阅读说明：本技术 防夹控制方法及系统、车辆、电子设备及存储介质 (Anti-pinch control method and system, vehicle, electronic equipment and storage medium ) 是由 不公告发明人 于 2019-09-26 设计创作，主要内容包括：本发明提供一种防夹控制方法及系统、车辆、电子设备及存储介质。防夹控制方法具体包括：采集目标设备在运动过程中产生的弹性波信号,并将所述弹性波信号转换为电学信号；根据所述电学信号,确定所述目标设备在运动过程中是否遇到障碍物；在遇到障碍物时,控制所述目标设备停止运动或回退预设安全距离。可以有效识别目标设备运动过程中的障碍物信息,从而可以实现智能防夹,避免用户误操作,同时也可以避免目标设备损坏等情况发生。(The invention provides an anti-pinch control method and system, a vehicle, electronic equipment and a storage medium. The anti-pinch control method specifically comprises the following steps: acquiring an elastic wave signal generated by target equipment in a motion process, and converting the elastic wave signal into an electrical signal; determining whether the target device encounters an obstacle in the movement process according to the electrical signal; and when an obstacle is encountered, controlling the target device to stop moving or retreat for a preset safe distance. The obstacle information in the movement process of the target equipment can be effectively identified, so that intelligent anti-pinch can be realized, misoperation of a user is avoided, and meanwhile, the condition that the target equipment is damaged and the like can be avoided.)

1. An anti-pinch control method is characterized by comprising the following steps:

acquiring an elastic wave signal generated by target equipment in a motion process, and converting the elastic wave signal into an electrical signal;

determining whether the target device encounters an obstacle in the movement process according to the electrical signal;

and when an obstacle is encountered, controlling the target device to stop moving or retreat for a preset safe distance.

2. The method of claim 1, wherein determining whether the target device encounters an obstacle during motion based on the electrical signal comprises:

and respectively comparing the signal characteristic value of the electrical signal with a pre-stored operation event characteristic value and an opening and closing event characteristic value, and judging whether the electrical signal meets an obstacle.

3. The method of claim 2, wherein comparing the signal characteristic value of the electrical signal with a pre-stored operating event characteristic value and an opening/closing event characteristic value, respectively, comprises:

and judging whether the difference between the signal characteristic value of the electrical signal and the pre-stored operation event characteristic value exceeds a first threshold value, if so, judging whether the difference between the signal characteristic value of the electrical signal and the pre-stored opening and closing event characteristic value exceeds a second threshold value, and if so, determining that an obstacle is encountered.

4. The method of claim 1, wherein determining whether the target device encounters an obstacle during motion based on the electrical signal comprises:

calculating a motion resistance force value of the target equipment according to the electrical signal;

and judging whether the motion resistance force value exceeds a preset force threshold value, and if so, determining that the obstacle is encountered.

5. The method of claim 4, wherein calculating the motion resistance force value of the target device from the electrical signal comprises:

determining the mutation moment when the signal characteristic value of the electrical signal exceeds a preset mutation threshold;

collecting electrical signals within a preset time period after the mutation moment;

and processing the electrical signals in the preset time period, and calculating the motion resistance value.

6. The method according to any one of claims 1 to 5, wherein the target device comprises an in-vehicle device and a home device.

7. The anti-pinch control system is characterized by comprising a control module and a signal acquisition module, wherein the signal acquisition module is arranged at the target equipment and is connected with the control module; wherein the content of the first and second substances,

the signal acquisition module is used for acquiring an elastic wave signal generated by the target equipment in the motion process and converting the elastic wave signal into an electrical signal;

the control module is used for determining whether the target device meets an obstacle in the moving process according to the electrical signal, and controlling the target device to stop moving or retreat for a preset safety distance when meeting the obstacle.

8. The system of claim 7, wherein the target device comprises a trunk, the signal acquisition module comprises a plurality of sensors, at least one of the sensors being disposed inside the trunk at a location proximate to a bottom of a vehicle body; and/or the presence of a gas in the gas,

at least one of the sensors is provided at an inner side of the vehicle body corresponding to the trunk closed position.

9. A vehicle comprising a system according to claim 7 or 8.

10. An electronic device, comprising:

one or more processors;

a storage unit for storing one or more programs which, when executed by the one or more processors, enable the one or more processors to implement the method of any one of claims 1 to 6.

11. A computer-readable storage medium having stored thereon a computer program, characterized in that,

the computer program is capable of implementing a method according to any one of claims 1 to 6 when executed by a processor.

Technical Field

The invention relates to the technical field of vehicle control, in particular to an anti-pinch control method, an anti-pinch control system, a vehicle, electronic equipment and a computer readable storage medium.

Background

In the related art, during the opening or closing process of a vehicle-mounted device/household device, such as a trunk, a non-contact sensor is often used to control the opening and closing of the trunk, and the non-contact sensor is also used to generate a signal without contacting, such as a laser sensor, an inductive proximity sensor, and the like.

However, in the related art, whether the trunk meets the obstacle in the opening and closing process is not identified, so that the functions of preventing clamping and preventing collision cannot be realized, the accident situation caused by misoperation of a user cannot be avoided, and the condition that the trunk is damaged due to the existence of the obstacle cannot be avoided, so that the service life of the trunk is shortened.

Disclosure of Invention

The present invention is directed to solve at least one of the problems of the prior art, and provides an anti-pinch control method, an anti-pinch control system, a vehicle, an electronic device, and a computer readable storage medium.

In a first aspect of the present invention, an anti-pinch control method is provided, including:

acquiring an elastic wave signal generated by target equipment in a motion process, and converting the elastic wave signal into an electrical signal;

determining whether the target device encounters an obstacle in the movement process according to the electrical signal;

and when an obstacle is encountered, controlling the target device to stop moving or retreat for a preset safe distance.

Optionally, the determining, according to the electrical signal, whether the target device encounters an obstacle during the movement includes:

and respectively comparing the signal characteristic value of the electrical signal with a pre-stored operation event characteristic value and an opening and closing event characteristic value, and judging whether the electrical signal meets an obstacle.

Optionally, the comparing the signal characteristic value of the electrical signal with a pre-stored operation event characteristic value and a pre-stored opening and closing event characteristic value respectively includes:

and judging whether the difference between the signal characteristic value of the electrical signal and the pre-stored operation event characteristic value exceeds a first threshold value, if so, judging whether the difference between the signal characteristic value of the electrical signal and the pre-stored opening and closing event characteristic value exceeds a second threshold value, and if so, determining that an obstacle is encountered.

Optionally, the determining, according to the electrical signal, whether the target device encounters an obstacle during the movement includes:

calculating a motion resistance force value of the target equipment according to the electrical signal;

and judging whether the motion resistance force value exceeds a preset force threshold value, and if so, determining that the obstacle is encountered.

Optionally, the calculating, according to the electrical signal, a movement resistance force value of the target device includes:

determining the mutation moment when the signal characteristic value of the electrical signal exceeds a preset mutation threshold;

collecting electrical signals within a preset time period after the mutation moment;

and processing the electrical signals in the preset time period, and calculating the motion resistance value.

Optionally, the target device includes an in-vehicle device and a home device.

The invention provides an anti-pinch control system, which comprises a control module and a signal acquisition module, wherein the signal acquisition module is arranged at the target equipment and is connected with the control module; wherein the content of the first and second substances,

the signal acquisition module is used for acquiring an elastic wave signal generated by the target equipment in the motion process and converting the elastic wave signal into an electrical signal;

the control module is used for determining whether the target device meets an obstacle in the moving process according to the electrical signal, and controlling the target device to stop moving or retreat for a preset safety distance when meeting the obstacle.

Optionally, the target device comprises a trunk, the signal acquisition module comprises a plurality of sensors, and at least one sensor is arranged at a position inside the trunk and close to the bottom of the vehicle body; and/or the presence of a gas in the gas,

at least one of the sensors is provided at an inner side of the vehicle body corresponding to the trunk closed position.

In a third aspect of the invention, a vehicle is provided, comprising the system as described above.

In a fourth aspect of the present invention, there is provided an electronic apparatus comprising:

one or more processors;

a storage unit for storing one or more programs which, when executed by the one or more processors, enable the one or more processors to implement the method according to the preceding description.

In a fifth aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the method according to the above description.

The invention provides an anti-pinch control method and system, a vehicle, electronic equipment and a storage medium. Acquiring an elastic wave signal generated by target equipment in a motion process, and converting the elastic wave signal into an electrical signal; determining whether the target device encounters an obstacle in the movement process according to the electrical signal; and when an obstacle is encountered, controlling the target device to stop moving or retreat for a preset safe distance. The obstacle information in the movement process of the target equipment can be effectively identified, so that intelligent anti-pinch can be realized, misoperation of a user is avoided, and meanwhile, the condition that the target equipment is damaged and the like can be avoided.

Drawings

FIG. 1 is a flowchart illustrating an anti-pinch control method according to a first embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an anti-pinch control system according to a second embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

In a first aspect of the present invention, as shown in fig. 1, an anti-pinch control method S100 is provided, including:

s110, elastic wave signals generated by the target equipment in the motion process are collected, and the elastic wave signals are converted into electric signals.

Specifically, in this step, the target device may be an in-vehicle device, such as a trunk, a window, and the like, and the target device may also be a home device, such as a home appliance and the like. Besides, the target device can be defined as some other controllable devices according to actual needs. The sensor can be used for acquiring an elastic wave signal generated by the target equipment in the motion process and converting the elastic wave signal into an electric signal. The sensor may be an elastic wave sensor including, but not limited to, a piezoelectric sensor, a strain gauge sensor, etc., and the piezoelectric sensor may include a piezoelectric ceramic sensor, a piezoelectric thin film sensor, a piezoelectric crystal sensor, or other sensor having a piezoelectric effect.

And S120, determining whether the target equipment meets an obstacle in the movement process according to the electrical signal.

Specifically, in this step, for example, the electrical signal may be compared with a preset voltage threshold, and it is determined whether the target device encounters an obstacle during the movement according to the comparison result. Of course, besides, other determination means may also be used to determine whether the target device encounters an obstacle during the movement process, and those skilled in the art may determine the determination according to actual needs.

And S130, controlling the target equipment to stop moving or retreat for a preset safe distance when encountering an obstacle.

The anti-pinch control method comprises the steps of firstly collecting elastic wave signals generated by target equipment in the moving process and converting the elastic wave signals into electrical signals; secondly, determining whether the target equipment meets an obstacle in the movement process according to the electrical signal; and finally, when an obstacle is encountered, the control target device stops moving or retreats for a preset safe distance. The obstacle information in the movement process of the target equipment can be effectively identified, so that intelligent anti-pinch can be realized, misoperation of a user is avoided, and meanwhile, the condition that the target equipment is damaged and the like can be avoided.

In order to accurately realize intelligent anti-pinch, the step S120 specifically includes:

and respectively comparing the signal characteristic value of the electrical signal with a pre-stored operation event characteristic value and an opening and closing event characteristic value, and judging whether the electrical signal meets an obstacle.

Specifically, whether the difference between the signal characteristic value of the electrical signal and the pre-stored operating event characteristic value exceeds a first threshold value is judged, if yes, whether the difference between the signal characteristic value of the electrical signal and the pre-stored opening and closing event characteristic value exceeds a second threshold value is judged, and if yes, it is determined that an obstacle is encountered.

For example, in this step, the first threshold and the second threshold may be determined based on experimental or empirical values, the operation event characteristic value should be a characteristic value corresponding to an elastic wave signal generated when the target device does not encounter an obstacle during the movement, and the opening/closing event characteristic value should be a characteristic value corresponding to an elastic wave signal generated when the target device does not encounter an obstacle at both the opening moment and the closing moment. Assume that the first threshold value is b1, the second threshold value is b2, the operational event characteristic value is n1, the signal characteristic value is n, and the opening/closing event characteristic value is n 2. Let a1 be n/n1, assuming a1 < b1, it can be determined that no obstacle has been encountered; on the contrary, if a1 > b1 indicates that an obstacle may be encountered, and further confirmation is required, in this case, let a2 be n/n2, and if a2 < b2, it may be determined that an obstacle is not encountered; on the contrary, if a2 > b2, it is determined that an obstacle exists, and the target device needs to stop moving or move back for a certain distance.

It should be noted that, in addition to comparing whether the ratio of the signal characteristic value to the operation event characteristic value exceeds the first threshold and the second threshold, whether the difference between the signal characteristic value and the operation event characteristic value exceeds the first threshold and the second threshold may also be compared, and the comparison may be specifically determined according to actual needs.

More specifically, in this step, the signal characteristic value of the electrical signal may be analyzed in a time domain and a frequency domain, where in the time domain, the signal characteristic value may be a voltage amplitude value or a voltage fluctuation value corresponding to any time, and in the frequency domain, the signal characteristic value may be an energy value corresponding to any frequency domain, and the like. After the signal feature values are obtained, the signal feature values may be combined into a signal feature vector, and the signal feature vector includes values (voltage amplitude, voltage fluctuation value, energy value, etc.) and directions of the values, for example, a voltage amplitude of +5V indicates that the voltage amplitude at the time is 5 and is positive, whereas a voltage amplitude of-5V indicates that the voltage amplitude at the time is 5 and is negative.

It should be noted that, the operation event characteristic value and the opening/closing event characteristic value may be stored in advance, and the user may also define the operation event characteristic value and the opening/closing event characteristic value by himself, for example, the user collects, according to the vehicle type of the user, an elastic wave signal that the target device does not encounter an obstacle during the movement process and an elastic wave signal that the target device does not encounter an obstacle at the opening/closing moment, converts both of the signals into corresponding electrical signals, and forms the characteristic values corresponding to the electrical signals into the operation event characteristic value and the opening/closing event characteristic value.

In order to accurately realize intelligent anti-pinch of the target device, the step S120 specifically includes:

and calculating a motion resistance force value of the target equipment according to the electrical signal.

And judging whether the motion resistance force value exceeds a preset force threshold value, and if so, determining that the obstacle is encountered.

Specifically, in this step, the motion resistance value may be calculated according to the fluctuation value of the electrical signal and according to the correlation between the fluctuation value and the force (the larger the fluctuation value is, the larger the force value is).

In addition, an energy value can be calculated according to the electrical signal, and a motion resistance value can be calculated according to the energy value, specifically as follows:

in particular, in the present embodiment, one or more sensors C may be utilized₁To C_nRespectively converting the respective received elastic wave signals into electrical signals D with the frequencies consistent with those of the elastic wave signals received by the respective elastic wave signals₁To D_nThen according to each electrical signal D₁To D_nRespectively calculating the energy value E of each electrical signal₁To E_nAnd finally, the energy value E is used₁To E_nOf one or more valuesTo obtain the final elastic wave total energy value (when only one energy value E is obtained)₁When the sum is not accumulated and averaged or 1 × E₁1); it should be noted that, in the above process, the method for calculating the energy value according to the electrical signal can be mainly calculated by the following formula:

or

In the above formula, m is the number of collected signal points; n is the number of signal points determined by selecting the wavelength of the electrical signal with the preset length according to the actual situation, and related technicians in the field can select the setting according to the actual needs, and the invention is not further limited herein; e is the energy value of the electrical signal.

In order to more accurately realize intelligent anti-pinch of the target equipment, the method for calculating the movement resistance value of the target equipment according to the electrical signal comprises the following steps of:

determining the mutation moment when the signal characteristic value of the electrical signal exceeds a preset mutation threshold;

collecting electrical signals within a preset time period after the mutation moment;

and processing the electrical signals in the preset time period, and calculating the motion resistance value.

Specifically, in this step, it is assumed that, in the moving process of the target device, when the target device encounters an obstacle, the signal characteristic value of the electrical signal acquired by the sensor at this time will exceed a preset sudden change threshold, a sudden change time exceeding the preset sudden change threshold is recorded, the electrical signal within a preset time period after the sudden change time is continuously acquired, the electrical signal within the preset time period is processed, including energy accumulation processing, mean value processing, maximum value processing, or the like, and finally, the movement resistance value is calculated according to the processed signal.

In order to improve the user experience, a power supply system can be combined, when the target device encounters an obstacle in the moving process, the power supply of a moving mechanism of the target device can be cut off, and therefore the target device can stop moving.

In a second aspect of the present invention, as shown in fig. 2, an anti-pinch control system 100 is provided, and the system 100 can be applied to the methods described above, and reference may be made to the related descriptions, which are not repeated herein. The system 100 comprises a control module 110 and a signal acquisition module 120, wherein the signal acquisition module 120 is arranged at a target device and connected with the control module 110; wherein the content of the first and second substances,

the signal collecting module 120 is configured to collect an elastic wave signal generated by the target device during a movement process, and convert the elastic wave signal into an electrical signal. And the control module 110 is configured to determine whether the target device encounters an obstacle during the movement process according to the electrical signal, and control the target device to stop moving or to retract a preset safety distance when the target device encounters the obstacle.

In the system of the embodiment, firstly, the signal acquisition module acquires an elastic wave signal generated by the target device in the movement process and converts the elastic wave signal into an electrical signal; secondly, the control module determines whether the target equipment meets an obstacle in the movement process according to the electrical signal; and finally, when an obstacle is encountered, the control module controls the target device to stop moving or retreat for a preset safe distance. The obstacle information in the movement process of the target equipment can be effectively identified, so that intelligent anti-pinch can be realized, misoperation of a user can be avoided, and the damage of the target equipment and other conditions can be avoided.

Optionally, the target device includes a trunk, and the signal acquisition module 120 includes a plurality of sensors, at least one of which is disposed inside the trunk and near the bottom of the vehicle body; and/or at least one sensor is provided at an inner side of the vehicle body corresponding to a trunk closed position.

In a third aspect of the invention, a vehicle is provided comprising the system as described above.

The vehicle of this embodiment has the system of preceding record, can effectively discern the barrier information of target device (like mobile unit etc.) in the motion process to can realize that intelligence prevents pressing from both sides, avoid user's maloperation, also can avoid the condition such as target device damage to take place simultaneously.

In a fourth aspect of the present invention, there is provided an electronic apparatus comprising:

one or more processors;

a storage unit for storing one or more programs which, when executed by one or more processors, enable the one or more processors to carry out a method according to the preceding description.

In the electronic device of the embodiment, the stored program is executed by the processor, so that the method described above can be implemented, and the obstacle information in the movement process of the target device can be effectively identified, so that intelligent anti-pinch can be realized, misoperation of a user can be avoided, and the damage of the target device and other situations can be avoided.

In a fifth aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the method according to the preamble.

In the computer-readable storage medium of this embodiment, when being executed by the processor, the stored computer program can implement the anti-pinch method described above, and can effectively identify the obstacle information in the movement process of the target device, thereby implementing intelligent anti-pinch, avoiding user misoperation, and avoiding the occurrence of situations such as damage to the target device.

The computer readable medium may be included in the apparatus, device, system, or may exist separately.

The computer readable storage medium may be any tangible medium that can contain or store a program, and may be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, more specific examples of which include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, an optical fiber, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

The computer readable storage medium may also include a propagated data signal with computer readable program code embodied therein, for example, in a non-transitory form, such as in a carrier wave or in a carrier wave, wherein the carrier wave is any suitable carrier wave or carrier wave for carrying the program code.

It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.