Pinch detection based on motor current increase

Abstract

The pinch detector is suitable to detect a pinch at a closing member actuated by a motor equipped with a measuring circuit to measure a motor current. It includes a first portion that, when the motor starts closing the member, obtains a reference value of the motor current measured at the end of a blind time period having a predetermined duration from the moment the motor starts to close the member; a second portion that compares current values of the measured motor current to a threshold value depending on said reference value, during a detection time period, following the blind time period and preceding a steady state time period of the motor, in order to detect a pinch at the closing member based on a comparison result.

Claims

1. A pinch detector comprising a processor configured to: when a motor starts closing a member, obtain, from a measuring circuit, a reference value of a motor current measured at an end of a blind time period having a predetermined duration from when the motor starts to close the member, the blind time period occurring after a peak of the motor current during an initial stage of the closing, the member being actuated by the motor that is equipped with the measuring circuit, the measuring circuit being configured to measure the motor current; compare current values of the motor current to a threshold value during a detection time period that follows the blind time period and precedes a steady state time period of the motor, the threshold value being based on the reference value; and detect a pinch at the member based on a current value of the current values being larger than the threshold value.

2. The pinch detector of claim 1, wherein: the motor is supplied power by a pulse-width modulation (PWM) signal; and the predetermined duration of the blind time period is set by a duration of a rise time period of a duty cycle of the PWM signal during motor start-up.

3. The pinch detector of claim 1, wherein: the motor is supplied power by a pulse-width modulation (PWM) signal; and the predetermined duration of the blind time period is set to a value that is more than a duration of a rise time period of a duty cycle of the PWM signal when the rise time period is below a minimum value.

4. The pinch detector of claim 1, wherein the processor is further configured to determine the threshold value by adding a current margin value to the reference value.

5. The pinch detector of claim 4, wherein the processor is further configured to calculate the current margin value by multiplying the reference value with a predetermined correction factor.

6. The pinch detector of claim 5, wherein the processor is further configured to set the predetermined correction factor to a value between 0.1 and 0.3.

7. The pinch detector of claim 1, wherein the pinch detector is included in a vehicle.

8. A system comprising: a member configured to open and close; a motor configured to actuate the member; a measuring circuit configured to measure a current of the motor; a pitch detector comprising a processor configured to: when the motor starts closing the member, obtain, from the measuring circuit, a reference value of the current measured at an end of a blind time period having a predetermined duration from when the motor starts to close the member, the blind time period occurring after a peak of the motor current during an initial stage of the closing; compare current values of the current to a threshold value depending on the reference value during a detection time period that follows the blind time period and precedes a steady state time period of the motor, the threshold value being based on the reference value; and detect a pinch at the member based on a current value of the current values being larger than the threshold value; and a control apparatus configured to generate a control signal to stop movement of the member or reverse a direction of the movement of the member in response to detecting the pinch.

9. The system of claim 8, the system being included in a vehicle.

10. The system of claim 8, wherein: the motor is supplied power by a pulse-width modulation (PWM) signal; and the predetermined duration of the blind time period is set by a duration of a rise time period of a duty cycle of the PWM signal during motor start-up.

11. The system of claim 8, wherein: the motor is supplied power by a pulse-width modulation (PWM) signal; and the predetermined duration of the blind time period is set to a value that is more than a duration of a rise time period of a duty cycle of the PWM signal when the rise time period is below a minimum value.

12. The system of claim 8, wherein the processor is further configured to determine the threshold value by adding a current margin value to the reference value.

13. The system of claim 12, wherein the processor is further configured to calculate the current margin value by multiplying by the reference value with a predetermined correction factor.

14. The system of claim 13, wherein the processor is further configured to set the predetermined correction factor to a value between 0.1 and 0.3.

15. A method comprising: when a motor starts closing a member, determining a reference value of a motor current measured by a measuring circuit at an end of a blind time period having a predetermined duration from when the motor starts to close the member, the blind time period occurring after a peak of the motor current during an initial stage of the closing, the member being actuated by the motor that is equipped with the measuring circuit, the measuring circuit being configured to measure the motor current; comparing current values of the motor current to a threshold value during a detection time period that follows the blind time period and precedes a steady state time period of the motor, the threshold value being based on the reference value; and detecting a pinch at the member based on a current value of the current values being larger than the threshold value.

16. The method of claim 15, wherein: the motor is supplied power by a pulse-width modulation (PWM) signal; and the predetermined duration of the blind time period is set by a duration of a rise time period of a duty cycle of the PWM signal during motor start-up.

17. The method of claim 15, wherein: the motor is supplied power by a pulse-width modulation (PWM) signal; and the predetermined duration of the blind time period is set to a value that is more than a duration of a rise time period of a duty cycle of the PWM signal when the rise time period is below a minimum value.

18. The method of claim 15, wherein the threshold value is determined by adding a current margin value to the reference value.

19. The method of claim 18, wherein the current margin value is calculated by multiplying by the reference value with a predetermined correction factor.

20. The method of claim 19, wherein the predetermined correction factor is set to a value between 0.1 and 0.3.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Other features, purposes and advantages of the disclosure will become more explicit by means of reading the detailed statement of the non-restrictive embodiments made with reference to the accompanying drawings.

(2) FIG. 1 shows an obstacle placed in a space left between a window and a door frame, in a vehicle, and a range of vertical positions in which compliance with a limit of pinch force defined by standards must be monitored.

(3) FIG. 2 represents a window movement scenario in which an obstacle is squeezed.

(4) FIGS. 3a and 3b show graphs representing the motor armature current and the pinch force, when the motor starts to close a window in a vehicle, for different external conditions, with or without obstacles, without pinch detection.

(5) FIG. 4 represents schematically a system for pinch detection, according to a particular example.

(6) FIG. 5 is a flow chart of the method of pinch detection, according to an Embodiment 1.

(7) FIGS. 6a and 6b illustrate a pinch detection in a scenario of closing a window, respectively with an obstacle, and show the evolution over time of the motor armature current i and pinch force F.sub.P, according to the Embodiment 1 of the disclosed pinch detection method.

(8) FIG. 7 shows an example of the evolution over time of the duty cycle of a PWM signal for supplying power to a DC motor actuating an opening and closing member and controlling a DC motor start and stop operation.

(9) FIGS. 8a to 8d show the evolution over time of the motor armature current and the pinch force, in a scenario of closing the window at various battery voltages, for obstacles having various stiffnesses and positions without any obstacle, in the Embodiment 1.

(10) FIG. 9 shows the evolution over time of the motor armature current and the pinch force, in the same scenario of closing the window (as in FIGS. 8a to 8d), for various battery voltages, but without obstacle.

(11) FIG. 10 shows the evolution over time of the motor armature current and the pinch force, in the same scenario of closing the window (as in FIGS. 8a to 8d), for one given battery voltage, with and without obstacle.

DETAILED DESCRIPTION

(12) The present disclosure relates to pinch detection to detect a pinch at a closing member actuated by a motor (for example a power window in a vehicle) and is more precisely dedicated to pinch detection during a closing movement of the member, when the member starts moving, typically in a transient state of the motor during a motor start-up operation.

(13) In the present description, the “transient state” of the motor refers to the period of time when one or more physical values of the motor are changing rapidly during the motor start-up, before reaching a steady state. Transient state can be determined experimentally. Typically, in transient state, the motor current and/or the motor speed are changing rapidly. In normal operation, the transient state is followed by a steady state in which the motor current and the motor speed are almost constant (small fluctuations may be observed but no dynamic changes). In most cases steady-state begins when physical quantities (armature current, speed) of the motor do not show significant changes (no dynamic changes only small fluctuations in physical quantities).

(14) FIG. 3a shows the evolution over time of a motor current “i” (or current density) of a motor actuating a member (e.g. a window in a vehicle) during closing the member, when the member starts moving, typically in a transient state of the motor, for different external conditions (explained thereafter). In three cases represented in FIG. 3a, the window starts closing from an intermediate position not completely closed after an obstacle having different stiffnesses of 5, 10 and 65 N/mm has been placed in the space left between the window and the window frame, for example in the middle between front and rear window frame. FIG. 3b represents the evolution over time of the pinch force “F.sub.P” squeezing the obstacle, referenced as F.sub.P1, F.sub.P2, F.sub.P3 for the three cases, respectively. In a fourth case represented in FIG. 3a, the same window movement is executed but without obstacle (k.sub.O=0 N/mm). The evolution over time of a duty cycle of a PWM (Pulse-Width Modulation) electrical signal for supplying power to the motor is also represented in FIG. 3a. It can be seen that the maximal PWM duty cycle is reached within about 100 ms from the initial time point of starting the motor.

(15) FIG. 3a shows that, in all four cases, when the motor starts, the motor current i.sub.0, i.sub.1, i.sub.2, i.sub.3 increases and then there is a peak of current. Until the end of these current peaks, the evolutions over time of the currents are similar in all four cases. In FIG. 3a, it can be seen that the rise time (100 ms) of the PWM duty cycle coincides with the end of the current peak. After the current peak, when squeezing the obstacle with the stiffnesses of 5, 10 or 65 N/mm, the current i.sub.1, i.sub.2, i.sub.3 increases again. Without obstacle, after the current peak, the current i.sub.0 becomes almost stationary around a neutral current level (7.2 A in the example), for a certain period of time before reaching the completely closed position. In FIG. 3a in case that k.sub.O=0 (no obstacle), the steady-state begins for time point 6.59 sec marked by an empty dot. This empty dot is used to determine the neutral level.

(16) The current increase with respect to the neutral level i.sub.0 (around 7.2 A) is 3.53 A, 4.57 A, 4.98 A for the respective stiffnesses of 65, 10, 5 N/mm. It means that 3.53 A is an increase from the stationary level i.sub.0 to i.sub.3 when Fp=100 N is reached (at time t=6.54 s); 4.57 A is an increase from the stationary level i.sub.0 to i.sub.2 when Fp=100 N is reached (at time t=6.62 s); 4.98 A is an increase from the stationary level i.sub.0 to i.sub.1 when Fp=100 N is reached (at time t=6.71 s).

(17) In FIG. 3b, the pinch force rise time from the time point of starting the motor to the time point of reaching a limit pinch force of 100 N is indicated. This time is 158, 231 and 321 ms for obstacle stiffnesses of 65, 10, 5 N/mm, respectively.

(18) The experiments illustrated by FIGS. 3a and 3b clearly show that, in the first (early) stage of starting the motor and for a duration of about 100 ms, all four transient states (with or without obstacle) are almost identical. This period of time generally corresponds to the rise time of the PWM duty cycle.

(19) The differences appear only after reaching the maximal PWM duty cycle. However, in the worst situation, it is less than 60 ms before the pinch force reaches the limit value of 100 N.

(20) The present disclosure allows to achieve detection of a pinch (i.e. a squeezed obstacle) at a closing member 1 actuated by a motor 2 when the motor 2 starts, advantageously during a transient state of the motor 2. For example, it allows detection when the motor restarts to completely close the member 1, after the member has been moved (in a closing or opening movement) and temporarily stopped in a position not completely closed. For example, the pinch detection can be carried out in the scenarios described with reference to FIGS. 3a, 3b, before reaching the pinch force limit of 100 N.

(21) The member 1 is movable between a closed position and an open position, typically in translation (or in rotation). It can open and close and can there be qualified as an opening and closing member. For example, the member 1 is a power window in a vehicle. However, the present disclosure is not limited to a power window but can apply to other types of closing movable (opening and closing) members (e.g. sliding door or sliding roof in a vehicle, sliding door of a garage, etc.).

(22) FIG. 4 represents a system 100 including the following elements: the movable member 1 (e.g. a power window in a vehicle), a motor 2 for actuating the member 1, a measuring circuit 3 (or measuring device, or sensor) to measure a physical quantity of the motor 2 (here, the motor current), a control apparatus 4 for controlling the motor 2, a pinch detector 5 for pinch detection at the closing member 1.

(23) The pinch detector 5 can be part of the control apparatus 4. In operation, it implements the method (or algorithm) of pinch detection, described below, to detect a pinch at the closing member 1.

(24) A user interface means can also be provided to enter user commands, for example to stop or move the member 1. It can include for example a window command button 6 that can be pressed up to move up the window 1 or pressed down to move down the window 1.

(25) The system 100 also includes a power source 7, e.g. an electrical battery, for supplying the motor 2, and a motor driver 8. In some embodiments, the motor driver is equipped with a PWM controller that can be used to control supplying power as a PWM signal to the motor 2. The control apparatus 4 controls the motor 2 via the motor driver 8. The control apparatus 4 has a portion 40 that generates a control signal to control the movement of the member 1. For example, when a pinch is detected, the portion 40 generates a control signal to stop the member and/or reverse the direction of movement of the member.

(26) The motor 2 is equipped with the measuring circuit 3 to measure a physical quantity (or physical value) of the motor 2, here a motor current, such as an armature current flowing through the DC motor windings. The measuring circuit 3 measures values of the motor current at successive times, for example with a predetermined measurement frequency. The successive points (or values) of the motor current are sent to the control apparatus 4.

(27) The control apparatus 4 controls the motor 2 through the motor driver 8, to move the member 1.

Embodiment 1

(28) FIG. 5 represents schematically the method of pinch detection to detect a pinch at the closing member 1 according to an Embodiment 1. For example, the member 1 is a window in a vehicle.

(29) It is assumed that the member 1 is initially stationary in a position not closed, for example an intermediate position not completely closed.

(30) In a start step S0, under control of a closing command, the motor 2 starts to move the member 1 in a closing movement. The closing command can be entered by a user by pushing up the window command button 6. Optionally, the vehicle can also have a function of global closing, that commands the automatic closing of all the vehicle windows when the user leaves and closes the vehicle.

(31) In a first test step S1, the pinch detector 5 determines whether or not a blind time BT period has elapsed since the motor 2 started to close the window in the step S1. The duration of the blind time period is predetermined, for example in a preliminary calibration step that is further explained later, and fixed. The blind time (duration of the blind time period) does not vary significantly during the lifetime of the vehicle.

(32) In a particular embodiment, electrical power is supplied to the motor 2 as a PWM signal characterized by a frequency and a PWM duty cycle. The PWM duty cycle can vary during the motor operation. For example, FIG. 7 shows an example of the evolution over time of the PWM duty cycle of a PWM signal for controlling a DC motor start and stop operation. The PWM duty cycle increases from an initial value (0% or more) to a final value, that is usually 100% (but can be less than 100%), when the motor starts. Then, it is stationary when the motor 2 operates at full speed and it finally decreases before stopping. The duration of the blind time period can be set as equal to the rise time of the PWM duty cycle, as shown in FIG. 3a. However, the duration of the blind time period can be set to a value that is different from the rise time period of the PWM duty cycle. It can be more that the rise time period of the PWM duty cycle. In particular, in some embodiments, the rise time period of the PWM duty cycle is short, below a given minimum value, and, in that case, the duration of the blind time period can be set to a value that is more than the duration of the rise time period. This minimum value of the rise time period of the PWM duty cycle can be determined experimentally, in a calibration process.

(33) The test S1 is repeated during the predetermined blind time duration (branch ‘no’).

(34) At the end of the blind time period (i.e., when the blind time duration has elapsed, branch ‘yes’), the pinch detector 5 requests and obtains a reference value ‘i.sub.A’ of the motor current of the motor 2 measured by the measuring circuit 3 at the end of the blind time period, in a step S2.

(35) FIG. 6a shows the evolution over time of the motor current i from the moment the motor starts in step S0 (time point 5 sec). The blind time BT period is also represented. The reference value of electrical current i.sub.A picked by the pinch detector 5 at the end of the blind time period is referenced as point ‘A’ in FIG. 6A. FIG. 6b shows the parallel evolution over time of the pinch force F.sub.P when an object is squeezed by the member 1 during its closing.

(36) In a calculation step S3, the pinch detector 5 calculates a current threshold value i.sub.t depending on the reference value i.sub.A of the motor current, grabbed in step S1. The calculation of this threshold value i.sub.t can consist in adding to this reference value i.sub.A a margin value of current i.sub.m, according to the following equation:
i.sub.t=i.sub.A+i.sub.m

(37) For example, the margin value i.sub.m is equal to a correction factor multiplied by the reference value i.sub.A of the motor current. The correction factor can be comprised between 0.1 and 0.3. For example, it is equal to 0.15. Alternatively, the margin value i.sub.m can be fixed and predetermined during a calibration step.

(38) The blind time BT period is immediately (directly) followed by a detection time period, referenced as DT in FIG. 6A. The duration of the detection time period can be fixed and predetermined in a calibration process. The detection time DT does not vary significantly during the lifetime of the vehicle either. It can depend on the voltage supplied to the motor and thus on the speed of the member 1.

(39) The preliminary calibration step allows to predetermine the duration of the blind time period and the duration of the detection time period.

(40) When the motor 2 starts closing the window, in an early phase of the motor start up, the motor current profile (over time) includes a current peak. Furthermore, in this early phase of the motor start up (for a given voltage battery), current profiles corresponding to different obstacle stiffnesses are merged or roughly (approximately) merged. Then, the current profiles corresponding to different obstacle stiffnesses separate (in other words: diverge from one another). The phenomenon is illustrated for example in FIG. 3a. The blind time BT period starts when the window starts closing and ends when different current profiles (over time), corresponding to different obstacle stiffnesses, separate (in other words: start diverging). The vertical line A in FIG. 3a corresponds to a point in time—termed as a separation point—from which the current profiles corresponding to different obstacle stiffnesses are considered to separate or diverge over time.

(41) In a preliminary calibration step, the blind time (in other words: the length or duration of the BT period) can be determined by determining a separation point A in time (as represented in FIG. 3a) from which different current profiles corresponding to different obstacle stiffnesses are no longer grouped or approximately grouped (in other words: merged or roughly merged) and start separating (diverging), preferably for a given battery voltage. For example, data related to different current profiles corresponding to different obstacle stiffnesses are measured over time and recorded for extreme voltage values V.sub.batt of a supply battery, for example 10 V (which results in a very slow movement of the window 1) and 16 V (which result in a high speed movement of the window 1), and for various conditions related to the obstacle: no obstacle, an obstacle with a very low stiffness (e.g., k.sub.0=5 N/mm), and an obstacle with a very high stiffness (e.g., k.sub.0=65 N/mm). In the calibration step, the obstacle can be a spring having a known stiffness.

(42) In the preliminary calibration step, after recording data related to different current profiles corresponding to different obstacle stiffnesses and determining the separation point A in time, a corresponding threshold value i.sub.t is determined for each recorded current profile using the expression i.sub.t=i.sub.A+i.sub.m, where i.sub.A represents the current value at point A in time and i.sub.m represents a margin value. The current value i.sub.A depends on the current profile (in other words: on the obstacle stiffness). The current profiles for different obstacle stiffnesses are grouped but they are not exactly all the same during the blind time period. Consequently, the current value i.sub.A for a first obstacle stiffness and the current value i.sub.A for a second obstacle stiffness (different from the first obstacle stiffness) can be slightly different. The margin value i.sub.m can be fixed and determined in the calibration step. For example, it can be calculated by multiplying the current i.sub.A for one of the recorded current profiles by the correction factor comprised between 0.1 and 0.3. As an illustrative and non-limitative example, the margin value i.sub.m is equal to the current value i.sub.A for the current profile corresponding to the highest obstacle stiffness (65 N/mm) multiplied by 0.1.

(43) Then, from recorded data of the current profiles corresponding to the lowest obstacle stiffness (e.g., k.sub.0=5 N/mm) and the highest obstacle stiffness (e.g., k.sub.0=65 N/mm), two pinch detection points (referenced as PDP.sub.1 and PDP.sub.3 in FIG. 3a) from which the current value i exceeds the corresponding current threshold i.sub.t are determined. It is checked that the corresponding values of the pinch force F.sub.P do not exceed a permissible maximum force value, for example 100 N. Optionally, the corresponding values of the pinch force F.sub.P should not exceed 70% of the permissible maximum force value, i.e. not more than 70 N. Then, the detection time (in other words: the length or duration of the detection time period immediately following the blind time period) is determined so as to cover (in other words: include) the two determined detection points PDP.sub.1 and PDP.sub.3 corresponding to the lowest obstacle stiffness and the highest obstacle stiffness.

(44) In an embodiment, the detection time period starts when the blind time period ends, and ends when the pinch detection point PDP1 for the lowest obstacle stiffness is reached (or, alternatively, X ms after the pinch detection point PDP.sub.1 for the lowest obstacle stiffness, X representing a safety margin that is for example set to a predetermined value between 10 and 60 ms, like 50 ms). In the present example, the lowest obstacle stiffness is 5 N/mm. This value is derived from requirements of standards governing the automotive power-operated windows, like MVSS118 in USA or 74/60/EEC in Europe. The requirements expressed in these standards include a detection area between 4 mm and 200 mm as illustrated in FIG. 1, a maximum pinch force of 100 N, a reverse direction on a pinch, and tests with determined deflection ratio objects between 5 N/mm and 20 N/mm. Thus, the value of the lowest obstacle stiffness can be set according to standards related to pinch detection at a closing member, like an automotive power-operated window. Alternatively, the lowest obstacle stiffness can be set to a value that is strictly more than 0 N/mm and less than 10 N/mm.

(45) In a variant, in case that the system for controlling the window uses a soft start based on a soft increase of the motor power, the blind time BT can be set equal to the increase time of the motor power (typically an increase time of a PWM signal controlling the supplied power). Additionally, it can be checked that the end of the blind time matches the separation point A in time as previously defined.

(46) The preliminary calibration step for configuring the blind time BT and the detection time can be performed before a first use of the vehicle, in a manufacturing phase. Optionally, the preliminary calibration step is carried out on one system of a model and applied to all systems (including the system 100) of this model.

(47) In an embodiment, the blind time BT and the detection time DT are calculated automatically on the system 100 installed in the vehicle by recording data related to different current profiles over time, corresponding to different obstacle stiffnesses (advantageously for one battery voltage). The system 100 automatically searches the separation point A in time from which the different current profiles separate (in other words: diverge) using the recorded data. Then, the system 100 derives the blind time BT and the detection time DT from the recorded data, using the separation point A in time.

(48) The durations of the blind time BT period and the detection period DT are determined by experiments in such a manner that the detection algorithm correctly detects the pinch for the limit values (max, min).

(49) During calibration, the pinch detection algorithm is tested using a special device called a pinch meter. It gives the possibility of testing by simulating objects of different flexibility. This is achieved by selecting a spring with the appropriate stiffness in the pinch meter. The calibration can be performed before production of the detector pinch.

(50) During the detection time DT period, a test step S4 in which it is determined whether or not the detection time period has elapsed is repeated in loop.

(51) During the detection time DT period, a comparison step S5 is performed (after branch ‘no’ in step S4), during which the current values i of the measured motor current are compared to the threshold value i.sub.t calculated in step S3.

(52) As long as the current value i of the motor current is less than the threshold value i.sub.t in step S5, the method goes back to the test step S4.

(53) If the current value i of the motor current is equal or more than the threshold value i.sub.t (branch ‘yes’ in step S5), a pinch is detected in a step S6. In FIG. 6a, the detection of a pinch is illustrated by a point “B”, here at the end of the detection time period. In the example illustrated in FIGS. 6a-6b, when a pinch is detected (point B), a reverse movement of the member is not activated (indeed, the measured pinch force is still increasing on the bottom graph of FIG. 6b). When the pinch is detected (point B), the pinch force F.sub.P is equal to only 60 N.

(54) In case that a pinch is detected based on the comparison result of step S5, the pinch detector 4 sends a command to reverse the movement of the member 1 (i.e. to change its closing movement into an opening movement), in a step S7. Then, the control apparatus 4 generates a control signal to reverse the direction of movement of the member 1, so that the member 1 opens in a step S8. Alternatively, the control apparatus 4 could generate a control signal to stop the member 1.

(55) If no pinch is detected during the detection time period, the pinch detection method ends in a step S9.

(56) With reference to FIG. 4, the pinch detector 5 has a first portion 50 that executes the steps S0 to S3, and a second portion 51 that executes the steps S4 to S6. The step S7 is executed by the control apparatus 4 (portion 40).

(57) In operation, the first portion 50 detects when the motor 2 starts to move the member 1, at the end of the predetermined blind time period after the motor 2 starts, picks (requests and obtains) the measured motor current to determine a reference value i.sub.A of the motor current, and then calculates a current threshold i.sub.t depending on the reference current value i.sub.A with the following formula i.sub.t=i.sub.A+i.sub.m, where i.sub.m is a margin current that can be fixed (predetermined) or preferably equal to a correction factor multiplied by i.sub.A, as previously described.

(58) In operation, immediately after the blind time period ends and during the detection time period, typically in transient state of the motor 2 during the motor start-up, the second portion 51 compares currently measured values of the motor current and the threshold value i.sub.t in order to detect the possible occurrence of a pinch at the closing member 1 based on the comparison result.

(59) The pinch detector 5 can be a functional element that is implemented by the controlling apparatus 4 executing a program for pinch detection. The present disclosure also concerns a non-transitory computer readable medium including program instructions which, when executed by a processor, cause the processor to execute the method for pinch detection.

(60) The pinch detector 5 allows to detect a pinch at the member 1, such as a window, in a window movement scenario similar to the one illustrated in FIG. 2 with the following successive stages: stage (1): the window opens completely from an initial position completely closed; stage (2): the window is moved up, in a closing movement, from its open position to an intermediate position not completely closed, stage (3): the window is stopped and stationary in the intermediate position not completely closed, and stage (4): an obstacle “O” having a given stiffness is placed in the left space between the window and the door frame and the window starts closing again.

(61) The pinch detection algorithm has been tested for a window in a vehicle and for various operating conditions of battery voltage V.sub.batt, object location z.sub.o (z.sub.o representing the vertical distance between the object and the top frame of the door) and object stiffness k.sub.o. The results of these experiments in terms of motor current i and pinch force Fp are shown in FIGS. 8a to 8d. The references (1) and (2) represent respectively the blind time period and the detection time period. Horizontal lines indicate the current threshold i.sub.t for battery voltage V.sub.batt of 10, 13 and 16 V, respectively. In addition, the pinch force values F.sub.P at which the algorithm detected the compressed object are given on the graphs. The highest achieved pinch force measured in these experiments was 68 N. Such pinch detection gives a sufficient margin to prevent exceeding the allowable force of 100 N.

(62) In addition, the same experiments were conducted for the case of closing the window 1 with different battery voltages (10V, 13V and 16V) but without obstacle (k.sub.o=0 N/mm) are shown in FIG. 9. These conducted experiments show that, in the absence of an obstacle, no false pinch detection occurs.

(63) As a summary of the proper functioning of the present pinch detection algorithm, FIG. 10 shows the evolution over time of the motor current i and the pinch force F.sub.P, for a battery voltage of 16 V, with an obstacle having a given stiffness k.sub.o (5 N/mm or 65 N/mm) and without obstacle (k.sub.o=0 N/mm). The results show that, when an obstacle is squeezed, it is detected early when the pinch force has reached a value around only 60 N and, when no obstacle is present, no pinch is detected during the detection time period referenced as (2) in FIG. 10.

(64) The presently disclosed pinch detection method works with a motor equipped with motor current measurement. It is efficient for detecting an obstacle (object) squeezed during motor start up in various external conditions of battery voltage, object stiffness and object position.

(65) The present method for pinch detection is simple, fast and can be easily implemented. It is also self-adapting and robust with respect to external conditions such as battery voltage, obstacle stiffness, obstacle position. It meets the requirements of the automotive industry.