CN111409572B - Control method and device for vehicle body closing system - Google Patents
Control method and device for vehicle body closing system Download PDFInfo
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- CN111409572B CN111409572B CN202010236984.9A CN202010236984A CN111409572B CN 111409572 B CN111409572 B CN 111409572B CN 202010236984 A CN202010236984 A CN 202010236984A CN 111409572 B CN111409572 B CN 111409572B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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Abstract
The invention provides a control method and a control device of a vehicle body closing system, which are applied to the technical field of automobiles. After the actual rotating speed of the driving motor is detected to be greater than the reference rotating speed, if the rotating speed of the driving motor is in a monotone ascending trend, the anti-pinch force of each detection period is a negative value, and the absolute value of each anti-pinch force is greater than a preset threshold value, the fact that the vehicle passes through a rough road or a wavy road can be judged, the anti-pinch judgment threshold value is increased, and an anti-pinch event is identified according to the increased anti-pinch judgment threshold value. The method provided by the invention can realize accurate identification of bad road surfaces such as undulating roads, wavy roads and the like, and increase the anti-pinch judgment threshold when judging that the vehicle passes through the undulating roads or the wavy roads, thereby avoiding mistaken identification of anti-pinch events and reducing the occurrence probability of mistaken anti-pinch events.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a control method and device of an automobile body closing system.
Background
The automobile body closing system mainly comprises a skylight, a door window, a tail door, a side sliding door and the like, according to relevant industrial regulation requirements, in the closing process of a moving part of the automobile body closing system, an anti-pinch function is required to be achieved within a specified moving range, the moving part can automatically roll back when meeting an obstacle, and meanwhile, the regulation also requires that the moving part cannot automatically roll back in the closing process under the condition that the obstacle is not met, namely, mistaken anti-pinch cannot occur.
When the anti-pinch force obtained by the calculation of the vehicle body closing system, namely the resistance received by the moving part in the moving process is greater than the anti-pinch judgment threshold value, the anti-pinch function can be triggered, and in practical application, when a vehicle passes through a bad road, even if no barrier exists in an anti-pinch area, the severe shaking of the vehicle body also has the possibility of causing the anti-pinch force calculation value to be greater than the anti-pinch force threshold value, and a mistaken anti-pinch event is triggered. Therefore, the automobile body closed system needs to detect the road condition that the vehicle travels, and when detecting that the vehicle passes through a bad road, the increase is prevented from pressing from both sides and is judged the threshold value, and the anti-pinch force that obtains of calculation is less than the anti-pinch judgment threshold value after the increase when guaranteeing not to have the barrier to avoid the mistake to prevent pressing from both sides.
The existing vehicle body closed system mostly depends on the rotating speed change rate of a driving motor in the system to realize bad road detection, when the rotating speed change rate meets a preset condition, a vehicle is determined to pass through a bad road, and a threshold value increasing instruction is generated to increase the anti-clamping judgment threshold value, the rotating speed change rate of the driving motor is directly related to the bumping degree of the road surface of the bad road, and the more serious the road surface bumps, the more accurate the bad road detection result. Therefore, for bad roads with large radius of convex parts such as undulating roads and wavy roads and smooth undulating changes of the roads, the existing vehicle body closing system is difficult to accurately identify, and the mistaken anti-pinch events are sometimes caused.
Disclosure of Invention
In view of the above, the present invention aims to provide a method and a device for controlling a vehicle body closing system, which can accurately identify bad road surfaces such as undulating roads and wavy roads, and reduce the occurrence probability of false anti-pinch events, and the specific scheme is as follows:
in a first aspect, the present invention provides a method of controlling a vehicle body closure system, comprising:
acquiring the actual rotating speed and the reference rotating speed of a driving motor under the condition that a vehicle body closing system executes closing operation and a moving part enters an anti-pinch area;
if the actual rotating speed is greater than the reference rotating speed, calculating anti-pinch forces corresponding to a plurality of continuous detection periods, and determining the rotating speed variation trend of the driving motor;
if the anti-pinch force of each detection period is a negative value, the absolute value of each anti-pinch force is larger than a preset threshold value, the rotating speed of the driving motor is in a monotone rising trend, and the anti-pinch judgment threshold value is increased according to a preset rule to obtain the increased anti-pinch judgment threshold value;
and identifying an anti-pinch event according to the increased anti-pinch judgment threshold value.
Optionally, after the anti-pinch event is identified according to the increased anti-pinch judgment threshold, the method further includes:
if the threshold value increasing instruction for increasing the anti-pinch judgment threshold value is not acquired within the preset time length, the anti-pinch judgment threshold value is recovered to be an initial value, wherein the threshold value increasing instruction is obtained based on the rotating speed change rate of the driving motor.
Optionally, after the anti-pinch event is identified according to the increased anti-pinch judgment threshold, the method further includes:
acquiring a driving motor stopping instruction or a driving motor reversing instruction;
and restoring the anti-pinch judgment threshold value to be an initial value according to the driving motor stopping instruction or the driving motor reversing instruction.
Optionally, the determining the trend of the rotation speed variation of the driving motor includes:
calculating the rotating speed change rate of the driving motor in a plurality of continuous detection periods;
and if all the calculated rotating speed change rates are positive values, determining that the rotating speed of the driving motor is in a monotone ascending trend.
Optionally, increase according to predetermineeing the rule and prevent pressing from both sides and judge the threshold value, obtain the anti-pinch after the increase and judge the threshold value, include:
taking the product of the initial value of the anti-pinch judgment threshold value and a preset coefficient as the increased anti-pinch judgment threshold value, wherein the preset coefficient is more than 1;
alternatively, the first and second electrodes may be,
and taking the sum of the initial value of the anti-pinch judgment threshold and a preset allowance as the increased anti-pinch judgment threshold, wherein the preset allowance is larger than 0.
Optionally, according to prevent pressing from both sides after the increase and judge threshold value discernment and prevent pressing from both sides the incident, include:
calculating the anti-pinch force corresponding to any detection period;
and if the anti-pinch force corresponding to the detection period is a positive value and is greater than the increased anti-pinch judgment threshold value, determining that an anti-pinch event occurs.
In a second aspect, the present invention provides a control device for a vehicle body closing system, comprising:
the first acquisition unit is used for acquiring the actual rotating speed and the reference rotating speed of the driving motor under the condition that the vehicle body closing system executes closing operation and the moving part enters the anti-pinch area;
the calculation unit is used for calculating anti-pinch force corresponding to a plurality of continuous detection periods and determining the rotating speed variation trend of the driving motor if the actual rotating speed is greater than the reference rotating speed;
the control unit is used for increasing the anti-pinch judgment threshold according to a preset rule if the anti-pinch force of each detection period is a negative value, the absolute value of each anti-pinch force is larger than a preset threshold, and the rotating speed of the driving motor is in a monotone rising trend, so that the increased anti-pinch judgment threshold is obtained;
and the identification unit is used for identifying the anti-pinch event according to the increased anti-pinch judgment threshold value.
Optionally, the control device for a vehicle body closing system according to a second aspect of the present invention further includes:
the first recovery unit is used for recovering the anti-pinch judgment threshold value to be an initial value if a threshold value increase instruction used for increasing the anti-pinch judgment threshold value is not acquired within a preset time length, wherein the threshold value increase instruction is obtained based on the rotating speed change rate of the driving motor.
Optionally, the control device for a vehicle body closing system according to a second aspect of the present invention further includes:
the second acquisition unit is used for acquiring a driving motor stopping instruction or a driving motor reversing instruction;
and the second recovery unit is used for recovering the anti-clamping judgment threshold value as an initial value according to the driving motor stopping instruction or the driving motor reversing instruction.
Optionally, the calculating unit is configured to, when determining a trend of a change in a rotation speed of the driving motor, specifically include:
calculating the rotating speed change rate of the driving motor in a plurality of continuous detection periods;
and if all the calculated rotating speed change rates are positive values, determining that the rotating speed of the driving motor is in a monotone ascending trend.
According to the control method of the vehicle body closing system, provided by the invention, under the condition that the vehicle body closing system executes closing operation and the moving part enters the anti-pinch area, anti-pinch force corresponding to a plurality of continuous detection periods is calculated, and the rotating speed change trend of the driving motor is determined. If the damaged road where the vehicle passes belongs to a wavy road or an undulating road, the vehicle body can be suspended for a short time and then quickly smashes to the ground, the vehicle body is close to a weightless state when suspended, the actual rotating speed of the driving motor can quickly and continuously rise and is greater than the set reference rotating speed, correspondingly, the calculated clamping-preventing force is a negative value, and the absolute value is large. The method provided by the invention can identify the bad road based on the rotating speed change condition of the driving motor when the vehicle passes through the wavy road, the wavy road and other road conditions, can realize accurate identification of the wavy road, the wavy road and other bad road surfaces, can increase the anti-pinch judgment threshold when judging that the vehicle passes through the wavy road or the wavy road, can avoid mistakenly identifying the anti-pinch event, and can further reduce the occurrence probability of the mistakenly anti-pinch event.
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 description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a method of controlling a vehicle body closure system in accordance with an embodiment of the present invention;
fig. 2 is a block diagram showing a control device of a vehicle body closing system according to an embodiment of the present invention;
fig. 3 is a block diagram showing the structure of another control device of a vehicle body closing system according to an embodiment of the present invention;
fig. 4 is a block diagram showing a configuration of a control device of a vehicle body closing system according to still another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As before, in order to reduce the occurrence of the mistaken anti-pinch event, the vehicle body closing system in the prior art is mostly provided with a broken road detection logic, judges whether the vehicle runs through a broken road or not, and combines other preset judgment conditions to adjust the anti-pinch judgment threshold value when judging that the vehicle runs through the broken road, so as to avoid the occurrence of the mistaken anti-pinch event.
In the following, a skylight system is taken as an example to introduce a bad road detection logic commonly used in the prior art:
the skylight controller receives vehicle running speed information provided by the vehicle body control module, and enables a preset bad road detection function under the condition that the vehicle running speed obtained by the skylight controller is greater than 5km/h and the skylight controller is internally set to allow bad road detection. Further, the continuous bad road detection logic needs to judge that the driving motor is in a continuous stable operation state, and the moving part, namely the position of the skylight moving glass is in a preset anti-pinch zone. In the bad road detection process, once the driving motor stops rotating or rotates reversely, or the skylight moving glass enters a non-anti-pinch area, the bad road detection logic is exited.
In the driving process of the vehicle under the bumpy road condition, due to the severe vibration of the whole vehicle, the rotation resistance received by the driving motor in the rotation process can be changed, namely the load of the driving motor can be changed drastically, so that the severe fluctuation of the rotating speed of the motor in the normal closing process of the skylight moving glass is caused, and the severe fluctuation of the rotating speed of the driving motor directly causes the rotating speed change rate of the driving motor to also oscillate drastically. Specifically, the rotation speed change rate of the driving motor can be calculated by the actual rotation speed of the current detection period and the rotation speed of the motor before four detection periods (one detection period every 2 ms), and details thereof are not described herein.
Based on the rate of change of the rotational speed of the drive motor, the sunroof controller determines whether the vehicle passes through a bad road using the weight accumulation logic and the maximum weight logic.
The weight accumulation logic is that the amplitudes of the rotating speed change rate are accumulated according to the weight by detecting the wave crest and the wave trough of the rotating speed change rate oscillation within the preset time length of 20ms, when the accumulated value exceeds a certain threshold value, the circuit is considered to be detected to be bad, and a threshold value increasing instruction is generated to increase the anti-pinch judgment threshold value. And if the weight accumulated value does not exceed the set threshold, clearing the accumulator and continuing to perform the next bad path detection. The step of accumulating the amplitudes of the rotation speed change rates according to the weights is to set different weights for the rotation speed change rates with different amplitudes, and then accumulate the weight values. For example, when the magnitude of the rotation speed change rate is between the threshold a1 and the threshold a2, the weight coefficient is set to B1, and when the magnitude of the rotation speed change rate is larger than a2, the weight coefficient is set to B2, and B2 is larger than B1.
The maximum weight logic is that in the preset time length of 20ms, under the condition that the amplitude of the rotating speed change rate is detected to exceed the threshold A3 in the rising edge stage of the vehicle speed, the bad road is directly judged and detected, and a threshold increasing instruction is generated to increase the anti-pinch judgment threshold. In practice, the threshold A1 is less than the threshold A2 and the threshold A2 is less than the threshold A3, each of which is calibrated to the particular vehicle.
It should be noted that the weight accumulation logic and the maximum weight logic are used simultaneously, and as long as either one of the two is satisfied, it is determined that a bad way is detected. The existing algorithm clears the accumulator after detecting the bad road condition, increases the anti-pinch judgment threshold value in the current skylight closing process until the skylight is completely closed, and drives the motor to stop running to avoid the occurrence of the mistaken anti-pinch event in the current skylight closing process.
According to the above, the existing scheme has better detection and control effects on the working conditions of poor road conditions and severe vibration of the vehicle body, because the prior art is used for detecting the bad road substantially by detecting the change rate of the rotating speed of the driving motor. However, because the bad road detection based on the rotation speed change rate depends on the violent rotation speed fluctuation and has a detection zero clearing mechanism with a preset duration, the bad road detection is difficult to detect for the relatively smooth road conditions, such as the wavy road or the undulating road.
Through the research on the wavy road or the undulating road, the inventor finds that when a vehicle passes through the bad road with large radius and smooth road surface undulation change at a high speed, the vehicle body is firstly suspended for a short time and then quickly smashed to the ground, when the vehicle body is suspended, the vehicle approaches a weightless state, the load of a vehicle body closing system is reduced, namely the resistance borne by the driving motor during rotation is obviously reduced, so that the actual rotating speed of the driving motor can quickly and continuously rise until the maximum rotating speed value is reached; correspondingly, when the automobile body pounded to ground, the load of automobile body closed system increased in the twinkling of an eye, and driving motor's rotational speed will reduce rapidly, because prior art can't discern this type bad way, can not adjust the judgement threshold value of preventing pressing from both sides, and the function is prevented pressing from both sides in the trigger of mistake to the rapid reduction of rotational speed, takes place promptly that the mistake prevents pressing from both sides the incident.
Based on the above, the embodiment of the present invention provides a control method for a vehicle body closing system, which is applied to a controller provided in the vehicle body closing system, specifically, a sunroof controller, a side sliding door controller, or a tailgate controller, and certainly, may also be applied to other controllers provided in a vehicle, which have data acquisition capability and can run a preset control program, such as a vehicle controller. Further, in some cases, the control method of the vehicle body closing system provided by the embodiment of the invention can also be applied to a server on a network side. Optionally, referring to fig. 1, fig. 1 is a flowchart of a control method of a vehicle body closing system according to an embodiment of the present invention, where the control method of the vehicle body closing system according to the embodiment of the present invention may include:
s100, under the condition that the vehicle body closing system executes closing operation and the moving part enters an anti-pinch area, acquiring the actual rotating speed and the reference rotating speed of the driving motor.
As described above, the anti-pinch function is a function of controlling the moving member to automatically move back if an obstacle is detected to block the further movement of the moving member within a predetermined movement range (i.e., an anti-pinch region) during the closing of the moving member of the vehicle body closing system, thereby preventing a driver from being pinched during the closing of the moving member. Based on the above, the control method provided by the embodiment of the invention is enabled when the vehicle body closing system performs the closing operation and the moving part enters the anti-pinch area, and the subsequent steps are performed. Of course, the following control steps are only meaningful if the vehicle body closing system performs a closing operation and the moving part enters the anti-pinch region, and this precondition is also one of the necessary conditions for the control method provided by the embodiment of the present invention to be performed.
In the case where the above conditions are satisfied, the actual rotation speed and the reference rotation speed of the drive motor are acquired. It should be noted that, for the calculation process of the reference rotation speed of the driving motor, the calculation process may be implemented by referring to an algorithm of the reference rotation speed in the prior art, and the specific calculation process of the reference rotation speed is not limited in the present invention.
And S110, judging whether the actual rotating speed is greater than the reference rotating speed, if so, executing S120, otherwise, returning to the step of executing S100.
According to the calculation process of the reference rotating speed in the prior art, the reference rotating speed is calculated according to the actual rotating speed of the driving motor, and under normal conditions, the reference rotating speed and the driving motor have certain following characteristics, but when the actual rotating speed of the driving motor fluctuates sharply, and the difference of the actual rotating speed change exceeds the amplitude limit of the updated reference rotating speed, the reference rotating speed does not follow the actual rotating speed change any more, but maintains the latest calculated value not to change any more, so that the rotating speed change trend of the driving motor can be judged according to the magnitude relation between the actual rotating speed and the reference rotating speed, and particularly, when the actual rotating speed of the driving motor is greater than the reference rotating speed, the situation that a vehicle possibly passes through a wavy road or a rough road needs to be judged. Of course, under such a working condition, the calculated anti-pinching force is also a negative value, and can be used as a determination condition accordingly, and the implementation principles of the two are consistent.
If the actual rotating speed is greater than the reference rotating speed, executing S120, calculating anti-pinch forces corresponding to a plurality of continuous detection periods, and determining the rotating speed variation trend of the driving motor; on the contrary, if the actual rotation speed is not greater than the reference rotation speed, the process returns to S100 and continues the detection of the next cycle.
And S120, calculating anti-pinch forces corresponding to a plurality of continuous detection periods, and determining the rotating speed variation trend of the driving motor.
And calculating the anti-pinch force corresponding to a plurality of continuous detection periods under the condition that the actual rotating speed is greater than the reference rotating speed. The calculation of the anti-clamping force in any detection period can be completed by adopting the following formula:
F＝(v1-v2)×Kt×Kv
wherein F represents an anti-pinch force;
V1represents a reference rotational speed;
V2representing the actual rotational speed;
Ktrepresents a temperature calculation coefficient;
Kvrepresenting the voltage calculation coefficient.
It should be noted that, for the specific number of the continuous detection periods, it needs to be preset according to the actual situation of the vehicle for the specific application, and in combination with the relevant test data and human experience, different types of vehicles often correspond to different values, and the specific number of the detection periods is not limited in the present invention. It is conceivable that the execution period of each detection period is fixed, the number of the designated detection periods is equal to the designated time length, that is, the anti-pinch force corresponding to each continuous detection period in the designated time length is calculated, and the calculation results of the two methods are consistent, and in terms of implementation essence, the anti-pinch force of the continuous detection periods still needs to be acquired.
Furthermore, the trend of the rotation speed of the driving motor needs to be judged at the same time. Optionally, an embodiment of the present invention provides a method for determining a trend of a rotation speed change of a driving motor, specifically, a rotation speed change rate of the driving motor in a plurality of continuous detection periods is calculated to obtain a plurality of rotation speed change rates, and if each calculated rotation speed change rate is a positive value, it may be determined that the rotation speed of the driving motor is in a monotonous rising trend, and the rotation speed of the driving motor is monotonous rising, which is also a characteristic that the rotation speed of the driving motor changes when a vehicle passes through a wavy road or a wavy road top and a vehicle body is in a weightless state, so that this characteristic may be used as a reference condition for road condition identification.
It should be noted that the number of the continuous detection cycles when the variation trend of the rotation speed of the driving motor is determined may be equal to or different from the number of the detection cycles for calculating the anti-pinching force. Correspondingly, when the specified time length is equivalently used for judging, the specified time lengths of the two parameters can be selected from the same time length with the same starting and stopping time, or different time lengths, which are optional, and belong to the protection scope of the invention on the premise of not exceeding the core thought scope of the invention.
And S130, judging whether the anti-pinch force of each detection period is a negative value or not, wherein the absolute value of each anti-pinch force is larger than a preset threshold value, the rotating speed of the driving motor is in a monotone rising trend, and if so, executing S140.
As mentioned above, when the vehicle passes through a bad road such as a wavy road or an undulating road, the rotation speed of the driving motor will have a fast and continuous rising stage, and in the process of changing the rotation speed, the difference between the actual rotation speed and the reference rotation speed is large, so that the calculated anti-pinching force is a negative value, and the absolute value is also large, therefore, the anti-pinching force can be used as one of the road condition determination conditions. Meanwhile, the actual rotation speed of the driving motor continuously increases, and a monotonous increasing characteristic is presented.
Therefore, if the anti-pinch force calculated in each detection period is a negative value, the absolute value of the anti-pinch force in each detection period is greater than the preset threshold value, and the rotation speed of the driving motor is in a monotone rising trend, it can be determined that the vehicle passes through a rough road or a wavy road, and then S140 is performed. On the contrary, if any one of the above three determination conditions is not satisfied, it cannot be determined that the vehicle has passed through the wavy road or the rough road, and the current detection process may be exited to return to execution of S100.
It should be noted that, the setting of the preset threshold needs to be given in combination with the vehicle, the test data and the design experience of the specific application, and the specific setting of the preset threshold is not limited in the present invention.
And S140, increasing the anti-pinch judgment threshold according to a preset rule to obtain the increased anti-pinch judgment threshold.
Through the steps, the situation that the vehicle passes through a rough road or a wavy road is judged, the rotating speed of the driving motor is rapidly reduced when the vehicle body is smashed to the ground, the absolute value of the anti-clamping force obtained through calculation is large, and if the anti-clamping judgment threshold value is not adjusted, an anti-clamping event is triggered mistakenly, namely the mistaken anti-clamping event occurs. Therefore, after the vehicle is judged to pass through the wavy road or the undulating road, the anti-pinch judgment threshold value is increased according to the preset rule, and the increased anti-pinch judgment threshold value is obtained.
Optionally, a product of the initial value of the anti-pinch judgment threshold and a preset coefficient greater than 1 may be calculated, and the obtained product is used as the increased anti-pinch judgment threshold, or a sum of the initial value of the anti-pinch judgment threshold and a preset allowance greater than 0 is calculated, and the obtained sum is used as the increased anti-pinch judgment threshold. The selection of the preset coefficient and the preset margin needs to be given by combining a specific application vehicle, test data and design experience, and the specific setting of the preset coefficient and the preset margin is not limited by the invention.
It should be noted that even if the increased anti-pinch judgment threshold value is used, the requirement of relevant industrial regulations is met, and when an anti-pinch event really occurs, the anti-pinch judgment threshold value can be effectively identified to avoid pinching drivers and passengers.
And S150, identifying an anti-pinch event according to the increased anti-pinch judgment threshold value.
After the increased anti-pinch judgment threshold is obtained, the anti-pinch event can be identified according to the increased anti-pinch judgment threshold. Specifically, according to the calculation method, the anti-pinch force corresponding to any detection period after the anti-pinch judgment threshold value is increased is calculated, and if the obtained anti-pinch force is a positive value and is greater than the increased anti-pinch judgment threshold value, an anti-pinch event can be determined to occur.
When the vehicle passes through a wavy road or an undulating road and the like and is on a bad road, the anti-pinch judgment threshold value is increased, the forward anti-pinch force obtained by calculation at the moment is not larger than the increased anti-pinch judgment threshold value any more, and the anti-pinch event cannot be identified mistakenly, so that the mistaken anti-pinch event is avoided.
In summary, the control method provided by the invention identifies the bad road based on the rotation speed variation condition of the driving motor when the vehicle passes through the wavy road or the undulating road, can accurately identify the bad road such as the undulating road and the wavy road, increases the anti-pinch judgment threshold when judging that the vehicle passes through the undulating road or the wavy road, avoids mistakenly identifying the anti-pinch event, and further reduces the occurrence probability of the mistaken anti-pinch event.
According to the control process, the control method provided by the embodiment of the invention can accurately identify a rotating speed peak with longer duration, adjust the anti-pinch judgment threshold when the driving motor is at the rotating speed peak value, and increase the anti-pinch judgment threshold before the rotating speed of the driving motor is rapidly reduced, so that the occurrence of mistaken anti-pinch events is prevented.
In consideration of the fact that the sensitivity of the anti-pinch function is reduced after the anti-pinch judgment threshold value is increased, and the response time of a vehicle body closing system to an anti-pinch event is prolonged (the vehicle body closing system can be identified only by generating larger anti-pinch force).
Optionally, in S150, after the anti-pinch event is identified according to the increased anti-pinch judgment threshold, if the threshold increasing instruction for increasing the anti-pinch judgment threshold is not obtained within the preset time period, the anti-pinch judgment threshold is restored to the initial value. The threshold increase instruction is generated when it is determined that the vehicle passes through a bad road, based on the aforementioned prior art algorithm, in conjunction with the rate of change in the rotation speed of the drive motor. It can be seen that, in practical applications, the control method provided by the embodiment of the present invention and the control method in the foregoing prior art are executed in parallel without interfering with each other, the algorithm in the prior art is used for identifying and controlling a severely bumpy bad road, and the control method provided by the embodiment of the present invention is used for identifying and controlling a wavy road or a bumpy road. After the anti-pinch judgment threshold value is increased through the control method provided by the embodiment of the invention, if a severely bumpy bad road is not further identified, the anti-pinch judgment threshold value is restored to be an initial value.
Further, if a driving motor stopping instruction or a driving motor reversing instruction generated by a driver through an external hardware switch or other modes is received in the process of identifying an anti-pinch event by using the increased anti-pinch judgment threshold, and the moving part does not execute the closing operation any more, the anti-pinch judgment threshold is recovered to be an initial value according to the obtained driving motor stopping instruction or the driving motor reversing instruction.
The following describes a control device of a vehicle body closing system according to an embodiment of the present invention, where the control device of the vehicle body closing system described below may be regarded as a functional module architecture that needs to be set in a central device to implement the control method of the vehicle body closing system according to the embodiment of the present invention; the following description may be cross-referenced with the above.
Alternatively, referring to fig. 2, fig. 2 is a control device of a vehicle body closing system according to an embodiment of the present invention, where the control device includes:
a first obtaining unit 10 for obtaining an actual rotation speed and a reference rotation speed of the driving motor in a case where the vehicle body closing system performs a closing operation and the moving part enters the anti-pinch region;
the calculation unit 20 is used for calculating anti-pinch forces corresponding to a plurality of continuous detection periods and determining the rotating speed variation trend of the driving motor if the actual rotating speed is greater than the reference rotating speed;
the control unit 30 is configured to increase the anti-pinch judgment threshold according to a preset rule if the anti-pinch force of each detection period is a negative value, the absolute value of each anti-pinch force is greater than a preset threshold, and the rotating speed of the driving motor is in a monotone rising trend, so as to obtain an increased anti-pinch judgment threshold;
and the identification unit 40 is used for identifying the anti-pinch event according to the increased anti-pinch judgment threshold value.
Optionally, the calculating unit 20 is configured to determine a variation trend of the rotation speed of the driving motor, and specifically includes:
calculating the rotating speed change rate of the driving motor in a plurality of continuous detection periods;
and if all the calculated rotating speed change rates are positive values, determining that the rotating speed of the driving motor is in a monotone ascending trend.
Optionally, the control unit 30 is configured to increase the anti-pinch judgment threshold according to a preset rule, and obtain the increased anti-pinch judgment threshold, including:
taking the product of the initial value of the anti-pinch judgment threshold value and a preset coefficient as the increased anti-pinch judgment threshold value, wherein the preset coefficient is more than 1;
alternatively, the first and second electrodes may be,
and taking the sum of the initial value of the anti-pinch judgment threshold and a preset allowance as the increased anti-pinch judgment threshold, wherein the preset allowance is larger than 0.
Optionally, the identification unit 40 is configured to specifically include, when identifying the anti-pinch event according to the increased anti-pinch judgment threshold:
calculating the anti-pinch force corresponding to any detection period;
and if the anti-pinch force corresponding to the detection period is a positive value and is greater than the increased anti-pinch judgment threshold value, determining that an anti-pinch event occurs.
Optionally, referring to fig. 3, fig. 3 is another control device for a vehicle body closing system according to an embodiment of the present invention, and on the basis of the embodiment shown in fig. 2, the device further includes:
the first restoring unit 50 is configured to restore the anti-pinch determination threshold to an initial value if a threshold increasing instruction for increasing the anti-pinch determination threshold is not acquired within a preset time period, where the threshold increasing instruction is obtained based on a rotation speed change rate of the driving motor.
Alternatively, referring to fig. 4, fig. 4 is a control device of a vehicle body closing system according to another embodiment of the present invention, and on the basis of the embodiment shown in fig. 2, the device further includes:
a second acquiring unit 60 for acquiring a drive motor stop instruction or a drive motor reverse rotation instruction;
the second recovery unit 70 is configured to recover the anti-pinch determination threshold as an initial value according to the driving motor stop instruction or the driving motor reverse instruction.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
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 steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in 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.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method of controlling a vehicle body closure system, comprising:
acquiring the actual rotating speed and the reference rotating speed of a driving motor under the condition that a vehicle body closing system executes closing operation and a moving part enters an anti-pinch area;
if the actual rotating speed is greater than the reference rotating speed, calculating anti-pinch forces corresponding to a plurality of continuous detection periods, and determining the rotating speed variation trend of the driving motor;
if the anti-pinch force of each detection period is a negative value, the absolute value of each anti-pinch force is larger than a preset threshold value, the rotating speed of the driving motor is in a monotone rising trend, and the anti-pinch judgment threshold value is increased according to a preset rule to obtain the increased anti-pinch judgment threshold value;
identifying an anti-pinch event according to the increased anti-pinch judgment threshold;
if the threshold value increasing instruction for increasing the anti-pinch judgment threshold value is not acquired within the preset time length, the anti-pinch judgment threshold value is recovered to be an initial value, wherein the threshold value increasing instruction is obtained based on the rotating speed change rate of the driving motor.
2. The method of claim 1, wherein after identifying an anti-pinch event based on the increased anti-pinch decision threshold, the method further comprises:
acquiring a driving motor stopping instruction or a driving motor reversing instruction;
and restoring the anti-pinch judgment threshold value to be an initial value according to the driving motor stopping instruction or the driving motor reversing instruction.
3. The control method of the vehicle body closing system according to claim 1, wherein the determining the trend of the change of the rotation speed of the driving motor comprises:
calculating the rotating speed change rate of the driving motor in a plurality of continuous detection periods;
and if all the calculated rotating speed change rates are positive values, determining that the rotating speed of the driving motor is in a monotone ascending trend.
4. The method for controlling a vehicle body closing system according to any one of claims 1 to 3, wherein the increasing the anti-pinch judgment threshold value according to a preset rule to obtain the increased anti-pinch judgment threshold value includes:
taking the product of the initial value of the anti-pinch judgment threshold value and a preset coefficient as the increased anti-pinch judgment threshold value, wherein the preset coefficient is more than 1;
alternatively, the first and second electrodes may be,
and taking the sum of the initial value of the anti-pinch judgment threshold and a preset allowance as the increased anti-pinch judgment threshold, wherein the preset allowance is larger than 0.
5. The method of controlling a vehicle body closure system of any of claims 1-3, wherein identifying an anti-pinch event based on the increased anti-pinch decision threshold comprises:
calculating the anti-pinch force corresponding to any detection period;
and if the anti-pinch force corresponding to the detection period is a positive value and is greater than the increased anti-pinch judgment threshold value, determining that an anti-pinch event occurs.
6. A control device for a vehicle body closure system, comprising:
the first acquisition unit is used for acquiring the actual rotating speed and the reference rotating speed of the driving motor under the condition that the vehicle body closing system executes closing operation and the moving part enters the anti-pinch area;
the calculation unit is used for calculating anti-pinch force corresponding to a plurality of continuous detection periods and determining the rotating speed variation trend of the driving motor if the actual rotating speed is greater than the reference rotating speed;
the control unit is used for increasing the anti-pinch judgment threshold according to a preset rule if the anti-pinch force of each detection period is a negative value, the absolute value of each anti-pinch force is larger than a preset threshold, and the rotating speed of the driving motor is in a monotone rising trend, so that the increased anti-pinch judgment threshold is obtained;
the identification unit is used for identifying an anti-pinch event according to the increased anti-pinch judgment threshold;
the first recovery unit is used for recovering the anti-pinch judgment threshold value to be an initial value if a threshold value increase instruction used for increasing the anti-pinch judgment threshold value is not acquired within a preset time length, wherein the threshold value increase instruction is obtained based on the rotating speed change rate of the driving motor.
7. The control device of a vehicle body closure system according to claim 6, further comprising:
the second acquisition unit is used for acquiring a driving motor stopping instruction or a driving motor reversing instruction;
and the second recovery unit is used for recovering the anti-clamping judgment threshold value as an initial value according to the driving motor stopping instruction or the driving motor reversing instruction.
8. The control device of the vehicle body closing system according to claim 6, wherein the computing unit, when determining the trend of the rotation speed of the driving motor, specifically comprises:
calculating the rotating speed change rate of the driving motor in a plurality of continuous detection periods;
and if all the calculated rotating speed change rates are positive values, determining that the rotating speed of the driving motor is in a monotone ascending trend.
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| CN111997471B (en) * | 2020-09-02 | 2022-03-15 | 北京经纬恒润科技股份有限公司 | Anti-pinch detection method and device for vehicle body closing system |
| CN112990552A (en) * | 2021-02-20 | 2021-06-18 | 节点互联(北京)科技有限公司 | Equipment operation parameter short-time prediction method and system based on change rate |
| CN115288552A (en) * | 2022-08-18 | 2022-11-04 | 东软睿驰汽车技术（沈阳）有限公司 | Anti-pinch control method and device for car window and computer readable storage medium |
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