size, high memory consumption and memory cost increase.
2. The time required for storing the data with large data quantity in a power-down way is longer, and a larger capacitor is required to meet the time requirement of storage, so that the cost is increased.
3. The storage algorithm and part of the self-learning algorithm can have the anti-pinch function only by complex initialization operation of a user, and are inconvenient for the user to use.
Disclosure of Invention
The present invention has been made in view of the above-described problems.
Therefore, the technical problems solved by the invention are as follows: how to accurately judge the anti-pinch area and how to automatically adjust the threshold value when the vehicle jolts so as to reduce the problem of false triggering of the anti-pinch mechanism.
In order to solve the technical problems, the invention provides the following technical scheme: the anti-pinch method for the electric vehicle window comprises the following steps of starting a motor to collect data information in real time and preprocessing data; calculating the stroke length of the power window, and judging whether the window is in an anti-pinch area or not; fitting to obtain the latest current slope of the motor during operation by utilizing the principle of least square fitting curve; judging the slope magnitude record and controlling the current difference; and further judging whether to trigger an anti-clamping mechanism of the electric vehicle according to the magnitude of the current difference.
As a preferable mode of the electric vehicle window anti-pinch method of the invention, wherein: the data information is Hall pulse generated by motor operation;
the data preprocessing is to denoise the collected state data, remove the missing value, the abnormal value and the invalid data in the error format, convert the original format data into the format of the demand analysis, and normalize the data to finish the data preprocessing.
As a preferable mode of the electric vehicle window anti-pinch method of the invention, wherein: the data information is used for determining the running position, the running direction and the running speed of the vehicle window.
The running direction is determined by an increase or decrease of the data information, the running speed is determined by an amplitude of the increase or decrease of the data information, and the running position is determined by a count number of the data information.
As a preferable mode of the electric vehicle window anti-pinch method of the invention, wherein: when the vehicle window is closed to be completely opened, the data information is increased from 0 to the maximum value according to preset amplification; when the window is completely opened to closed, the data information is reduced to 0 pieces from the maximum value according to preset amplification, whether the current power window is in an anti-pinch area or not is further judged, if the window is in the anti-pinch area, whether an anti-pinch mechanism is triggered or not is detected, and if the anti-pinch mechanism is triggered, an anti-pinch reversal program is executed; if the car window is not in the anti-pinch area, the car window is operated to a soft stop point to stop;
the anti-pinch reversal program is to set an anti-pinch backspacing distance first, then drive the motor to run in the opposite direction and judge whether the backspacing distance is greater than or equal to the set backspacing distance, further stop the motor to run, and end the anti-pinch reversal program.
As a preferable mode of the electric vehicle window anti-pinch method of the invention, wherein: whether the anti-pinch happens or not is detected by utilizing a least square fitting curve principle, and the latest current slope of the motor during operation is obtained by fitting, wherein the expression is as follows:
where m is the current slope, c is the intercept, t i Is the ith time point, I i Is the i-th current data, and NUM is the total number of current data.
As a preferable mode of the electric vehicle window anti-pinch method of the invention, wherein: when the latest current slope of the motor in operation is calculated, the current slope is judged, if the current slope is smaller than a preset slope threshold value, the zero clearing current difference continuously monitors whether the power window is in the anti-pinch area, if the current slope is larger than the preset slope threshold value, the current difference is further calculated, if the current difference is larger than the preset current difference threshold value, the anti-pinch mechanism is triggered, and otherwise, the power window is continuously monitored whether the power window is in the anti-pinch area.
As a preferable mode of the electric vehicle window anti-pinch method of the invention, wherein: judging whether the vehicle runs on a bumpy road section when the current slope is larger than a preset slope threshold value, if so, adjusting the preset slope threshold value, re-judging the latest current slope when the motor runs, and adjusting the margin expression of the slope threshold value to be:
where a and b are constants and L is the row of the windowPath length, V 0 And U 0 Is the reference vehicle speed and voltage, e is the base of the natural logarithm, V and U are the current vehicle speed and battery voltage, and a is the threshold adjustment amount.
If the vehicle speed V measured in real time is greater than the reference vehicle speed V 0 Increasing the threshold value to prevent false triggering of the anti-pinch mechanism, wherein the battery voltage U measured in real time is smaller than the reference battery voltage U 0 Reducing the threshold ensures proper operation of the anti-pinch mechanism.
As a preferable mode of the electric vehicle window anti-pinch method of the invention, wherein: dividing the jolt situation into three classes including slight jolt, moderate jolt and severe jolt, the expressions for adjusting the margin of the slope threshold are:
wherein c 1 、c 2 、The adjustment constants of the slight pitch , the moderate pitch and the severe pitch are respectively, A 1 、A 2 、A 3 The margin for the slope threshold of the adjustment for the mild pitch , moderate pitch and severe pitch , respectively.
As a preferable mode of the electric vehicle window anti-pinch method of the invention, wherein: and adding the margin of the slope threshold value with the original slope threshold value to obtain a slope threshold value when the road section is bumpy, further calculating a current difference if the current slope is larger than the slope threshold value when the road section is bumpy, judging the magnitude of the current difference, and considering that anti-pinch occurs if the current difference threshold value is reached, otherwise, continuing to detect until an anti-pinch condition is met or the power window runs to a designated position.
Another object of the present invention is to provide an anti-pinch system for a power window, which uses a least square fitting curve principle to calculate a current slope by collecting hall pulses generated by motor operation in real time, so as to accurately determine the magnitude of a current difference, and trigger an anti-pinch mechanism. Meanwhile, the system can automatically adjust the threshold value according to the severity of vehicle jolt, ensure the normal operation of the anti-pinch mechanism under different road conditions, solve the problem of false triggering of the anti-pinch mechanism caused by jolt in the prior art, and improve the safety and reliability of the power window.
In order to solve the technical problems, the invention provides the following technical scheme: a power window anti-pinch system comprising: the system comprises a data collection and preprocessing module, a judging module, a calculating module, an adjusting module and a reversing program module.
The data collection and preprocessing module is used for collecting Hall pulse data generated by motor operation, real-time measurement data of vehicle speed and battery voltage, and carrying out denoising, missing value processing, abnormal value processing, data format conversion and data normalization on the collected data.
The judging module calculates the stroke length of the power window according to the number of Hall pulses and judges whether the current power window is in an anti-pinch area or not.
The calculation module calculates a current slope by utilizing a least square fitting curve principle, and calculates a current difference according to the current slope.
The adjusting module is used for judging whether the vehicle runs on a bumpy road section or not and adjusting the slope threshold according to the bumpy condition.
The reverse program module judges whether to trigger an anti-pinch mechanism according to the current difference.
A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of a power window anti-pinch method as described above.
A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor implements the steps of a power window anti-pinching method as described above.
The invention has the beneficial effects that: according to the invention, the Hall pulse generated by the operation of the motor is collected in real time, the current slope is calculated by utilizing the least square fitting curve principle, the magnitude of the current difference is accurately judged, the anti-pinch mechanism is triggered, and the safety of the power window is improved. Meanwhile, the threshold value is automatically adjusted according to the severity of the jolt of the vehicle, so that the normal operation of the anti-pinch mechanism under different road conditions is ensured, and the problem that the anti-pinch mechanism is triggered by mistake due to jolt in the prior art is solved. The method and the system are easy to implement, do not need complex equipment and high cost, and can be widely applied to various power window systems, so that the reliability of the power window is improved, the risk of window damage caused by false triggering of an anti-pinch mechanism is reduced, the driving experience of a user is improved, and the satisfaction degree of the user to the power window system is increased.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a flowchart showing an anti-pinching method for a power window according to a first embodiment of the present invention;
fig. 2 is a block diagram of an anti-pinch system for a power window according to a second embodiment of the present invention.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Example 1
Referring to fig. 1, in one embodiment of the present invention, there is provided an anti-pinching method for a power window, which is characterized in that:
starting a motor to collect data information in real time and preprocessing data; calculating the stroke length of the power window, and judging whether the window is in an anti-pinch area or not; fitting to obtain the latest current slope of the motor during operation by utilizing the principle of least square fitting curve; judging the slope magnitude record and controlling the current difference; and further judging whether to trigger an anti-clamping mechanism of the electric vehicle according to the magnitude of the current difference.
The collected data information is Hall pulse generated by the operation of the motor, and the operation position, the operation direction and the operation speed parameters of the power window can be obtained;
the data preprocessing is to denoise the collected state data, remove the missing value, the abnormal value and the invalid data in the error format, convert the original format data into the format of the demand analysis, and normalize the data to finish the data preprocessing.
The data information is increased from 0 to the maximum value according to the preset amplification; when the window is completely opened to closed, the data information is reduced to 0 pieces from the maximum value according to preset amplification, whether the current power window is in an anti-pinch area or not is further judged, if the window is in the anti-pinch area, whether an anti-pinch mechanism is triggered or not is detected, and if the anti-pinch mechanism is triggered, an anti-pinch reversal program is executed; if the car window is not in the anti-pinch area, the car window is operated to a soft stop point to stop;
the anti-pinch reversal program is to set an anti-pinch backspacing distance first, then drive the motor to run in the opposite direction and judge whether the backspacing distance is greater than or equal to the set backspacing distance, further stop the motor to run, and end the anti-pinch reversal program.
The stroke length of the electric window is expressed by the total Hall pulse number generated by the total stroke of the electric window, the Hall number Hall PosCount is 0 when the electric window is completely closed, 1 is added per Hall pulse Hall PosCount captured in the window opening process, the maximum value is obtained in the complete opening process, 1 is subtracted per Hall pulse Hall PosCount captured in the window closing process, and the electric window stroke length is 0 in the complete closing process.
It is further noted that the preset amplification may be any natural number, and that the invention selects 1 as the basis unit because it is selected based on the dominant frequency of the device.
Judging whether the current power window is in an anti-pinch area, if so, detecting whether anti-pinch occurs in the anti-pinch area, and if so, executing an anti-pinch reversal program; if the anti-pinch area is not located, the anti-pinch area is operated to a soft stop point to stop;
whether the anti-pinch happens or not is detected by utilizing a least square fitting curve principle, and the latest current slope of the motor during operation is obtained by fitting, wherein the expression is as follows:
where m is the current slope, c is the intercept, t i Is the ith time point, I i Is the i-th current data, and NUM is the total number of current data.
When the latest current slope of the motor in operation is calculated, the current slope is judged, if the current slope is smaller than a preset slope threshold value, the zero clearing current difference continuously monitors whether the power window is in the anti-pinch area, if the current slope is larger than the preset slope threshold value, the current difference is further calculated, if the current difference is larger than the preset current difference threshold value, the anti-pinch mechanism is triggered, and otherwise, the power window is continuously monitored whether the power window is in the anti-pinch area.
Judging whether the vehicle runs on a bumpy road section when the current slope is larger than a preset slope threshold value, if so, adjusting the preset slope threshold value, re-judging the latest current slope when the motor runs, and adjusting the margin expression of the slope threshold value to be:
where a and b are constants, L is the length of travel of the window, V 0 And U 0 Is the reference vehicle speed and the reference voltage, e is the base of natural logarithm, V and U are the current vehicle speed and the battery voltage, A is the threshold adjustment quantity;
if the vehicle speed V measured in real time is greater than the reference vehicle speed V 0 Increasing the threshold value to prevent false triggering of the anti-pinch mechanism, wherein the battery voltage U measured in real time is smaller than the reference battery voltage U 0 The threshold is reduced to ensure the normal operation of the anti-pinch mechanism;
dividing the jolt situation into three classes including slight jolt, moderate jolt and severe jolt, the expressions for adjusting the margin of the slope threshold are:
wherein c 1 、c 2 、The adjustment constants of the slight pitch , the moderate pitch and the severe pitch are respectively, A 1 、A 2 、A 3 The margin for the slope threshold of the adjustment for the mild pitch , moderate pitch and severe pitch , respectively.
In the case of slight bumps, the travel of the vehicle is not greatly affected, so that we can take small threshold adjustments to guarantee the sensitivity of the anti-pinch mechanism.
In the case of moderate jolts, the travel of the vehicle is affected to some extent, but not too severe. Therefore, moderate threshold adjustments need to be taken to ensure the accuracy of the anti-pinch mechanism. The logarithmic function (log) is chosen because it grows at a slower rate, and its curve grows faster when the input value is smaller and slower when the input value is larger, which allows the logarithmic function to provide a moderate amount of adjustment at different input values, thus better accommodating the moderately bumpy situation. This property of the logarithmic function allows us to provide proper adjustment at different jolts, avoiding false triggering of the anti-pinch mechanism due to excessive adjustment.
In the case of severe jolts, the driving of the vehicle is greatly affected, so that a large threshold adjustment is needed to ensure the stability of the anti-pinch mechanism. The squaring process is chosen because the squaring function grows faster, its curve grows slower when the input value is smaller, and grows faster when the input value is larger, which allows the squaring function to provide a larger adjustment under different input values, thus better accommodating severe jolting situations. This property of the squaring function allows us to provide proper adjustment at different jolts, avoiding false triggering of the anti-pinch mechanism due to excessive adjustment.
And adding the margin of the slope threshold value with the original slope threshold value to obtain a slope threshold value when the road section is bumpy, further calculating a current difference if the current slope is larger than the slope threshold value when the road section is bumpy, judging the magnitude of the current difference, and considering that anti-pinch occurs if the current difference threshold value is reached, otherwise, continuing to detect until an anti-pinch condition is met or the power window runs to a designated position.
Example 2
Referring to fig. 2, for an embodiment of the present invention, a system of a power window anti-pinching method is provided, which is characterized in that: the system comprises a data collection and preprocessing module, a judging module, a calculating module, an adjusting module and a reversing program module.
The data collection and preprocessing module is used for collecting Hall pulse data generated by motor operation, real-time measurement data of vehicle speed and battery voltage, and carrying out denoising, missing value processing, outlier processing, data format conversion and data normalization on the collected data.
The judging module calculates the stroke length of the power window according to the number of Hall pulses and judges whether the current power window is in the anti-pinch area or not.
The calculating module calculates a current slope by utilizing a least square fitting curve principle, and calculates a current difference according to the current slope.
The adjusting module is used for judging whether the vehicle runs on a bumpy road section or not and adjusting the slope threshold according to the bumpy condition.
The reverse program module judges whether to trigger an anti-pinch mechanism according to the current difference.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Example 3
In this embodiment, in order to verify the beneficial effects of the present invention, scientific demonstration is performed through economic benefit calculation and simulation experiments. The present embodiment has been conducted by the conventional method and the method of the present embodiment.
The present patent has carried out a real vehicle test on the algorithm, and table 1 below is anti-pinch test data for 5 test points. The total stroke of the power window is 50cm, the anti-pinch area is set to be an area 10cm away from the top end of the window, the number of Hall pulses generated by the operation of the motor is 100, and each Hall pulse represents that the power window moves by 0.5cm.
The number of hall cells (hallfoscount) when the window is fully closed is 0.
During the window opening process, each time a Hall pulse is captured, the Hall PosCount self-adds 1, and the maximum value is 100 when the window is completely opened.
During the closing of the vehicle window, the Hall PosCount is subtracted by 1 each time a Hall pulse is captured, and the vehicle window returns to 0 when being completely closed. Assume that the power window is operating at a normal speed of 2 hall pulses per second.
In the rising process of the power window, when the power window enters the anti-pinch area, if no obstruction exists, the current slope is smaller than a preset current slope threshold value, and the power window is normally raised to the top end. If an obstacle exists, the current slope is larger than a preset current slope threshold value, the current difference is also larger than a preset current difference threshold value, an anti-pinch mechanism is triggered, the power window stops ascending and starts descending, and damage to the obstacle is prevented. If the vehicle enters the bumpy road section, a preset current slope threshold value and a current difference threshold value are adjusted according to the bumpy grade, so that the safety of the power window on the bumpy road section is ensured, and the false triggering of the anti-pinch mechanism caused by bumpy is prevented.
Margin of adjustment slope-to-slope value in the case of slight jerk:
carrying out data calculation to obtain:
margin for adjusting slope threshold in the case of moderate pitch :
carrying out data calculation to obtain:
margin for adjusting slope threshold in severe jolt conditions:
carrying out data calculation to obtain:
and then, adding the calculated margin of the slope adjustment threshold value with the original slope threshold value to obtain a slope threshold value when the road section is overturned , and comparing the slope threshold value with the current slope to judge whether the anti-pinch mechanism is triggered or not.
Assuming an original slope threshold of 0.2A/s, the current slope is 1A/s.
The slope threshold for a slight bump is:
S 1 ＝0.2+3.3＝3.5
since the current slope 1A/s is less than the slope threshold 3.5A/s, the anti-pinch mechanism is not triggered.
2. The slope threshold in the case of moderate pitch is:
S 2 ＝0.2+3.9＝4.1
since the current slope 1A/s is less than the slope threshold 4.1A/s, the anti-pinch mechanism is not triggered.
3. The slope threshold for severe jolting is:
S 3 ＝0.2+6.2＝6.4
since the current slope 1A/s is less than the slope threshold 6.4A/s, the anti-pinch mechanism is not triggered.
Thus, in this example, no current slope 1A/s triggers the anti-pinch mechanism, either in the case of a slight pitch, a moderate pitch or a severe bump.
Table 1 vehicle window different point anti-pinch force data
As can be seen from the anti-pinch test data in Table 1, the anti-pinch force varies by (80.+ -. 5) N at different points,
the design requirement that the anti-pinch force is smaller than 100N is met, and the safety of the algorithm is verified.
The anti-pinching function of the power window was tested under various road-breaking conditions and the test results are shown in the following table.
Table 2 vehicle window bad road condition anti-pinch function test
As shown by the test results in the table 2, the anti-pinch function of the power window can work normally under the above bad road conditions, the false anti-pinch rate is 0%, and the reliability of the algorithm is verified.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
Claims (12)
1. A power window pinch prevention method, comprising:
starting a motor to collect data information in real time and preprocessing data;
calculating the stroke length of the power window, and judging whether the window is in an anti-pinch area or not;
fitting to obtain the latest current slope of the motor during operation by utilizing the principle of least square fitting curve;
judging the slope magnitude record and controlling the current difference;
and further judging whether to trigger an anti-clamping mechanism of the electric vehicle according to the magnitude of the current difference.
2. A power window anti-pinching method according to claim 1, wherein: the data information is Hall pulse generated by motor operation;
the data preprocessing is to denoise the collected state data, remove abnormal values and invalid data in an error format, convert the original format data into a format for analysis, and normalize the data to complete the data preprocessing.
3. A power window anti-pinching method according to claim 2, wherein: the data information is used for determining the running position, the running direction and the running speed of the vehicle window;
the running direction is determined by an increase or decrease of the data information, the running speed is determined by an amplitude of the increase or decrease of the data information, and the running position is determined by a count number of the data information.
4. A power window anti-pinching method according to claim 3, wherein: when the vehicle window is closed to be completely opened, the data information is increased from 0 to the maximum value according to preset amplification; when the window is completely opened to closed, the data information is reduced to 0 pieces from the maximum value according to preset amplification, whether the current power window is in an anti-pinch area or not is further judged, if the window is in the anti-pinch area, whether an anti-pinch mechanism is triggered or not is detected, and if the anti-pinch mechanism is triggered, an anti-pinch reversal program is executed; if the car window is not in the anti-pinch area, the car window is operated to a soft stop point to stop;
the anti-pinch reversal program is to set an anti-pinch backspacing distance first, then drive the motor to run in the opposite direction and judge whether the backspacing distance is greater than or equal to the set backspacing distance, further stop the motor to run, and end the anti-pinch reversal program.
5. A power window anti-pinching method according to claim 4, wherein: whether the anti-pinch happens or not is detected by utilizing a least square fitting curve principle, and the latest current slope of the motor during operation is obtained by fitting, wherein the expression is as follows:
where m is the current slope, c is the intercept, t i Is the ith time point, I i Is the i-th current data, and NUM is the total number of current data.
6. A power window anti-pinching method according to claim 5, wherein: when the latest current slope of the motor in operation is calculated, the current slope is judged, if the current slope is smaller than a preset slope threshold value, the zero clearing current difference continuously monitors whether the power window is in the anti-pinch area, if the current slope is larger than the preset slope threshold value, the current difference is further calculated, if the current difference is larger than the preset current difference threshold value, the anti-pinch mechanism is triggered, and otherwise, the power window is continuously monitored whether the power window is in the anti-pinch area.
7. A power window anti-pinching method according to claim 6, wherein: judging whether the vehicle runs on a bumpy road section when the current slope is larger than a preset slope threshold value, if so, adjusting the preset slope threshold value, re-judging the latest current slope when the motor runs, and adjusting the margin expression of the slope threshold value to be:
where a and b are constants, L is the length of travel of the window, V 0 And U 0 Is the reference vehicle speed and voltage, e is the base of natural logarithm, V and U are the current vehicle speed and battery voltage, A is the threshold adjustmentThe whole amount is carried out;
if the vehicle speed V measured in real time is greater than the reference vehicle speed V 0 Increasing the threshold value to prevent false triggering of the anti-pinch mechanism, wherein the battery voltage U measured in real time is smaller than the reference battery voltage U 0 Reducing the threshold ensures proper operation of the anti-pinch mechanism.
8. A power window anti-pinching method according to claim 7, wherein: dividing the jolt situation into three classes including slight jolt, moderate jolt and severe jolt, the expressions for adjusting the margin of the slope threshold are:
wherein c 1 、c 2 、The adjustment constants of the slight pitch , the moderate pitch and the severe pitch are respectively, A 1 、A 2 、A 3 The margin for the slope threshold of the adjustment for the mild pitch , moderate pitch and severe pitch , respectively.
9. A power window anti-pinching method according to claim 8, wherein: and adding the margin of the slope threshold value with the original slope threshold value to obtain a slope threshold value when the road section is bumpy, further calculating a current difference if the current slope is larger than the slope threshold value when the road section is bumpy, judging the magnitude of the current difference, and considering that anti-pinch occurs if the current difference threshold value is reached, otherwise, continuing to detect until an anti-pinch condition is met or the power window runs to a designated position.
10. A system employing a power window anti-pinching method according to any one of claims 1 to 9, characterized in that: the system comprises a data collection and preprocessing module, a judging module, a calculating module, an adjusting module and a reversing program module;
the data collection and preprocessing module is used for collecting Hall pulse data generated by motor operation, real-time measurement data of vehicle speed and battery voltage, and carrying out denoising, missing value processing, abnormal value processing, data format conversion and data normalization on the collected data;
the judging module calculates the stroke length of the power window according to the number of Hall pulses and judges whether the current power window is in an anti-pinch area or not;
the calculation module calculates a current slope by utilizing a least square fitting curve principle, and calculates a current difference according to the current slope;
the adjusting module is used for judging whether the vehicle runs on a bumpy road section or not and adjusting a slope threshold according to bumpy conditions;
the reverse program module judges whether to trigger an anti-pinch mechanism according to the current difference.
11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of a power window anti-pinching method according to any one of claims 1 to 9.
12. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of a power window anti-pinching method according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311701925.4A CN117823002A (en) | 2023-12-11 | 2023-12-11 | Anti-pinch method and system for power window |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311701925.4A CN117823002A (en) | 2023-12-11 | 2023-12-11 | Anti-pinch method and system for power window |
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| CN117823002A true CN117823002A (en) | 2024-04-05 |
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| CN202311701925.4A Pending CN117823002A (en) | 2023-12-11 | 2023-12-11 | Anti-pinch method and system for power window |
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| Country | Link |
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| CN (1) | CN117823002A (en) |
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