Anti-pinch is needed for safe and reliable closing under all conditions (e.g., pre crash, bumpy road, high speed). When closing the window or the sunroof, the anti-pinch mechanism detects and ensures that an object is safely and immediately released when it gets trapped.
Anti-Pinch Motor Control: Function as a Product
Safety is key
Features
- Tooling (python based)
- Collect calibration parameter definitions from other CF/UPF or application
- Generation of the SW interface
- Generation of calibration binary blocks
- GUI for parameterization
- Software component for memory management of calibration parameters
- Collects calibration values from one or more locations
- Initializes all parameters from all SW components
- Data integrity check
Function Scope
Anti-pinch algorithms are crucial for enhancing safety in various applications, such as power windows in cars, automatic doors and all other closing systems. They play a vital role in preventing accidents and injuries by ensuring that moving parts stop or reverse when they encounter unexpected obstacles, protecting both people and vehicle.
- Indirect (using motor current, voltage and speed) pinch detection algorithm for various applications e.g.:
- window lifter, sunroofs, roller blinds, seats, power lift gates, power doors, automatic running boards
- Load (force and torque) evaluation e.g.:
- pull detection
- force limitation for mechanic protection
- backlash detection
- rough road detection
- reference point evaluation based on force characteristic (force block, smart re-norming)
- Combination of indirect and direct (pinch strips, camera based) pinch detection algorithms
- Evaluation of new pinch detection algorithms
Interfaces
- Single cyclic task function
- Application tasks need to be scheduled non – preemptive with library task
- Low Power / High Power mode transition functions
- No OS service dependency
- Callbacks for error reports, each “function” will have its own callback
- Some errors will be reported only on edge, some on state (test pass, fail for DTC manager)
- Possibility to completely reset all internal detected failures
- Actual position count value is provided as sint16
- Reference position has to be set by user
- Position uncertainty warning is provided
- RP discard reason is enforced by API and stored inside NVRAM
- Motor stall condition is reported by callback
- Standardized interface, independent from underlying positioning concept (hall, sensorless)
- PWM speed control is complete handled by the library
- Speed control set-points are defined by tuning parameters or set runtime by API
- Disabling of PWM Control under certain environment conditions is done by library (e.g. low temperature)
- User can demand movements to position or direction
- Given control command is served asynchronous
- Optional maximum activation time for stepwise movements
- Stop command is always served synchronously
- User stop reason is enforced by API
- Provides control events
- Support for multiple Anti-Pinch regions with separate status information
- Library user must prevent automatic movements when AP is not available
- Pinching event is reported by library callback
- Reference position interface
- Event is provided which needs to be handled by the library user
- blockTime passed as argument to implement different sensitives (e.g. for seal press mode) in application
- Support of force limitation over Anti-Pinch Algo.
- Estimated motor coil and case temperatures are provided
- Temperature can be automatically stored at NVRAM
- Possibility of cooling estimation after wake-up using system time
- Controllable mechRef adaption rate (e.g., production mode)
- Mechanical reference discard reason is enforced by API
- Standard environmental conditions (voltage, temperature, vehicle speed) are checked inside library
- Status API to query if update is allowed
- NVRAM Block RAM Buffers need to be provided by library user
- Compatible with AUTOSAR memory stack (wrapper template provided)
- Block descriptors are provided by library user at apmd_init() call
- Number of NVRAM blocks depends on library configuration
- H-Bridge failure detection has to be done by HAL
- Error re-test is triggered by APMD
- Arbitration API for library to acquire and release control over H-Bridge
- Global anti-pinch enable
- Anti-pinch sensitivity can be increased / decreased
