A self-adaptive automobile step system and its adjustment method

Abstract

The present invention discloses an adaptively adjustable automobile step system and an adjustment method thereof, comprising a human body size data pre-storage module, a posture acquisition module, a body shape measurement module, a get-off posture generation module and a pedal adjustment module. The present invention is based on the human body size data pre-storage module, collects the current driver's body position through the posture acquisition module, determines the current driver's body size data through the body shape measurement module, simulates the driver's get-off state through the get-off posture generation module, calculates the driver's comfortable stepping height, and finally automatically adjusts the height of the vehicle pedal by the pedal adjustment module to meet the stepping needs of drivers at different percentiles of the human body when getting off the vehicle, thereby realizing personalized adaptive adjustment of the automobile step.

Description

Technical Field

[0001] The invention relates to the technical field of automobile step systems, and in particular to an automobile step system with self-adaptive adjustment and an adjustment method thereof. Background Art

[0002] Currently, SUV models are a large category in car sales in the market, especially in China, where the market share of SUV sales continues to grow. A notable feature of SUV models is that their seats are high off the ground. In order to solve the problem of inconvenience in getting on and off the vehicle, most SUV models are equipped with side steps, including fixed steps or electric retractable steps. Whether fixed steps or electric retractable steps, there is often only one position for use, and different drivers and passengers have different heights and body proportions, so the required or most suitable step heights are different. Currently, fixed or electric retractable steps on the market cannot meet personalized step height requirements. Summary of the invention

[0003] The purpose of the present invention is to solve the deficiencies of the above-mentioned background technology and to provide a vehicle step system and an adjustment method thereof which can adaptively adjust the up and down heights and meet the personalized step height requirements.

[0004] To achieve this purpose, the self-adaptive automobile stepping system designed by the present invention is characterized in that it includes a human body size data pre-storage module, a posture acquisition module, a body shape measurement module, a getting-off posture generation module and a pedal adjustment module;

[0005] The human body size data pre-storage module is used to store the body size of each percentile human body and the H-point coordinate set of each percentile human body, and determine the riding comfort line of each percentile human body;

[0006] The posture acquisition module is used to determine the H point coordinates of the current human body according to the signal of the seat drive motor of the electric seat;

[0007] The body measurement module is used to determine the body size of the current human body according to the H point coordinates of the current human body;

[0008] The getting-off posture generating module is used to generate the getting-off posture of the current human body according to the H point coordinates of the current human body and the current human body size, and determine the comfortable stepping height when the current human body gets off the vehicle;

[0009] The pedal adjustment module is used to adjust the vehicle pedal height according to the current comfortable pedaling height of a human body when getting off the vehicle, so that the top support surface height of the vehicle pedal is the same as the current comfortable pedaling height of a human body when getting off the vehicle.

[0010] Furthermore, the method in which the human body size data pre-storage module is used to store the body size of each percentile human body, the H-point coordinates of each percentile human body and the riding comfort line of each percentile human body includes: a theoretical data storage method based on theoretical human body data and an actual measurement storage method based on real human body data.

[0011] Furthermore, the theoretical data storage method based on theoretical human body data is: pre-store the theoretical body size of each percentile human body, set the comfortable ankle joint angle, comfortable knee joint angle and comfortable hip joint angle, obtain the theoretical H-point coordinate set of each percentile human body, and determine the theoretical riding comfort line of each percentile human body.

[0012] Furthermore, the actual measurement and storage method based on real human body data is: measuring and storing the body dimensions of people at each percentile, organizing people at each percentile to adjust the driving position, obtaining the actual H-point coordinate set of each percentile, and determining the actual riding comfort line of each percentile.

[0013] Furthermore, the posture acquisition module is used to determine the H-point coordinate of the current human body based on the signal of the seat drive motor of the electric seat. The method is: calculate the average H-point coordinate of any percentile human body, take the electric seat position corresponding to the average H-point coordinate of the percentile human body as the starting point, record the power-on time of the seat drive motor and the motor rotation direction of the seat drive motor when the electric seat moves from the starting point to the current position, calculate the forward and backward and up and down movement distances of the electric seat, and determine the H-point coordinate of the current human body.

[0014] Furthermore, the body measurement module is used to determine the body size of the current human body based on the H-point coordinates of the current human body by comparing the H-point coordinates of the current human body with the riding comfort lines of each percentile human body, selecting the riding comfort line that is closest to the H-point coordinates of the current human body, and taking the body size of the human body corresponding to the riding comfort line as the body size of the current human body.

[0015] Furthermore, the getting-off posture generating module is used to generate the current human body's getting-off posture according to the current human body's H-point coordinates and the current human body's body size, and the method for determining the comfortable stepping height when the current human body gets off is: setting the Y-direction translation distance of the H-point when the human body gets off, the rotation angle of the thigh around the H-point, the rotation angle of the calf around the knee joint and the rotation angle of the foot around the ankle joint to simulate the current human body's getting-off posture, calculating the distance between the current human body's H-point and the sole plane, and determining the comfortable stepping height when the current human body gets off.

[0016] Furthermore, the pedal adjustment module includes a signal processing unit, a pedal drive motor and the vehicle pedal, and a screw nut structure for driving the vehicle pedal to move up and down is connected between the motor shaft of the pedal drive motor and the vehicle pedal.

[0017] Furthermore, the pedal adjustment module is used to adjust the vehicle pedal height according to the comfortable stepping height when the current human body gets off the vehicle, so that the top support surface height of the vehicle pedal is the same as the comfortable stepping height when the current human body gets off the vehicle. The method is: after the signal processing unit receives the comfortable stepping height signal when the current human body gets off the vehicle and the door opening signal, it determines the height of the current vehicle pedal, calculates the power-on time of the pedal drive motor according to the difference between the current vehicle pedal height and the comfortable stepping height when the current human body gets off the vehicle, determines the rotation direction of the pedal drive motor, and sends a working signal to the pedal drive motor, and the pedal drive motor drives the vehicle pedal to move to the comfortable stepping height when the current human body gets off the vehicle.

[0018] The adjustment method of the automobile step system based on the above-mentioned adaptive adjustment includes the following steps:

[0019] Step 1: Store the body size of each percentile human body and the H-point coordinate set of each percentile human body, determine the riding comfort line of each percentile human body, and establish a human body size database;

[0020] Step 2: Collect the current human body posture, determine the coordinates of the current human body H point, compare the coordinates of the current human body H point with the set of H point coordinates of each percentile human body in the human body size database, and determine the body size of the current human body;

[0021] Step 3: Generate the current human body's getting-off posture according to the H-point coordinates of the current human body and the current human body's body size, and determine the comfortable stepping height when the current human body gets off the vehicle;

[0022] Step 4: According to the current comfortable stepping height of a human body when getting off the vehicle, adjust the height of the vehicle pedal so that the height of the top support surface of the vehicle pedal is the same as the current comfortable stepping height of a human body when getting off the vehicle.

[0023] The beneficial effects of the present invention are as follows: based on the human body size data pre-storage module, the human body position of the current driver is collected by the posture collection module, the human body size data of the current driver is determined by the body measurement module, and then the driver's getting off the vehicle state is simulated by the getting off posture generation module, and the driver's comfortable stepping height is calculated. Finally, the pedal adjustment module automatically adjusts the height of the vehicle pedal to meet the getting off stepping needs of drivers in different percentiles of the human body, thereby realizing personalized adaptive adjustment of the vehicle step. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1It is a schematic diagram of the module connection of the self-adaptive automobile stepping system of the present invention;

[0025] Figure 2 Schematic diagram of three typical percentile human body sizes in the present invention;

[0026] Figure 3 It is a schematic diagram of the principle of a driving posture collection and body shape measurement module of a certain percentile human driver in the present invention;

[0027] Figure 4 It is a schematic diagram of the principle of the getting-off posture generating module in the present invention.

[0028] Figure 5 It is a schematic diagram of the pedal adjustment module in the present invention.

[0029] Among them, 1—95% human height, 2—thigh size, 3—calf size, 4—foot size, 10—95% human riding comfort line, 11—50% human riding comfort line, 12—5% human riding comfort line, 13—backrest line, 14—thigh line, 15—calf line, 16—foot bottom line, 17—sitting upper and lower position reference line, 18—reference H point, 20—Y-direction moving distance of H point, 21—threshold boundary, 22—a certain percentile human H point, 23—a certain percentile human comfortable pedaling height, 24—signal processing unit, 25—pedal drive motor, 26—vehicle pedal, 27—human size data pre-storage module, 28—posture acquisition module, 29—body shape measurement module, 30—get-off posture generation module, 31—pedal adjustment module, 32—horizontal distance from H point to the highest point on the outside of the threshold, 33—Z-direction distance from H point to the highest point on the outside of the threshold. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 1 The self-adaptive automobile step system shown includes a human body size data pre-storage module 27 , a posture collection module 28 , a body shape measurement module 29 , a vehicle getting-off posture generation module 30 and a pedal adjustment module 31 .

[0032] like Figure 1As shown in FIG. 2 , the human body size data pre-storage module 27 is used to store the body size of each percentile human body and the H-point coordinate set of each percentile human body, and determine the riding comfort line of each percentile human body. The H-point here refers to the connection point between the human body trunk and the thigh, that is, the hip point, which is the hip joint in the human body template. It represents the position of the midpoint of the hip joint in the car after the driver takes the seat. The significance of the H-point in the car body design: most of the driver's weight is supported by the seat cushion through the buttocks, part is supported by the seat back through the back waist, and the other part acts on the car floor through the feet. Under the constraint of this sitting posture, the upper body movement of the driver must rotate around the H-point when operating. The position of the driver in the car (the position of the H-point) determines the angles of the driver's body joints, the eye ellipse, the head outline envelope, and the position of the hand extension interface in the car body. Therefore, the H-point determines the driver's comfort, maneuverability, safety and vision. The riding comfort line is the set of H-points of the same percentile human body. The following table is a schematic table of the body size of each percentile human body.

[0033]

[0034] As shown in the above table, in this embodiment, the percentile of the human body can be divided into 1%, 2%, 3%...99% according to the height, a total of 99 representative human bodies, but it can be divided into more or less according to the actual situation, without limitation. Taking the 95% human body as an example, at least four dimensions of each percentile human body can be determined, including the 95% human body height H-95%, the length from the H point to the knee joint (thigh size) L1-95%, the length from the knee joint to the ankle joint (calf size) L2-95%, and the length from the ankle joint to the sole of the foot (foot size) L3-95%. In addition, the following two methods for obtaining the H point of each percentile human body and the comfort line of each percentile human body are included but not limited to: 1. Based on a theoretical database, such as the human body database provided by RAMSIS, UG and other software, it is directly obtained. 2. Based on the actual target population, use relevant measurement tools, such as human height meter, straight-leg gauge for human measurement, bent-leg gauge for human measurement, tripod parallel gauge for human measurement, sitting height chair, foot measuring instrument, angle meter, and soft tape measure to measure and record the relevant dimensions of the human body, or use scanning technology to scan and process the human posture and joints based on the actual target population to obtain the relevant dimensions of the human body. Based on the above information, the human body database matrix table in the above table is obtained. It should be noted that the human body dimensions of each percentile are based on statistical data and are typical dimensions that can represent the height. By statistically analyzing the H-point positions of the above-mentioned drivers of different percentiles in driving conditions, we can obtain the 1% to 99% human riding comfort lines. The methods for constructing riding comfort lines of each percentile include but are not limited to the following two methods: 1. According to the theoretical human database, the angle between the foot line 16 and the calf line 15 of the comfortable ankle joint angle, the angle between the calf line 15 and the thigh line 14 of the comfortable knee joint angle, and the angle between the thigh line 14 and the backrest line 13 of the comfortable hip joint angle are respectively set in the ergonomic simulation software to determine the corresponding H-point position set, and then obtain the corresponding theoretical riding comfort line. 2. The H-point of the real human body is obtained based on actual vehicle measurements. The specific method is to organize the target population in the above table to adjust the driving position on an actual vehicle with known data, and record the front and back, up and down positions of the seats, so as to obtain the H-point position set of the real human body on the vehicle data, and then obtain the corresponding actual riding comfort line. Figure 3 As shown, three typical human body riding comfort lines are listed: 95% human body riding comfort line 10, 50% human body riding comfort line 11 and 5% human body riding comfort line 12. The above comfort lines respectively represent the H-point riding position sets of 95%, 50% and 5% percentile human bodies in driving conditions.

[0035] like Figure 3As shown, the posture acquisition module 28 is used to determine the H-point coordinates of the current human body according to the signal of the seat drive motor of the electric seat. During the driving process of the vehicle, the electric seat position when the 95% human body is sitting is taken as the starting point, and the H-point coordinates at this time are recorded. (The electric seat position when any percentile human body is sitting can be taken as the starting point, and the H-point coordinates at this time are recorded. This embodiment takes the 95% human body as an example for explanation) By collecting the signal of the seat drive motor of the electric seat, the H-point position of the current driver is determined. The specific method can collect the power-on time and rotation direction of the servo motor or the uniform speed motor to measure the forward and backward movement distance △L of the H-point position of the current driver relative to the H-point of the 95% human body, and the movement distance △H relative to the upper and lower position reference line 17 of the 95% human body, thereby determining the H-point coordinates of the current driver.

[0036] The body measurement module 29 is used to determine the body size of the current human body according to the coordinates of the H point of the current human body. The 1% to 99% percentile riding comfort lines stored in the human body size data pre-storage module 27 are traversed, and the riding comfort line with the smallest distance from the H point of the current driver is selected, and then the percentile human body corresponding to the riding comfort line is selected. The thigh size 2, calf size 3, and foot size 4 corresponding to the percentile human body are the body size of the current driver.

[0037] like Figure 4As shown, the getting-off posture generating module 30 is used to generate the current human body's getting-off posture according to the coordinates of the H point of the current human body and the current human body's stature, and determine the comfortable stepping height when the current human body gets off the car. According to the thigh size 2, calf size 3, and foot size 4 of the stature measuring module 29, a getting-off posture model is constructed. The getting-off posture model can be a 2D or 3D model, wherein the thigh line 14 can rotate around the H point, the calf line 15 can rotate around the knee joint, and the foot can rotate around the ankle joint. Set the H point Y-direction moving distance 20 of the driver's H point relative to the reference H point 18 when getting off the car to simulate the hip movement distance when the human body gets off the car; the thigh line 14 rotates around the H point, and the calf line 15 rotates around the knee joint until the calf model is zero-gap fitted with the threshold boundary 21 or a certain gap margin is reserved; the foot plane (foot bottom line 16) is adjusted to be parallel to the ground. Based on the above steps, a percentile human body comfortable stepping height 23 can be obtained, which is set as Hx. It should be noted that 32 is the horizontal distance from point H to the highest point on the outside of the threshold, and 33 is the Z-direction distance from point H to the highest point on the outside of the threshold (set as h). For a certain vehicle, 32 is a constant (set as w), and 33 is a variable (depending on the position of the seat height adjustment under the percentile human body). At the same time, the joint dimensions of the percentile human body, namely the thigh dimension 2, the calf dimension 3 and the foot dimension 4 are all constants, so Hx = f(h), that is, a function of the comfortable stepping height Hx and its H point height position is constructed. In other words, the corresponding h can be determined by obtaining the coordinates of the H point of the percentile human body, and further, the comfortable stepping height Hx can be quickly obtained. Take the 95% human body as an example to illustrate the Hx = f(h) function. The human body is placed in advance through the aforementioned getting off posture generation module, and multiple h are adjusted to obtain the corresponding multiple Hx. Based on the multivariate linear regression analysis and fitting method, the function of the comfortable stepping height of the 95% human body Hx = 0.0079h can be obtained. 2 +3.6873h+w+81.44, where h is a variable, which is based on the ride height selected by the human body, and w (the Y-direction distance from point H to the highest point on the outside of the door sill) is a constant for a certain car. Therefore, as long as the function Hx=f(h) of different percentiles of human bodies is set in advance, the value of Hx can be directly obtained by determining the coordinates of point H of the current percentile human body in the later stage.

[0038] like Figure 5As shown, the pedal adjustment module 31 is used to adjust the height of the vehicle pedal 26 according to the current comfortable stepping height of the human body when getting off the vehicle, so that the top support surface height of the vehicle pedal 26 is the same as the current comfortable stepping height of the human body when getting off the vehicle. The pedal adjustment module 31 is composed of a signal processing unit 24, a pedal drive motor 25 and a vehicle pedal 26, wherein the signal processing unit 24 receives the signal of the above-mentioned comfortable stepping height Hx of a certain percentile of the human body and the signal of the door opening, and sends a motor synchronization adjustment signal to the pedal drive motor 25; the pedal drive motor 25 is composed of a motor and a threaded rod, the pedal drive motor 25 is fixedly connected to the vehicle body, the threaded rod is rotated, and the vehicle pedal 26 is provided with a threaded hole structure matching the threaded rod, and the pedal drive motor 25 can rotate and drive the vehicle 26 to achieve up and down height adjustment.

[0039] The present invention is based on a human body size data pre-storage module 27, collects the current driver's body position through a posture acquisition module 28, determines the current driver's body size data through a body measurement module 29, simulates the driver's getting off the vehicle through a getting off posture generation module 30, calculates the driver's comfortable stepping height, and finally automatically adjusts the height of the vehicle pedal by a pedal adjustment module 31 to meet the getting off and stepping needs of drivers at different percentiles, thereby realizing personalized adaptive adjustment of the vehicle step.

[0040] The above is only a preferred embodiment of the present invention, and does not limit the structure of the present invention in any form. Any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. An adaptively adjustable automobile step system, characterized in that: It comprises a human body size data pre-storage module (27), a posture acquisition module (28), a body shape measurement module (29), a vehicle getting-off posture generation module (30) and a pedal adjustment module (31); The human body size data pre-storage module (27) is used to store the body size of each percentile human body and the H point coordinate set of each percentile human body, and determine the riding comfort line of each percentile human body; The posture acquisition module (28) is used to determine the current H point coordinate of the human body according to the signal of the seat drive motor of the electric seat; The posture acquisition module (28) is used to determine the H-point coordinates of the current human body according to the signal of the seat drive motor of the electric seat. The method is: calculate the average H-point coordinates of any percentile human body, take the electric seat position corresponding to the average H-point coordinates of the percentile human body as the starting point, record the power-on time of the seat drive motor when the electric seat moves from the starting point to the current position and the motor rotation direction of the seat drive motor, calculate the front-back and up-down movement distance of the electric seat, and determine the H-point coordinates of the current human body; The body measurement module (29) is used to determine the body size of the current human body according to the H point coordinates of the current human body; The getting-off posture generating module (30) is used to generate the current human body's getting-off posture according to the H-point coordinates of the current human body and the current human body's body size, and determine the comfortable stepping height of the current human body when getting off the vehicle; The pedal adjustment module (31) is used to adjust the height of the vehicle pedal (26) according to the current comfortable stepping height of a human body when getting off the vehicle, so that the height of the top support surface of the vehicle pedal (26) is the same as the current comfortable stepping height of a human body when getting off the vehicle.

2. The self-adaptive automobile step system according to claim 1, characterized in that: The method for storing the body size of each percentile human body, the H point coordinates of each percentile human body and the sitting comfort line of each percentile human body in the human body size data pre-storage module (27) includes: a theoretical data storage method based on theoretical human body data and an actual measurement storage method based on real human body data.

3. The self-adaptive automobile step system according to claim 2, characterized in that: The theoretical data storage method based on theoretical human body data is: pre-storing theoretical body dimensions of each percentile human body, setting comfortable ankle joint angles, comfortable knee joint angles and comfortable hip joint angles, obtaining a theoretical H-point coordinate set of each percentile human body, and determining a theoretical riding comfort line of each percentile human body.

4. The self-adaptive automobile step system according to claim 2, characterized in that: The actual measurement and storage method based on real human body data is: measuring and storing the body dimensions of people at each percentile, organizing people at each percentile to adjust the driving position, obtaining the actual H-point coordinate set of each percentile, and determining the actual riding comfort line of each percentile.

5. The self-adaptive automobile step system according to claim 1, characterized in that: The body measurement module (29) is used to determine the body size of the current human body according to the H-point coordinates of the current human body. The method is: comparing the H-point coordinates of the current human body with the riding comfort lines of the human bodies of each percentile, selecting the riding comfort line that is closest to the H-point coordinates of the current human body, and using the body size of the human body corresponding to the riding comfort line as the body size of the current human body.

6. The self-adaptive automobile step system according to claim 1, characterized in that: The alighting posture generating module (30) is used to generate the alighting posture of the current human body according to the coordinates of the H point of the current human body and the body size of the current human body. The method for determining the comfortable stepping height of the current human body when getting off the vehicle is as follows: setting the Y-direction translation distance of the H point when the human body gets off the vehicle, the rotation angle of the thigh around the H point, the rotation angle of the calf around the knee joint and the rotation angle of the foot around the ankle joint to simulate the alighting posture of the current human body, calculating the distance between the H point of the current human body and the sole plane, and determining the comfortable stepping height of the current human body when getting off the vehicle.

7. The self-adaptive automobile step system according to claim 1, characterized in that: The pedal adjustment module (31) comprises a signal processing unit (24), a pedal drive motor (25) and the vehicle pedal (26); a screw nut structure for driving the vehicle pedal (26) to move up and down is connected between the motor shaft of the pedal drive motor (25) and the vehicle pedal (26).

8. The self-adaptive automobile step system according to claim 7, characterized in that: The pedal adjustment module (31) is used to adjust the height of the vehicle pedal (26) according to the comfortable stepping height when the current human body gets off the vehicle, so that the height of the top support surface of the vehicle pedal (26) is the same as the comfortable stepping height when the current human body gets off the vehicle. The method is as follows: after the signal processing unit (24) receives the comfortable stepping height signal when the current human body gets off the vehicle and the door opening signal, it determines the height of the current vehicle pedal (26), calculates the power-on time of the pedal drive motor (25) according to the difference between the current vehicle pedal (26) height and the comfortable stepping height when the current human body gets off the vehicle, determines the rotation direction of the pedal drive motor (25), and sends a working signal to the pedal drive motor (25), so that the pedal drive motor (25) drives the vehicle pedal (26) to move to the comfortable stepping height when the current human body gets off the vehicle.

9. A method for adjusting a step system of an automobile with adaptive adjustment, comprising the following steps: Step 1: Store the body size of each percentile human body and the H-point coordinate set of each percentile human body, determine the riding comfort line of each percentile human body, and establish a human body size database; Step 2: Collect the current human body posture, determine the coordinates of the current human body H point, compare the coordinates of the current human body H point with the set of H point coordinates of each percentile human body in the human body size database, and determine the body size of the current human body; The method of collecting the current human posture includes: collecting the power-on time of the seat drive motor and the motor rotation direction of the seat drive motor when the electric seat moves from the starting point to the current position, wherein the method of determining the starting point of the electric seat position includes: calculating the average H-point coordinates of any percentile human body, and taking the electric seat position corresponding to the average H-point coordinates of the percentile human body as the starting point; the method of determining the H-point coordinates of the current human body includes: calculating the front-to-back and up-and-down moving distances of the electric seat according to the power-on time of the seat drive motor and the motor rotation direction of the seat drive motor when the electric seat moves from the starting point to the current position, and determining the H-point coordinates of the current human body; Step 3: Generate the current human body's getting-off posture according to the H-point coordinates of the current human body and the current human body's body size, and determine the comfortable stepping height when the current human body gets off the vehicle; Step 4: According to the current comfortable stepping height of a human body when getting off the vehicle, adjust the height of the vehicle pedal so that the height of the top support surface of the vehicle pedal is the same as the current comfortable stepping height of a human body when getting off the vehicle.

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