CN116176242A - Anti-pinch method and device for sunroof of vehicle, vehicle controller and vehicle - Google Patents

Anti-pinch method and device for sunroof of vehicle, vehicle controller and vehicle Download PDF

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Publication number
CN116176242A
CN116176242A CN202111436724.7A CN202111436724A CN116176242A CN 116176242 A CN116176242 A CN 116176242A CN 202111436724 A CN202111436724 A CN 202111436724A CN 116176242 A CN116176242 A CN 116176242A
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China
Prior art keywords
vehicle
skylight
motor
sunroof
rotating speed
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Chinese (zh)
Inventor
温伟平
曹正坤
李�根
赵伟冰
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BYD Co Ltd
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BYD Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
    • B60J7/00—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs
    • B60J7/02—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs of sliding type, e.g. comprising guide shoes
    • B60J7/04—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs of sliding type, e.g. comprising guide shoes with rigid plate-like element or elements, e.g. open roofs with harmonica-type folding rigid panels
    • B60J7/057—Driving or actuating arrangements e.g. manually operated levers or knobs
    • B60J7/0573—Driving or actuating arrangements e.g. manually operated levers or knobs power driven arrangements, e.g. electrical
    • 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
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Window Of Vehicle (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The invention discloses a vehicle skylight anti-clamping method and device, a vehicle controller and a vehicle, wherein the vehicle skylight anti-clamping method can be used for calibrating a first rotating speed of a skylight motor in normal operation and a second rotating speed of the skylight motor in sudden load operation when three factors of working voltage, skylight area and vehicle acceleration are changed, solving a speed difference threshold according to the first rotating speed and the second rotating speed, comparing the rotating speed difference between the current rotating speed of the skylight motor and the first rotating speed with the speed difference threshold in the process of closing a vehicle skylight, and determining whether to start the anti-clamping function of the vehicle skylight according to a comparison result. Therefore, the vehicle skylight anti-clamping method can reduce the probability of false clamping prevention and clamping failure prevention of the vehicle skylight, improve the triggering accuracy of the vehicle skylight anti-clamping function, and improve the use experience of a user.

Description

Anti-pinch method and device for sunroof of vehicle, vehicle controller and vehicle
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle skylight anti-clamping method, a vehicle skylight anti-clamping device, a vehicle controller and a vehicle.
Background
In the process of closing the vehicle sunroof, the risk of clamping a user exists, so that many vehicle enterprises are designed with the sunroof anti-clamping function, but factors influencing the sunroof to trigger the sunroof anti-clamping function are very complex.
In the related art, a speed closed loop and current closed loop double closed loop mode is generally adopted to control the sunroof, the anti-pinch triggering condition of the sunroof cannot be comprehensively considered, the sunroof is prone to being mistakenly anti-pinch or anti-pinch invalid, and therefore the use experience of a user is greatly reduced.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, an object of the present invention is to provide a vehicle sunroof anti-pinch method, which can reduce the probability of occurrence of false pinching prevention and pinching prevention failure of a vehicle sunroof, improve the accuracy of triggering the pinching prevention function of the vehicle sunroof, and improve the use experience of a user.
A second object of the present invention is to provide a sunroof anti-pinch device for a vehicle.
A third object of the present invention is to propose a vehicle controller.
A fourth object of the present invention is to propose a vehicle.
To achieve the above object, an embodiment of a first aspect of the present invention provides a sunroof anti-pinching method for a vehicle, which includes the following steps: when the skylight motor normally operates, determining a first relation between the rotating speed and working voltage of the skylight motor, a skylight area and vehicle acceleration; determining a second relationship between the rotational speed and the operating voltage of the sun roof motor, the sun roof area and the vehicle acceleration when the sun roof motor is operated with a sudden load; determining different working voltages, different sky window areas and speed difference thresholds under different vehicle accelerations according to the first relation and the second relation; acquiring the current rotating speed of the skylight motor, and acquiring the current working voltage of the skylight motor, the skylight area where the vehicle skylight is currently closed and the current acceleration of the vehicle; determining a first rotating speed of the skylight motor according to the current working voltage of the skylight motor, the skylight area to which the vehicle skylight is closed, the current acceleration of the vehicle and the first relation, determining a corresponding speed difference threshold according to the current working voltage of the skylight motor, the skylight area to which the vehicle skylight is closed and the current acceleration of the vehicle, and calculating the rotating speed difference between the current rotating speed of the skylight motor and the first rotating speed; and judging whether the anti-pinch function of the vehicle skylight is started or not according to the rotating speed difference and the corresponding speed difference threshold value.
The anti-pinch method for the vehicle sunroof of the embodiment of the invention can be used for calibrating the first rotating speed of the sunroof motor in normal operation and the second rotating speed of the sunroof motor in sudden load operation when three factors of the sunroof motor working voltage, the sunroof region and the vehicle acceleration are changed, calculating a speed difference threshold according to the first rotating speed and the second rotating speed, comparing the speed difference between the current rotating speed of the sunroof motor and the first rotating speed with the speed difference threshold in the process of closing the sunroof of the vehicle, and determining whether to start the anti-pinch function of the sunroof of the vehicle according to the comparison result. Therefore, the vehicle skylight anti-clamping method can reduce the probability of false clamping prevention and clamping failure prevention of the vehicle skylight, improve the triggering accuracy of the vehicle skylight anti-clamping function, and improve the use experience of a user.
In some embodiments of the invention, determining a first relationship between the rotational speed and operating voltage of the sunroof motor, sunroof region, and vehicle acceleration comprises: and under the conditions of different working voltages, different sky window areas and different vehicle accelerations, recording the rotating speed of the skylight motor during normal operation so as to determine the first relation.
In some embodiments of the invention, determining a second relationship between the rotational speed and the operating voltage of the sunroof motor, the sunroof region, and the vehicle acceleration comprises: and under the conditions of different working voltages, different sky window areas and different vehicle accelerations, recording the rotating speed of the skylight motor during the sudden-load-setting running process so as to determine the second relation.
In some embodiments of the invention, the first relationship and the second relationship are both stored in the form of tables.
In some embodiments of the invention, obtaining the current rotational speed of the skylight motor includes: and calculating the angular speed of the skylight motor through waveform signals detected by two Hall sensors with mutual differences of 90 degrees, which are arranged corresponding to the skylight motor, and calculating the current rotating speed of the skylight motor according to the angular speed.
In some embodiments of the present invention, a regulated power supply is provided to the sunroof motor to control the sunroof to be closed when the vehicle is stationary, and the sunroof motor is divided into regions according to whether the rotation speed of the sunroof motor is suddenly changed during the closing of the sunroof.
In some embodiments of the present invention, determining whether the anti-pinching function of the sunroof is activated according to the rotational speed difference and the corresponding speed difference threshold value includes: and outputting an anti-pinch flag bit when the rotation speed difference is larger than the corresponding speed difference threshold value so as to start the anti-pinch function of the vehicle sunroof.
To achieve the above object, a second aspect of the present invention provides a sunroof anti-pinch device for a vehicle, the anti-pinch device comprising: the first determining module is used for determining a first relation between the rotating speed and the working voltage of the skylight motor, the skylight area and the vehicle acceleration when the skylight motor is in normal operation; the second determining module is used for determining a second relation between the rotating speed and the working voltage of the skylight motor, the skylight area and the vehicle acceleration when the skylight motor suddenly runs under a set load; the third determining module is used for determining different working voltages, different sky window areas and speed difference thresholds under different vehicle accelerations according to the first relation and the second relation; the acquisition module is used for acquiring the current rotating speed of the skylight motor, and acquiring the current working voltage of the skylight motor, the skylight area where the vehicle skylight is closed currently and the current acceleration of the vehicle; the control module is used for determining a first rotating speed of the skylight motor according to the current working voltage of the skylight motor, the skylight area where the vehicle skylight is currently closed, the current acceleration of the vehicle and the first relation, determining a corresponding speed difference threshold according to the current working voltage of the skylight motor, the skylight area where the vehicle skylight is currently closed and the current acceleration of the vehicle, and calculating the rotating speed difference between the current rotating speed of the skylight motor and the first rotating speed; and the judging module is used for judging whether the anti-pinch function of the vehicle skylight is started or not according to the rotating speed difference and the corresponding speed difference threshold value.
The vehicle skylight anti-pinch device comprises a first determining module, a second determining module, a third determining module, an acquiring module, a control module and a judging module, wherein when three factors of working voltage of a skylight motor, skylight area and vehicle acceleration change, the first determining module is used for determining a first rotating speed of the skylight motor in normal operation, the second determining module is used for determining a second rotating speed of the skylight motor in sudden load operation, the third determining module is used for determining a speed difference threshold according to the first rotating speed and the second rotating speed, the acquiring module acquires current rotating speed of the skylight motor and current working voltage of the skylight motor, skylight area currently closed by the vehicle skylight and current acceleration of the vehicle in the process of closing the vehicle skylight, then the control module is used for determining the rotating speed difference between the current rotating speed of the skylight motor and the first rotating speed, the rotating speed difference is compared with the speed difference threshold, and finally the judging module is used for judging whether to start the anti-pinch function of the vehicle skylight according to a comparison result. Therefore, the vehicle skylight anti-clamping device provided by the embodiment of the invention can reduce the probability of false clamping prevention and clamping failure prevention of the vehicle skylight, improve the triggering accuracy of the vehicle skylight anti-clamping function and improve the use experience of a user.
To achieve the above object, an embodiment of a third aspect of the present invention provides a vehicle controller, which includes a memory, a processor, and a sunroof pinching prevention program stored in the memory and operable on the processor, wherein the processor implements the sunroof pinching prevention method according to the above embodiment when executing the sunroof pinching prevention program.
The vehicle controller provided by the embodiment of the invention comprises the memory and the controller, and the controller can reduce the probability of false anti-pinch and anti-pinch failure of the vehicle skylight by executing the anti-pinch program of the vehicle skylight stored in the memory, improve the triggering accuracy of the anti-pinch function of the vehicle skylight and improve the use experience of a user.
To achieve the above object, a fourth aspect of the present invention provides a vehicle including the vehicle controller described in the above embodiment.
The vehicle provided by the embodiment of the invention comprises the vehicle controller, so that the probability of false clamping prevention and clamping failure prevention of the vehicle skylight can be reduced, the triggering accuracy of the clamping prevention function of the vehicle skylight is improved, and the use experience of a user is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a sunroof pinch prevention method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a Hall sensor arrangement according to one embodiment of the invention;
FIG. 3 is a schematic illustration of a division of a sunroof region of a vehicle according to an embodiment of the invention;
FIG. 4 is a load simulation schematic of a skylight position in accordance with one embodiment of the present invention;
FIG. 5 is a specific flow chart of the sunroof anti-pinch method of the vehicle of FIG. 1;
FIG. 6 is a block diagram of a sunroof anti-pinch device according to an embodiment of the invention;
fig. 7 is a block diagram of a vehicle controller according to an embodiment of the present invention;
fig. 8 is a block diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The following describes a sunroof anti-pinch method and device, a vehicle controller and a vehicle according to embodiments of the present invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of a sunroof pinch prevention method according to an embodiment of the present invention.
As shown in fig. 1, the invention provides a vehicle sunroof anti-pinch method, which comprises the following steps:
s10, when the skylight motor normally operates, determining a first relation between the rotating speed and the working voltage of the skylight motor, the skylight area and the vehicle acceleration.
In particular, it should be noted that, firstly, when the sunroof motor is operated, the operation speed of the sunroof motor is often affected by a plurality of factors, and the affecting factors mainly may include the operation voltage of the sunroof motor and the actual load of the sunroof motor, where the actual load of the sunroof motor may include the motor itself, a transmission mechanism for transmitting torque, dissipation force of a sunroof rail, and inertia force of the sunroof in a non-inertia system. In addition, because the loads corresponding to the skylight motors are different in different skylight areas of the vehicle skylight, the invention can calibrate the different loads corresponding to the skylight motors by acquiring the areas of the vehicle skylight, and can calibrate the vehicle skylight to receive inertial force by acquiring the vehicle acceleration, because the inertial force also affects the loads of the skylight motors.
In this embodiment, when the skylight motor is in normal operation, that is, the skylight motor is not under sudden load, the working voltage of the skylight motor, the area of the vehicle skylight and the acceleration of the vehicle are obtained, meanwhile, the rotation speed of the current skylight motor is also obtained, then the corresponding relation between the rotation speed of the current skylight motor and the displacement between the three is calibrated, then one factor is changed, and the rotation speed of the other skylight motor is obtained.
Alternatively, the working voltage range of the skylight motor may be a safe working voltage range of the motor, and the step size of each modification may be set according to the accuracy requirement of the user, for example, the working voltage range is 0 volt to 20 volts, and then the step size may be 1 volt or 0.5 volt. The acceleration range of the vehicle and the step length of each modification of the acceleration can be selected according to the vehicle type, the driving habit of a user and the like, and the skylight area can be preset.
S20, determining a second relation between the rotating speed and the working voltage of the skylight motor, the skylight area and the vehicle acceleration when the skylight motor suddenly loads and runs.
Specifically, it should be noted that this step may be performed as described in the above step S10, but unlike the above step, the sunroof motor in this step is in a state of being operated under an abrupt load. It will be appreciated that the set load to which the sunroof motor is exposed may be the load required to just trigger the sunroof to activate the anti-pinch function, which may be determined based on the type of sunroof and/or the user's requirements.
More specifically, in this embodiment, a load is set suddenly on the sunroof motor, different working voltages, different sunroof regions, and different vehicle accelerations of the sunroof motor are obtained, and at the same time, the rotational speeds of the corresponding sunroof motors are obtained, and then the relationship between the rotational speeds of the sunroof motors and the working voltages, the sunroof regions, and the vehicle accelerations is recorded as a second relationship.
S30, determining speed difference thresholds under different working voltages, different sky window areas and different vehicle accelerations according to the first relation and the second relation.
Specifically, after the first relationship and the second relationship are obtained, the motor rotation speed in the first relationship may be subtracted from the motor rotation speed in the second relationship, and then a speed difference threshold value is obtained. For example, when the operating voltage is 12 v, the sunroof region is a region, and the vehicle acceleration is 0.5g (g is gravity acceleration), the rotational speed of the sunroof motor in normal operation is 2000 rpm by the first relationship, and when the rotational speed of the sunroof motor in the sudden load setting operation is 1500 rpm by the second relationship, the speed difference threshold is 500 rpm when the operating voltage is 12 v, the sunroof region is a region, and the vehicle acceleration is 0.5g (g is gravity acceleration).
In some embodiments of the invention, determining a first relationship between a rotational speed and an operating voltage of a sunroof motor, a sunroof region, and a vehicle acceleration includes: under the conditions of different working voltages, different sky window areas and different vehicle accelerations, the rotating speed of the skylight motor during normal operation is recorded to determine a first relation. Determining a second relationship between the rotational speed and the operating voltage of the sunroof motor, the sunroof region, and the vehicle acceleration, comprising: and under the conditions of different working voltages, different sky window areas and different vehicle accelerations, recording the rotating speed of the skylight motor during the sudden load-setting running so as to determine a second relation.
Specifically, for example, in the case where the operating voltage is 12 v, the sunroof region is region a, and the vehicle acceleration is 0.5g (g is gravitational acceleration), it is possible to record the rotation speed of the sunroof motor at the time of normal operation as 2000 rotations per second; under the conditions that the working voltage is 15 volts, the skylight area is an area A, and the vehicle acceleration is 0.5g (g is gravity acceleration), the rotating speed of the skylight motor in normal operation can be recorded to be 2200 revolutions per second; it should be noted that the operating voltage may be increased from 0 v to 20 v in 1 v steps while maintaining the sunroof region and the vehicle acceleration unchanged, and the rotational speed of the sunroof motor corresponding to each voltage is recorded. Then changing the skylight areas, repeatedly recording the rotating speeds of the skylight motors corresponding to the skylight motors when the working voltage increases from 0 volt to 20 volts, and recording the rotating speeds of the skylight motors corresponding to each skylight area; and then changing the vehicle acceleration, repeatedly recording the rotating speed of the skylight motor corresponding to the working voltage of the skylight motor increasing from 0 volt to 20 volts and the skylight area moving from the area A to the area F (assuming that the skylight area is divided into six areas A to F), and recording the rotating speed of the skylight motor corresponding to each vehicle acceleration.
After the rotational speeds of the skylight motor corresponding to different working voltages, different skylight areas and different vehicle accelerations are obtained, the corresponding relations are recorded to determine a first relation, so that in the subsequent steps, the rotational speed of the skylight motor under the normal running condition can be determined according to the working voltages, the skylight areas, the vehicle accelerations and the first relation, and the rotational speed of the skylight motor under the condition of suddenly-set loads can be determined according to the working voltages, the skylight areas, the vehicle accelerations and the second relation.
In some embodiments, the first relationship and the second relationship may both exist in a form of a table in the memory, so as to facilitate timely calling and improve the response speed of the sunroof anti-pinch.
S40, acquiring the current rotating speed of the sunroof motor, and acquiring the current working voltage of the sunroof motor, the sunroof area to which the sunroof of the vehicle is closed currently and the current acceleration of the vehicle.
After the first relation and the second relation are recorded and stored, in the using process of the vehicle skylight, whether the vehicle skylight needs to start the anti-clamping function or not needs to be judged at any time so as to prevent the vehicle skylight from damaging a user or damaging the vehicle skylight.
Specifically, the current working voltage of the skylight motor, the skylight area where the skylight of the vehicle is closed and the current acceleration of the vehicle are obtained, then the rotating speed of the skylight motor during normal operation can be obtained through the obtained current working voltage, the skylight area and the current acceleration of the vehicle in a table look-up mode, then the current rotating speed of the skylight motor is obtained, and then whether the anti-clamping function is started or not can be determined according to the current rotating speed and the rotating speed of the skylight motor during normal operation.
In some embodiments, obtaining the current rotational speed of the skylight motor includes: and calculating the angular speed of the skylight motor through waveform signals detected by two Hall sensors which are arranged corresponding to the skylight motor and mutually different by 90 degrees, and calculating the current rotating speed of the skylight motor according to the angular speed.
Specifically, as shown in fig. 2, the skylight motor is provided with a first HALL sensor HALL1 and a second HALL sensor HALL2, which are mutually different from each other by 90 degrees, so that under one electrical cycle, four HALL states jump, wherein the HALL states can be marked as "0", "1", "2", "3", and since one electrical cycle is 360 degrees, one HALL state corresponds to 90 degrees. After the motor rotates, the duration of a hall state is the time required for the rotor to rotate 90 °, a periodic function of a preset time is set for calculating the duration of a hall state, and then the electric angular velocity is obtained by dividing the time by 90 °.
More specifically, assuming that a periodic function of 100 microseconds is set to calculate the duration of a hall state, a flag bit is also set to accumulate the number of times the periodic function passes by the hall state, and a periodic function of 100 microseconds is not passed, the flag bit is incremented by one. For example, in the hall state, if the number on the flag bit is 5, the duration of the time in the hall state is 500 microseconds, and the speed obtained by dividing 90 ° by 500 microseconds is the electrical angular speed, and the angular speed of the motor can be obtained from the pole pair number of the motor. For example, the motor in this embodiment has two pairs of poles, and there are eight hall states for one mechanical cycle, and the angular velocity of the motor is (90 ° -0.0005 ≡2) rotations per second.
S50, determining a first rotating speed of the skylight motor according to the current working voltage of the skylight motor, the current closed skylight area of the vehicle skylight, the current acceleration of the vehicle and a first relation, determining a corresponding speed difference threshold according to the current working voltage of the skylight motor, the current closed skylight area of the vehicle skylight and the current acceleration of the vehicle, and calculating the rotating speed difference between the current rotating speed and the first rotating speed of the skylight motor.
Specifically, after the current working voltage of the sun roof motor, the currently closed sun roof area of the vehicle and the current acceleration of the vehicle are obtained in step S40, the first relationship may be queried according to the current working voltage, the currently closed sun roof area of the vehicle and the current acceleration of the vehicle to obtain the first rotation speed of the sun roof motor, and the corresponding speed difference threshold may also be obtained according to the current working voltage, the currently closed sun roof area of the vehicle and the current acceleration of the vehicle. It is understood that the first rotational speed is a first rotational speed at which the sun roof motor is operating normally. After the current rotation speed and the first rotation speed of the sun roof motor are obtained, a rotation speed difference between the current rotation speed and the first rotation speed may be calculated, and specifically, a difference obtained by subtracting the first rotation speed from the current rotation speed of the sun roof motor may be used as the rotation speed difference.
It should be noted that, since the anti-pinch function is not required to be started in the process of opening the vehicle sunroof, in this embodiment, the sunroof area in the closing process of the vehicle sunroof is detected to determine whether the anti-pinch function is triggered in the closing process of the vehicle sunroof.
S60, judging whether the anti-pinch function of the vehicle sunroof is started or not according to the rotation speed difference and the corresponding speed difference threshold value.
Specifically, the speed difference threshold in this embodiment may be a speed obtained by subtracting a second speed from the first speed, where the second speed is a speed at which the sun roof motor is suddenly set to operate under load, and the operating voltage, the sun roof area, and the vehicle acceleration corresponding to the first speed and the second speed are the same, so that the speed difference threshold in this state may be obtained. After the speed difference threshold value and the rotation speed difference are obtained, whether the anti-clamping function of the vehicle sunroof is started or not can be judged according to the magnitude of the speed difference threshold value and the rotation speed difference.
More specifically, if the rotational speed difference is greater than the rotational speed difference threshold, the anti-pinch function of the sunroof during closing is activated, and it is understood that, since the rotational speed difference threshold is obtained by subtracting the second rotational speed from the first rotational speed, and the second rotational speed is the load threshold for the sunroof to activate the anti-pinch function, when the rotational speed difference obtained by subtracting the current rotational speed from the first rotational speed is greater than the rotational speed difference threshold, it indicates that the current rotational speed is less than the second rotational speed, that is, it indicates that the load received by the current sunroof is greater than the load threshold, and therefore the anti-pinch function of the sunroof needs to be activated.
In some embodiments, when the rotation speed difference is greater than the corresponding speed difference threshold, an anti-pinch flag bit may be output, so as to start an anti-pinch function of the sunroof, and when the anti-pinch function of the sunroof is started, a sunroof motor may be controlled to rotate reversely to perform anti-pinch.
In some embodiments of the present invention, the dividing the sunroof region of the vehicle may specifically include: and when the vehicle is stationary, providing a regulated power supply for the skylight motor to control the skylight of the vehicle to be closed, and dividing the area of the skylight of the vehicle according to whether the rotating speed of the skylight motor is suddenly changed or not in the closing process of the skylight of the vehicle.
Specifically, a stable voltage source, for example, 20 v, is selected first, and the acceleration of the vehicle is selected to be 0, that is, the vehicle is stationary, so as to prevent the acceleration of the vehicle from affecting the division of the sunroof area, and when the regulated voltage source is used for controlling the sunroof to be closed, the sunroof of the vehicle can be divided according to the rotation speed of the sunroof motor. It should be noted that, the load of the sunroof motor is different in different areas, and because the working voltage and the vehicle acceleration of the sunroof motor also have an influence on the load of the sunroof motor, the embodiment controls the vehicle to be stationary and provides a regulated power supply to overcome the influence of the working voltage and the vehicle acceleration when the sunroof is divided into areas, so as to improve the accuracy of the area division of the sunroof.
More specifically, the hall sensor can be used for detecting the hall jump number in the whole closing process of the sunroof, then the regulated power supply is controlled to supply power to the sunroof motor, and then the area of the sunroof of the vehicle is uniformly divided according to the rotating speed of the sunroof motor, so that the area with the same rotating speed or smaller rotating speed difference between adjacent areas is divided into the same area, and particularly the adjacent hall jump number with slow rotating speed change can be divided into one area. As shown in fig. 3, the sunroof may be divided into six areas a to F, wherein the arrow direction indicates the direction in which the sunroof is opened or closed.
In this embodiment, when detecting the influence of the working voltage on the load of the sunroof of the vehicle, the area of the sunroof of the vehicle may be divided by the simulation software, and the acceleration estimation of the vehicle needs to be controlled at the same time, and for the convenience of detection, the acceleration of the vehicle is set to 0, that is, the vehicle is controlled to be stationary. Specifically, the number of pulses passing through the rotor may be one, and the load corresponding to the sunroof of the vehicle in each area may be simulated, and as shown in fig. 4, after the load of the area corresponding to each sunroof area is obtained through simulation, recording may be performed first, so as to improve the accuracy when the load of the sunroof motor is changed in the subsequent analysis of the operating voltage.
Specifically, when different voltage points are analyzed to influence the rotating speed of the skylight motor, the relationship between the working voltage of the skylight motor and the rotating speed of the motor can be obtained through analysis by the following formula, and then the corresponding relationship between each rotating speed of the skylight motor and the working voltage is recorded, wherein the formula comprises:
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E＝K E *ω、T e ＝K T *i a 、/>
Figure BDA0003381999490000082
wherein K is E Is the back electromotive force coefficient, K T Is the torque coefficient, u a For operating voltage, i of motor for sunroof a The working current of the skylight motor, E is back electromotive force, omega is the rotating speed of the skylight motor and T e Electromagnetic torque T of skylight motor L The load torque of the skylight motor and the moment of inertia J are adopted, wherein the working voltage of the skylight motor can be represented by a resistance voltage R a i a Inductance voltage->
Figure BDA0003381999490000083
And the back electromotive force E are added, and the electromagnetic torque and the working current i of the skylight motor can be known by the formula a Proportional relation of working current i a With operating voltage u a The relation is nonlinear. It should be noted that, the anti-pinch method of the embodiment does not select current closed-loop controlThe system controls the skylight motor, and the rotor locked rotor judging method in classical motor control is assumed to adopt a speed closed loop and current closed loop double closed loop control skylight motor, so that the anti-clamping method mainly solves the problems of complex skylight load, cost reduction and anti-clamping efficiency. The reduction of the cost can comprise no need of current detection, only two Hall sensors are arranged, an H-bridge inverter circuit in a circuit can be canceled in the later stage, and the forward and reverse rotation of the skylight motor can be controlled by controlling IO level change and a simple driving circuit.
In this embodiment, for a vehicle accelerating for 3.9s for one hundred kilometers, the acceleration may reach 0.72g (g is gravity acceleration), at this time, the load applied to the sunroof of the vehicle is not negligible, if the sunroof is closed during acceleration of the vehicle, the sunroof is misjudged, and the anti-pinch function is started. If the vehicle accelerates for one hundred kilometers for 2s, the acceleration can reach 1.4g surprisingly. Therefore, according to newton's second law, when the vehicle accelerates, the sunroof is affected by the inertia force, that is, the load of the sunroof is affected, and obviously, the influence of the acceleration of the vehicle on the load of the sunroof is not negligible. Therefore, the influence of acceleration on the sunroof motor is needed to be considered, so that the voltage of the sunroof motor and the window area can be kept fixed, and then the corresponding rotating speeds of the sunroof of the vehicle under different accelerations are tested and recorded.
It should be noted that, in this embodiment, the selection of the acceleration point and the selection of the operating voltage point of the vehicle may be selected according to the accuracy requirement, and the safe operating range of the vehicle may be selected.
To summarize, referring to fig. 5, firstly, the angular speed and the number of accumulated hall state jumps are calculated through waveforms fed back by two hall sensors with 90 ° of mutual difference in electric angle, then the normal working voltage range of the motor is determined and divided into equal parts, under the same vehicle type skylight, the first rotation speed w1 of the motor in normal operation is calibrated under the conditions of different working voltages, different sky window areas and different accelerations of the vehicle, and under the same vehicle type skylight, the second rotation speed w2 of the motor in load operation is suddenly set and calibrated under the conditions of different working voltages, different sky window areas and different accelerations of the vehicle, and the w1-w2 are used as the rotation speed difference threshold value in the next step judgment. Judging whether the first rotating speed w1 minus the current rotating speed w is larger than a rotating speed difference threshold value, if so, outputting an anti-pinch flag bit, and controlling the skylight motor to rotate reversely by the system; if not, returning to the re-judgment.
In summary, the vehicle skylight anti-clamping method provided by the embodiment of the invention can reduce the probability of false clamping prevention and clamping failure prevention of the vehicle skylight, improve the triggering accuracy of the vehicle skylight anti-clamping function, and improve the use experience of a user.
Fig. 6 is a block diagram of a sunroof anti-pinch device according to an embodiment of the present invention.
Further, as shown in fig. 6, the present invention proposes a sunroof anti-pinch device 100, wherein the anti-pinch device 100 includes a first determining module 101, a second determining module 102, a third determining module 103, an obtaining module 104, a control module 105, and a judging module 106.
The first determining module 101 is configured to determine a first relationship between a rotation speed and an operating voltage of the sun roof motor, a sun roof area, and a vehicle acceleration when the sun roof motor is operating normally; the second determining module 102 is configured to determine a second relationship between a rotation speed and an operating voltage of the sun roof motor, a sun roof area, and a vehicle acceleration when the sun roof motor is operated with a sudden increase in a set load; the third determining module 103 is configured to determine different operating voltages, different sky window areas, and speed difference thresholds under different vehicle accelerations according to the first relationship and the second relationship; the acquisition module 104 is configured to acquire a current rotation speed of the sunroof motor, and acquire a current working voltage of the sunroof motor, a sunroof area to which a sunroof of the vehicle is currently closed, and a current acceleration of the vehicle; the control module 105 is configured to determine a first rotational speed of the sun roof motor according to a current operating voltage of the sun roof motor, a sun roof area to which the sun roof of the vehicle is currently closed, a current acceleration of the vehicle, and a first relationship, determine a corresponding speed difference threshold according to the current operating voltage of the sun roof motor, the sun roof area to which the sun roof of the vehicle is currently closed, and the current acceleration of the vehicle, and calculate a rotational speed difference between the current rotational speed and the first rotational speed of the sun roof motor; the judging module 106 is configured to judge whether the anti-pinching function of the sunroof is started according to the rotation speed difference and the corresponding speed difference threshold value.
In some embodiments of the present invention, the first determining module 101 is configured to record the rotational speed of the sun roof motor during normal operation under different operating voltages, different sky window areas, and different vehicle accelerations, so as to determine the first relationship.
In some embodiments of the present invention, the second determining module 102 is configured to record the rotational speed of the sun roof motor during the burst load operation under different operating voltages, different sky window areas, and different vehicle accelerations to determine the second relationship.
In some embodiments of the invention, the first relationship and the second relationship are both stored in the form of tables.
In some embodiments of the present invention, the obtaining module 104 obtains a current rotational speed of the skylight motor, including: and calculating the angular speed of the skylight motor through waveform signals detected by two Hall sensors which are arranged corresponding to the skylight motor and mutually different by 90 degrees, and calculating the current rotating speed of the skylight motor according to the angular speed.
In some embodiments of the present invention, the sunroof pinch protection device 100 further includes a dividing module for providing a regulated power supply to the sunroof motor to control the sunroof to close when the vehicle is stationary, and dividing the sunroof according to whether the rotation speed of the sunroof motor is suddenly changed during the closing of the sunroof.
In some embodiments of the present invention, the determining module 106 is configured to output an anti-pinch flag bit to activate an anti-pinch function of a sunroof of a vehicle when the rotational speed difference is greater than a corresponding speed difference threshold.
It should be noted that, for other specific implementations of the sunroof anti-pinch device according to the embodiment of the present invention, reference may be made to the implementation of the sunroof anti-pinch method in the foregoing embodiment, which is not described herein again.
In summary, the vehicle skylight anti-clamping device provided by the embodiment of the invention can reduce the probability of false clamping prevention and clamping failure prevention of the vehicle skylight, improve the triggering accuracy of the vehicle skylight anti-clamping function, and improve the use experience of a user.
Fig. 7 is a block diagram of a vehicle controller according to an embodiment of the present invention.
Further, as shown in fig. 7, the present invention proposes a vehicle controller 200, where the vehicle controller 200 includes a memory 201, a processor 202, and a sunroof pinch prevention program stored in the memory 201 and capable of running on the processor 202, and the sunroof pinch prevention method according to the above embodiment is implemented when the processor 202 executes the sunroof pinch prevention program.
The vehicle controller provided by the embodiment of the invention comprises the memory and the controller, and the controller can reduce the probability of false anti-pinch and anti-pinch failure of the vehicle skylight by executing the anti-pinch program of the vehicle skylight stored in the memory, improve the triggering accuracy of the anti-pinch function of the vehicle skylight and improve the use experience of a user.
Fig. 8 is a block diagram of a vehicle according to an embodiment of the present invention.
Further, as shown in fig. 8, the present invention proposes a vehicle 300, the vehicle 300 including the vehicle controller 200 of the above-described embodiment.
According to the vehicle, through the vehicle controller, the probability of false clamping prevention and clamping failure prevention of the vehicle skylight can be further reduced, the triggering accuracy of the clamping prevention function of the vehicle skylight is improved, and the use experience of a user is improved.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may 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.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, as used in embodiments of the present invention, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any particular number of features in the present embodiment. Thus, a feature of an embodiment of the invention that is defined by terms such as "first," "second," etc., may explicitly or implicitly indicate that at least one such feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or more, for example, two, three, four, etc., unless explicitly defined otherwise in the embodiments.
In the present invention, unless explicitly stated or limited otherwise in the examples, the terms "mounted," "connected," and "fixed" as used in the examples should be interpreted broadly, e.g., the connection may be a fixed connection, may be a removable connection, or may be integral, and it may be understood that the connection may also be a mechanical connection, an electrical connection, etc.; of course, it may be directly connected, or indirectly connected through an intermediate medium, or may be in communication with each other, or in interaction with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific embodiments.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims (10)

1. A sunroof pinch-proof method, the method comprising:
when the skylight motor normally operates, determining a first relation between the rotating speed and working voltage of the skylight motor, a skylight area and vehicle acceleration;
determining a second relationship between the rotational speed and the operating voltage of the sun roof motor, the sun roof area and the vehicle acceleration when the sun roof motor is operated with a sudden load;
determining different working voltages, different sky window areas and speed difference thresholds under different vehicle accelerations according to the first relation and the second relation;
acquiring the current rotating speed of the skylight motor, and acquiring the current working voltage of the skylight motor, the skylight area where the vehicle skylight is currently closed and the current acceleration of the vehicle;
determining a first rotating speed of the skylight motor according to the current working voltage of the skylight motor, the skylight area to which the vehicle skylight is closed, the current acceleration of the vehicle and the first relation, determining a corresponding speed difference threshold according to the current working voltage of the skylight motor, the skylight area to which the vehicle skylight is closed and the current acceleration of the vehicle, and calculating the rotating speed difference between the current rotating speed of the skylight motor and the first rotating speed;
And judging whether the anti-pinch function of the vehicle skylight is started or not according to the rotating speed difference and the corresponding speed difference threshold value.
2. The vehicle sunroof anti-pinch method according to claim 1, wherein determining a first relationship between a rotational speed of the sunroof motor and an operating voltage, a sunroof region, and a vehicle acceleration comprises:
and under the conditions of different working voltages, different sky window areas and different vehicle accelerations, recording the rotating speed of the skylight motor during normal operation so as to determine the first relation.
3. The vehicle sunroof pinch prevention method according to claim 2, wherein determining a second relationship between the rotational speed of the sunroof motor and the operating voltage, sunroof area and vehicle acceleration comprises:
and under the conditions of different working voltages, different sky window areas and different vehicle accelerations, recording the rotating speed of the skylight motor during the sudden-load-setting running process so as to determine the second relation.
4. The sunroof anti-pinching method according to claim 3, wherein the first relationship and the second relationship are each stored in a form of a table.
5. The vehicle sunroof pinch prevention method according to any one of claims 1 to 4, wherein obtaining a current rotation speed of the sunroof motor comprises:
And calculating the angular speed of the skylight motor through waveform signals detected by two Hall sensors with mutual differences of 90 degrees, which are arranged corresponding to the skylight motor, and calculating the current rotating speed of the skylight motor according to the angular speed.
6. The vehicle sunroof pinch prevention method according to any one of claims 1 to 4, wherein a regulated power supply is provided to the sunroof motor to control the sunroof to close when the vehicle is stationary, and the sunroof motor is divided into regions according to whether or not the rotation speed of the sunroof motor is suddenly changed during the closing of the sunroof.
7. The sunroof pinch prevention method according to any one of claims 1-4, wherein determining whether the pinch prevention function of the sunroof is activated according to the rotational speed difference and the corresponding speed difference threshold value comprises:
and outputting an anti-pinch flag bit when the rotation speed difference is larger than the corresponding speed difference threshold value so as to start the anti-pinch function of the vehicle sunroof.
8. A sunroof anti-pinch device, comprising:
the first determining module is used for determining a first relation between the rotating speed and the working voltage of the skylight motor, the skylight area and the vehicle acceleration when the skylight motor is in normal operation;
The second determining module is used for determining a second relation between the rotating speed and the working voltage of the skylight motor, the skylight area and the vehicle acceleration when the skylight motor suddenly runs under a set load;
the third determining module is used for determining different working voltages, different sky window areas and speed difference thresholds under different vehicle accelerations according to the first relation and the second relation;
the acquisition module is used for acquiring the current rotating speed of the skylight motor, and acquiring the current working voltage of the skylight motor, the skylight area where the vehicle skylight is closed currently and the current acceleration of the vehicle;
the control module is used for determining a first rotating speed of the skylight motor according to the current working voltage of the skylight motor, the skylight area where the vehicle skylight is currently closed, the current acceleration of the vehicle and the first relation, determining a corresponding speed difference threshold according to the current working voltage of the skylight motor, the skylight area where the vehicle skylight is currently closed and the current acceleration of the vehicle, and calculating the rotating speed difference between the current rotating speed of the skylight motor and the first rotating speed;
And the judging module is used for judging whether the anti-pinch function of the vehicle skylight is started or not according to the rotating speed difference and the corresponding speed difference threshold value.
9. A vehicle controller comprising a memory, a processor and a sunroof anti-pinch program stored on the memory and operable on the processor, the processor implementing the sunroof anti-pinch method according to any one of claims 1-7 when the sunroof anti-pinch program is executed by the processor.
10. A vehicle comprising the vehicle controller of claim 9.
CN202111436724.7A 2021-11-29 2021-11-29 Anti-pinch method and device for sunroof of vehicle, vehicle controller and vehicle Pending CN116176242A (en)

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CN202111436724.7A CN116176242A (en) 2021-11-29 2021-11-29 Anti-pinch method and device for sunroof of vehicle, vehicle controller and vehicle

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Application Number Priority Date Filing Date Title
CN202111436724.7A CN116176242A (en) 2021-11-29 2021-11-29 Anti-pinch method and device for sunroof of vehicle, vehicle controller and vehicle

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