Seat data calibration method and device, vehicle and storage medium

Abstract

The application discloses a seat data calibration method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring a seat image of a target seat in the vehicle through an image acquisition device in the vehicle; determining a current position parameter of the target seat based on the seat image of the target seat; comparing the current position parameter of the target seat with a reference position parameter to obtain a position parameter change amount of the target seat; and calibrating a pulse record value of a target motor corresponding to the target seat based on a pre-established position pulse model and the position parameter change amount of the target seat. The technical scheme provided in the application makes the pulse record value of the target motor more accurate, avoids the risk of squeezing the people and objects in the vehicle caused by the position adjustment of the target seat in the case of inaccurate pulse record value, and improves the safety of seat adjustment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a seat data calibration method and device, a vehicle and a storage medium. BACKGROUND

[0002] At present, vehicles are usually provided with seat position adjustment functions, including but not limited to: forward and backward position adjustment, up and down position adjustment, angle adjustment, etc.

[0003] Taking forward and backward position adjustment of a seat as an example, a vehicle includes a first motor and a pulse counter corresponding to the first motor, and an adjustable seat is provided with a slide rail. The first motor rotates to drive the slide rail to move, thereby changing the forward and backward position of the adjustable seat in the vehicle. In this process, the pulse counter synchronously records the number of pulses (i.e. the number of rotations of the first motor) emitted by the first motor, thereby determining the horizontal displacement of the slide rail and further determining the change in the forward and backward position of the adjustable seat in the vehicle.

[0004] However, the number of pulses recorded by the above vehicle has cumulative errors. On the one hand, in the case of target motor starting or braking, loss of pulse signals will cause errors in the number of pulses recorded by the vehicle. On the other hand, in the case of target seat replacement or seat electronic controller replacement, the number of pulses recorded by the seat electronic controller does not match the actual position parameters of the target seat. SUMMARY

[0005] The present application provides a seat data calibration method, device, vehicle and storage medium.

[0006] In a first aspect, an embodiment of the present application provides a seat data calibration method, which comprises: collecting a seat image of a target seat in a vehicle through an image collection device in the vehicle; determining a current position parameter of the target seat based on the seat image of the target seat; comparing the current position parameter of the target seat with a reference position parameter to obtain a position parameter change amount of the target seat; and calibrating a pulse record value of a target motor corresponding to the target seat based on a pre-established position pulse model and the position parameter change amount of the target seat, the position pulse model being used to represent the relationship between the position parameter change amount of the target seat and a pulse theoretical value of the target motor.

[0007] In a second aspect, an embodiment of the present application provides a seat data calibration device, which comprises: an image acquisition module configured to acquire a seat image of a target seat in a vehicle by using an image acquisition device in the vehicle; a position parameter acquisition module configured to determine a current position parameter of the target seat based on the seat image of the target seat; a comparison module configured to compare the current position parameter of the target seat with a reference position parameter to obtain a position parameter variation of the target seat; and a seat data calibration module configured to calibrate a pulse record value of a target motor corresponding to the target seat based on a pre-established position pulse model and the position parameter variation of the target seat, wherein the position pulse model is used to represent a relationship between the position parameter variation of the target seat and a pulse theoretical value of the target motor.

[0008] In a third aspect, an embodiment of the present application provides a vehicle, which comprises: one or more processors; a memory; and one or more application programs stored in the memory and configured to be executed by the one or more processors, wherein the one or more application programs are configured to execute the method of the first aspect.

[0009] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, wherein the computer readable storage medium stores computer program instructions, and the computer program instructions can be invoked and executed by a processor to execute the method of the first aspect.

[0010] Compared with the prior art, the seat data verification method provided by the embodiment of the present application has the following advantages. The vehicle pre-establishes a corresponding relationship (i.e., a position pulse model) between a position parameter variation of a target seat and a pulse theoretical value of a target motor corresponding to the target seat. After a seat image of the target seat is acquired, the current position parameter of the target seat can be determined based on the seat image. The current position parameter is compared with a reference position parameter of the target seat to obtain the position parameter variation of the target seat. Then, the pulse theoretical value of the target motor is determined based on the position pulse model and the position parameter variation of the target seat. The pulse record value of the target motor is verified based on the determined pulse theoretical value, so that the pulse record value of the target motor is more accurate. In the case that the pulse record value is inaccurate, the risk of squeezing the people and objects in the vehicle caused by the position adjustment of the target seat is avoided, and the safety of the seat adjustment is improved. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0012] Figure 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application.

[0013] Figure 2 is a flowchart of a seat data calibration method provided by an embodiment of the present application.

[0014] Figure 3 is a flowchart of a seat data calibration method provided by another embodiment of the present application.

[0015] Figure 4 is a flowchart of a seat data calibration method provided by another embodiment of the present application.

[0016] Figure 5 is a flowchart of establishing a position pulse model provided by an embodiment of the present application.

[0017] Figure 6 is a structural block diagram of a seat data calibration apparatus provided by an embodiment of the present application.

[0018] Figure 7 is a structural block diagram of a vehicle provided by an embodiment of the present application.

[0019] Figure 8 is a structural block diagram of a computer storage medium provided by an embodiment of the present application. DETAILED DESCRIPTION

[0020] The embodiments of the present application will be described in detail below with reference to the drawings, in which the same or similar components are denoted by the same or similar reference numerals, and therefore repeated description is omitted. The embodiments described below are exemplary only, and are used only for explaining the present application, and should not be understood as limiting the present application.

[0021] In order to make the technical personnel in the art better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0022] Reference should be made to Figure 1Fig. 1 is a schematic diagram showing an implementation environment according to an embodiment of the present application. The implementation environment includes a vehicle 100. In the embodiment of the present application, the vehicle 100 includes one or more adjustable seats and a seat adjustment system. The seat adjustment system includes a seat controller. The seat controller is configured to control the position adjustment of each adjustable seat in the vehicle 100, including but not limited to: the fore-aft position adjustment of the seat in the vehicle 100, the up-down position adjustment of the seat in the vehicle 100, and the angle adjustment between the seat cushion and the seat back of the seat. In the embodiment of the present application, only two of the above adjustment processes are described as examples.

[0023] In some embodiments, the seat adjustment system further includes a first motor corresponding to each adjustable seat, configured to adjust the fore-aft position of the adjustable seat in the vehicle 100. The first motor is in driving connection with a slide rail in the adjustable seat. When the first motor rotates, the slide rail changes its position, thereby changing the fore-aft position of the adjustable seat in the vehicle 100. Optionally, the seat controller includes a first counter. The first motor emits regular periodic pulse signals when it rotates, and the seat controller counts the periodic pulse signals by the first counter to determine the number of rotations of the first motor. Accurate recording of the number of motor pulses of the first motor helps to accurately determine the fore-aft position of the adjustable seat in the vehicle 100.

[0024] In some embodiments, the seat adjustment system further includes a second motor corresponding to each adjustable seat, configured to adjust the angle between the seat cushion and the seat back of the adjustable seat. The second motor is in driving connection with a rotating shaft in the adjustable seat. When the second motor rotates, the rotating shaft rotates, thereby changing the angle between the seat cushion and the seat back of the adjustable seat. Optionally, the seat controller includes a second counter. The second motor also emits regular periodic pulse signals when it rotates, and the seat controller counts the periodic pulse signals by the second counter to determine the number of rotations of the second motor. Accurate recording of the number of motor pulses of the second motor helps to accurately determine the angle between the seat cushion and the seat back of the adjustable seat.

[0025] In the embodiment of the present application, an image acquisition device is also provided in the vehicle. The image acquisition device is configured to acquire a seat image of the adjustable seat to determine the current position parameter of the adjustable seat. The image acquisition device can be one or more. In some embodiments, one adjustable seat corresponds to one image acquisition device. In other embodiments, multiple adjustable seats share one image acquisition device.

[0026] In the embodiment of the present application, the vehicle pre-establishes a corresponding relationship (i.e., a position-pulse model) between a position parameter change amount of a target seat and a pulse theoretical value of a target motor corresponding to the target seat. After a seat image of the target seat is collected, a current position parameter of the target seat can be determined based on the seat image. The current position parameter is compared with a reference position parameter of the target seat to obtain the position parameter change amount of the target seat. Then, the pulse theoretical value of the target motor is determined based on the position-pulse model and the position parameter change amount of the target seat. The pulse recorded value of the target motor is verified based on the determined pulse theoretical value, so that the pulse recorded value of the target motor is more accurate, the position of the target seat is more accurate, and the risk of squeezing the people and objects in the vehicle caused by adjusting the position of the target seat when the pulse recorded value is inaccurate is avoided, thereby improving the safety of seat adjustment.

[0027] Please refer to Figure 2 which shows a flowchart of a seat data calibration method provided by an embodiment of the present application. The method includes the following processes.

[0028] S201, collecting a seat image of a target seat in the vehicle by an image collection device in the vehicle.

[0029] The target seat refers to a seat whose position parameter changes. In the embodiment of the present application, the seat receiving a position parameter adjustment signal is determined as the target seat. In the embodiment of the present application, the change of the position parameter includes but is not limited to the change of the front-back position of the seat in the vehicle and the change of the angle between the seat cushion and the backrest of the seat.

[0030] In some embodiments, the image collection device obtains specified shooting parameters, and then shoots the seat image of the target seat according to the specified shooting parameters. The specified shooting parameters are the shooting parameters used by the vehicle in the process of establishing the position-pulse model. The specified shooting parameters can include the orientation of the image collection device, the focal length of the image collection device, and the like. In this way, it can be ensured that the collection conditions of the seat image and the image collected in the process of establishing the position-pulse model are the same, and thus the calibration result is more accurate.

[0031] In some embodiments, the vehicle performs S201 after a preset time length after the seat adjustment signal for the target seat disappears. The disappearance of the seat adjustment signal for the target seat indicates that the seat adjustment signal for the target seat is received and the position parameter adjustment process for the target seat has ended. The preset time length can be set according to actual needs. For example, the preset time length is 1 minute. After a period of time after the position parameter adjustment process for the target seat ends, the position parameter of the target seat is stable and no longer changes. At this time, the subsequent seat data calibration process is started, which can ensure that the calibration result is more accurate.

[0032] Further, the vehicle detects whether the position pulse model exists after a preset time length of the seat position adjustment signal for the target seat disappears, and starts a subsequent seat data calibration process in a case where it is detected that the position pulse model exists. Optionally, the vehicle stores a storage flag bit of the position pulse model, and sets a value of the storage flag bit to a first value after the position pulse model is generated or obtained from the server, and sets the value of the storage flag bit to a second value otherwise. The vehicle can detect whether the position pulse model exists based on the value of the storage flag bit. The first value can be "1", and the second value can be "0", "NULL", etc. In this way, unnecessary seat data calibration processes can be avoided in a case where the vehicle is just out of the factory or the vehicle seat accessories are replaced, and the processing resources of the vehicle are saved.

[0033] S202, determine a current position parameter of the target seat based on the seat image of the target seat.

[0034] The current position parameter of the target seat includes at least one of the following: a current position of a slide rail in the target seat, and a current angle of a backrest in the target seat. In some embodiments, the vehicle first determines a type of the seat adjustment signal for the target seat after obtaining the seat adjustment signal, determines a current position of a slide rail in the target seat based on the seat image of the target seat in a case where the type of the seat adjustment signal is a position adjustment type, and determines a current angle of a backrest in the target seat based on the seat image of the target seat in a case where the type of the seat adjustment signal is an angle adjustment type. The position adjustment type is used to represent that the seat adjustment signal is used to adjust a front-rear position of the target seat in the vehicle. The angle adjustment type is used to represent that the seat adjustment signal is used to adjust an angle between a seat cushion and the backrest of the target seat. The determination process of the current position parameter of the target seat will be described in the following embodiments.

[0035] S203, compare the current position parameter of the target seat with a reference position parameter to obtain a position parameter variation of the target seat.

[0036] In a case where the current position parameter of the target seat is a current position of a slide rail in the target seat, the reference position parameter of the target seat is a reference position of the slide rail in the target seat, and the position parameter variation of the target seat is a horizontal displacement amount of the slide rail in the target seat. In a case where the current position parameter of the target seat is a current angle of a backrest in the target seat, the reference position parameter of the target seat is a reference angle of the backrest in the target seat, and the position parameter variation of the target seat is an angle variation of the backrest in the target seat. The determination process of the position parameter variation of the target seat will be described in the following embodiments.

[0037] S204, calibrating the pulse recorded value of the target motor corresponding to the target seat based on the pre-established position pulse model and the position parameter variation of the target seat.

[0038] The position pulse model is used to represent the relationship between the position parameter variation of the target seat and the pulse theoretical value of the target motor. In some embodiments, the position pulse model is used to indicate the conversion ratio between the position parameter variation of the target seat and the pulse theoretical value of the target motor, i.e., the number of turns of the target motor when the position parameter variation of the target seat is one unit. For example, the position pulse model indicates that the conversion ratio between the position parameter variation of the target seat and the pulse theoretical value of the target motor is 1 / 200, which means that the target motor needs to turn 200 turns when the position parameter variation of the target seat is one unit (such as 1 cm or 1 degree).

[0039] The target motor corresponding to the target seat refers to the motor that drives the position parameter of the target seat to change. The pulse recorded value of the target motor refers to the number of pulses emitted by the target motor recorded by the vehicle. Specifically, the vehicle stores a pulse number flag of the target motor, and the value of the pulse number flag is the pulse recorded value of the target motor. On the one hand, there is an accumulation error in the number of pulses recorded by the vehicle, for example, the loss of pulse signals in the case of starting or braking of the target motor will cause an error in the number of pulses recorded by the vehicle; on the other hand, in the case of replacement of the target seat or the seat electronic controller, the pulse number recorded by the seat electronic controller does not match the actual position parameter of the target seat. Based on the above two reasons, it is necessary to calibrate the pulse recorded value of the target motor.

[0040] In some embodiments, S204 includes the following process: determining the pulse theoretical value of the target motor corresponding to the target seat based on the position pulse model and the position parameter variation of the target seat; and updating the pulse recorded value to the pulse theoretical value in the case that the difference between the pulse theoretical value and the pulse recorded value is greater than a preset difference value.

[0041] In some embodiments, the preset difference value can be set according to the accuracy requirement of the pulse record value of the target motor. When the accuracy requirement of the pulse record value of the target motor is high, the preset difference value can be small, and when the accuracy requirement of the pulse record value of the target motor is high, the preset difference value can be large. In other embodiments, the preset difference value can be determined according to the model of the vehicle, and different models of the vehicle correspond to different preset difference values. In yet other embodiments, the preset difference value can be determined according to the calculation error of the position parameter change amount of the target seat. Specifically, when the calculation error of the position parameter change amount of the target seat is large, the preset difference value can be set to be small, and when the calculation error of the position parameter change amount of the target seat is small, the preset difference value can be set to be large, so that the calibration result is more accurate.

[0042] Updating the pulse record value to the pulse theoretical value means that the value of the pulse number flag of the target motor is modified from the pulse record value to the pulse theoretical value. In an example, the vehicle stores the information “cumulative pulse number of the target motor: 200”, that is, the pulse record value of the target motor is 200, the preset difference value is 20, the pulse theoretical value calculated based on the position pulse model and the position parameter change amount of the target seat is 240, and the difference between the two is greater than the preset difference value, then the vehicle modifies “cumulative pulse number of the target motor: 200” to “cumulative pulse number of the target motor: 240”.

[0043] In some embodiments, the vehicle keeps the pulse record value unchanged when the difference between the calculated pulse theoretical value and the pulse record value is less than or equal to the preset difference value.

[0044] In some embodiments, after the vehicle updates the pulse record value to the pulse theoretical value, the value of the calibration times counter can also be updated; when the updated value of the calibration times counter is greater than a preset value, a reminder information is sent, and the reminder information is used to remind that the target seat has failed. The value of the calibration times counter means the number of times of updating the pulse record value to the pulse theoretical value in one power-on process of the vehicle. Updating the value of the calibration times counter means that the value of the calibration times counter is incremented by one. The preset value is set according to experiments or experience, and an example of the preset value is 10. When the updated value of the calibration times counter is greater than the preset value, it means that the target seat is likely to fail, and the user needs to be reminded to send it for maintenance in time.

[0045] To sum up, the technical scheme provided by the embodiment of the present application, the vehicle pre-establishes the corresponding relationship (i.e. the position-pulse model) between the position parameter variation of the target seat and the pulse theoretical value of the target motor corresponding to the target seat, after the seat image of the target seat is collected, the current position parameter of the target seat can be determined based on the seat image, the above-mentioned current position parameter is compared with the reference position parameter of the target seat, the position parameter variation of the target seat is obtained, then the pulse theoretical value of the target motor is determined based on the above-mentioned position-pulse model and the position parameter variation of the target seat, and the pulse recorded value of the target motor can be verified based on the determined pulse theoretical value, so that the pulse recorded value of the target motor is more accurate, and the risk of squeezing the people and objects in the vehicle caused by the position adjustment of the target seat in the case of inaccurate pulse recorded value is avoided, and the safety of seat adjustment is improved.

[0046] The following describes the case where the type of the seat adjustment signal is a position adjustment type. Please refer to Figure 3 , which shows the flowchart of the seat data calibration method provided by another embodiment of the present application. The method includes the following processes.

[0047] S301, collecting the seat image of the target seat in the vehicle by the image collection device in the vehicle.

[0048] In the embodiment of the present application, after the vehicle obtains the seat adjustment signal, in the case where the type of the seat adjustment signal is determined to be the position adjustment type, the first specified shooting parameter is obtained, and then the seat image of the target seat is shot according to the above-mentioned first specified shooting parameter. The above-mentioned first specified shooting parameter is the shooting parameter used by the vehicle in the process of establishing the first sub-model. The first specified shooting parameter can include the orientation, focal length, etc. of the image collection device in the process of establishing the first sub-model. In the above-mentioned manner, it can be ensured that the collection conditions of the seat image and the image collected in the process of establishing the first sub-model are the same, and then the calibration result is more accurate.

[0049] S302, determining the current position of the slide rail in the target seat based on the seat image of the target seat.

[0050] In the embodiment of the present application, the current position parameter of the target seat refers to the current position of the slide rail in the target seat. In the adjustment process of the target seat, the position change of the slide rail drives the forward and backward position change of the target seat in the vehicle, so the current position of the slide rail can be used to indicate the forward and backward position of the target seat in the vehicle.

[0051] Optionally, the vehicle identifies the seat image of the target seat to obtain first pixel coordinates of a first feature point of a seat cushion in the target seat, and the current position of the slide rail in the target seat is represented by the first pixel coordinates. The first feature point is a feature point used by the vehicle when the first sub-model is established, which can be a center point of the seat cushion, or a contour point of the seat cushion, or a point with a special mark (such as a special color, a special pattern, etc.) in the seat cushion.

[0052] In some embodiments, before determining the current position of the slide rail in the target seat, the vehicle needs to detect whether the seat image of the target seat is clear and stable, and in the case that the seat image of the target seat is clear and stable, S302 is performed, and in the case that the seat image of the target seat is not clear and stable, the seat image of the target seat is re-shot, and the above image clear and stable detection step is repeated until a clear and stable seat image is shot. The method for detecting whether the image is clear and stable includes but is not limited to an edge detection algorithm, an image clarity evaluation algorithm, etc.

[0053] S303, comparing the current position of the slide rail in the target seat with the reference position of the slide rail to obtain a horizontal displacement amount of the slide rail in the target seat.

[0054] The reference position of the slide rail can be determined in advance and stored in the vehicle, and the determination process is as follows: the vehicle first controls the slide rail in the target seat to move to an extreme position, then shoots a first reference image of the target seat, identifies the first reference image of the target seat to obtain second pixel coordinates of a first feature point of a seat cushion in the target seat, and the reference position of the slide rail in the target seat is represented by the second pixel coordinates of the first feature point. The extreme position can be a first extreme position or a second extreme position. After the slide rail in the target seat moves to the first extreme position, the position of the target seat in the vehicle cannot be further moved forward. After the slide rail in the target seat moves to the second extreme position, the position of the target seat in the vehicle cannot be further moved backward. In the embodiments of the present application, only the first reference image shot when the slide rail in the target seat moves to the first extreme position is taken as an example for description.

[0055] In the embodiments of the present application, the position parameter variation amount of the target seat refers to the horizontal displacement amount of the slide rail in the target seat, and after the vehicle obtains the first pixel coordinates representing the current position of the slide rail and the second pixel coordinates representing the reference position of the slide rail, the first pixel coordinates and the second pixel coordinates are processed by an image ranging algorithm to obtain the horizontal displacement amount of the slide rail in the target seat.

[0056] In some embodiments, before determining the horizontal displacement amount of the slide rail in the target seat, it is further required to detect whether the current position of the slide rail in the target seat is within a first preset position range. If the current position of the slide rail in the target seat is within the first preset position range, S303 is performed; if the current position of the slide rail in the target seat is not within the first preset position range, the flow ends. The first preset position range refers to a position range that can be recognized by the vehicle.

[0057] S304, determining a pulse theoretical value of the first motor based on the horizontal displacement amount of the slide rail in the target seat and the first sub-model.

[0058] In the embodiments of the present application, the target motor includes the first motor, and the position pulse model includes the first sub-model, which is used to indicate the relationship between the horizontal displacement amount of the slide rail in the target seat and the pulse theoretical value of the first motor.

[0059] In some embodiments, the first sub-model is used to indicate a first conversion ratio between the horizontal displacement amount of the slide rail in the target seat and the pulse theoretical value of the first motor, i.e., the number of turns of the first motor required when the horizontal displacement amount of the slide rail in the target seat is one unit length. For example, if the first sub-model indicates that the first conversion ratio between the horizontal displacement amount of the slide rail in the target seat and the pulse theoretical value of the first motor is 1 / 200, it means that the first motor needs to turn 200 turns when the horizontal displacement amount of the slide rail in the target seat is one unit length (such as 1 cm).

[0060] The pulse recorded value of the first motor refers to the number of pulses emitted by the first motor recorded by the vehicle. Specifically, the pulse number flag includes a first flag, and the value of the first flag is the pulse recorded value of the first motor.

[0061] In the case where the first sub-model is used to indicate the conversion ratio between the horizontal displacement amount of the slide rail in the target seat and the pulse theoretical value of the first motor, the vehicle obtains the horizontal displacement amount of the slide rail in the target seat, and then determines the product of the horizontal displacement amount of the slide rail and the reciprocal of the first conversion ratio as the pulse theoretical value of the first motor. For example, if the first sub-model indicates that the first conversion ratio between the horizontal displacement amount of the slide rail in the target seat and the pulse theoretical value of the first motor is 1 / 200, and the horizontal displacement amount of the slide rail in the target seat is 4 cm, the pulse theoretical value of the first motor is 800.

[0062] S305, in the case where the difference between the pulse theoretical value and the pulse recorded value of the first motor is greater than a first preset difference, updating the pulse recorded value of the first motor to the pulse theoretical value.

[0063] In some embodiments, the first preset difference value can be set according to the accuracy requirement of the pulse recorded value of the first motor. In other embodiments, the first preset difference value can be determined according to the model of the vehicle, and different models of the vehicle correspond to different first preset difference values. In yet other embodiments, the first preset difference value can be determined according to the calculation error of the horizontal displacement amount of the slide rail in the target seat. Specifically, in the case that the calculation error of the horizontal displacement amount of the slide rail in the target seat is large, the first preset difference value can be set to be small, and in the case that the calculation error of the horizontal displacement amount of the slide rail in the target seat is small, the first preset difference value can be set to be large, so that the calibration result is more accurate.

[0064] In some embodiments, the vehicle keeps the pulse recorded value of the first motor unchanged in the case that the difference between the pulse theoretical value and the pulse recorded value of the first motor is less than or equal to the first preset difference value.

[0065] In summary, the technical scheme provided by the embodiments of the present application, the vehicle pre-establishes the corresponding relationship between the horizontal displacement amount of the slide rail in the target seat and the pulse theoretical value of the first motor corresponding to the target seat (i.e., the first sub-model), after the seat image of the target seat is collected, the current position of the slide rail in the target seat can be determined based on the seat image, the current position of the slide rail is compared with the reference position parameter of the slide rail, the horizontal displacement amount of the slide rail in the target seat is obtained, then the pulse theoretical value of the first motor is determined based on the first sub-model and the horizontal displacement amount of the slide rail in the target seat, and the pulse recorded value of the first motor is verified based on the determined pulse theoretical value, so that the pulse recorded value of the first motor is more accurate, and the risk of squeezing the people and objects in the vehicle caused by the inaccurate pulse recorded value in the case of adjusting the position of the target seat is avoided, and the safety of the seat adjustment is improved.

[0066] The type of the seat adjustment signal is angle adjustment type is described below. Please refer to Figure 4 which shows the flowchart of the seat data calibration method provided by another embodiment of the present application. The method includes the following processes.

[0067] S401, collecting the seat image of the target seat in the vehicle through the image collection device in the vehicle.

[0068] In the embodiments of the present application, after the vehicle obtains the seat adjustment signal, in the case that the type of the seat adjustment signal is determined to be the angle adjustment type, the second specified shooting parameter is obtained, and then the seat image of the target seat is shot according to the above-mentioned second specified shooting parameter. The above-mentioned second specified shooting parameter is the shooting parameter adopted by the vehicle in the process of establishing the second sub-model. The second specified shooting parameter can include the orientation, focal length, etc. of the image acquisition device in the process of establishing the first sub-model. In the above-mentioned manner, it can be ensured that the acquisition conditions of the seat image and the image acquired in the process of establishing the second sub-model are the same, and further, it can be ensured that the calibration result is more accurate.

[0069] S402, determining the current angle of the backrest in the target seat based on the seat image of the target seat.

[0070] In the embodiments of the present application, the current position parameter of the target seat refers to the current angle of the backrest in the target seat. Alternatively, the vehicle identifies the seat image of the target seat to obtain the third pixel coordinates of the second feature point of the backrest in the target seat and the fourth pixel coordinates of the first feature point of the seat cushion in the target seat, calculates the first distance between the above-mentioned third pixel coordinates and the fourth pixel coordinates, and determines the current angle of the backrest in the target seat through the above-mentioned first distance and the preset corresponding relationship. The preset corresponding relationship includes the mapping relationship between the angle of the backrest in the target seat and the specified distance. The above-mentioned specified distance refers to the distance between the pixel coordinates of the second feature point of the backrest in the target seat and the pixel coordinates of the first feature point of the seat cushion, such as the distance between the pixel coordinates of the center of the backrest and the pixel coordinates of the center of the seat cushion. The above-mentioned preset corresponding relationship can be obtained through experiments. In the case that the current angle of the backrest in the target seat is greater, the above-mentioned specified distance should be greater.

[0071] In the embodiments of the present application, the second feature point is the feature point adopted by the vehicle when establishing the second sub-model, which can be the center point of the backrest, can also be the contour point of the backrest, and can also be the point with a special mark (such as a special color, a special pattern, etc.) in the backrest.

[0072] In some embodiments, before determining the current angle of the backrest of the target seat, the vehicle needs to detect whether the seat image of the target seat is clear and stable. In the case that the seat image of the target seat is clear and stable, S402 is executed. In the case that the seat image of the target seat is not clear and stable, the seat image of the target seat is re-shot, and the above-mentioned image clear and stable detection step is repeated until the clear and stable seat image is shot.

[0073] S403, comparing the current angle of the backrest in the target seat with the reference angle of the backrest to obtain the angle change amount of the backrest in the target seat.

[0074] The determination process of the reference angle of the backrest can be determined in advance and stored in the vehicle, and the determination process is specifically as follows: the vehicle first controls the backrest in the target seat to rotate to a limit angle, then captures a second reference image of the target seat, identifies the second reference image of the target seat to obtain fifth pixel coordinates of a second feature point of the backrest in the target seat and sixth pixel coordinates of a first feature point of the seat cushion in the target seat, calculates a second distance between the fifth pixel coordinates and the sixth pixel coordinates, and determines the reference angle of the backrest in the target seat through the second distance and a preset corresponding relationship. The limit angle can be the minimum angle of the backrest or the maximum angle of the backrest. In the embodiments of the present application, only the case of capturing the second reference image when the backrest in the target seat rotates to the minimum angle is taken as an example for description.

[0075] In the embodiments of the present application, the position parameter variation of the target seat refers to the angle variation of the backrest in the target seat, and the vehicle determines the difference between the current angle of the backrest in the target seat and the reference angle as the angle variation of the backrest in the target seat.

[0076] In some embodiments, before determining the angle variation of the backrest in the target seat, it is also necessary to detect whether the current angle of the backrest in the target seat is within a second preset position range, if the current angle of the backrest in the target seat is within the second preset position range, S403 is executed; if the current angle of the backrest in the target seat is within the second preset position range, the process ends. The second preset position range refers to a position range that can be recognized by the vehicle. In S404, the pulse theoretical value of the second motor is determined based on the angle variation of the backrest in the target seat and the second sub-model.

[0077] In the embodiments of the present application, the target motor includes the second motor, and the position pulse model includes the second sub-model, which is used to indicate the relationship between the angle variation of the backrest in the target seat and the pulse theoretical value of the second motor.

[0078] In some embodiments, the second sub-model is used to indicate a second conversion ratio between the angle variation of the backrest in the target seat and the pulse theoretical value of the second motor, that is, the number of turns of the second motor required when the angle variation of the backrest in the target seat is one unit angle. For example, if the second model indicates that the conversion ratio between the angle variation of the backrest in the target seat and the pulse theoretical value of the second motor is 1 / 30, it means that the second motor needs to rotate 30 turns when the angle variation of the backrest in the target seat is 1 degree.

[0079] The pulse recorded value of the second motor refers to the number of pulses emitted by the second motor recorded by the vehicle. Specifically, the pulse number flag includes a second flag, and the value of the second flag is the pulse recorded value of the second motor.

[0080] In a case where the second sub-model indicates a second conversion ratio between the angle change amount of the backrest in the target seat and the pulse theoretical value of the second motor, the vehicle obtains the angle change amount of the backrest in the target seat, and then determines a product of the obtained angle change amount of the backrest and an inverse of the second conversion ratio as the pulse theoretical value of the second motor. Exemplarily, the second sub-model indicates that the conversion ratio between the angle change amount of the backrest in the target seat and the pulse theoretical value of the second motor is 1 / 30, and the angle change amount of the backrest in the target seat is 30 degrees, the pulse theoretical value of the second motor is 900.

[0081] S405, in a case where a difference between the pulse theoretical value of the second motor and the pulse recorded value is greater than a second preset difference value, updating the pulse recorded value of the second motor to the pulse theoretical value.

[0082] In some embodiments, the second preset difference value can be actually set according to an accuracy requirement of the pulse recorded value of the second motor. In other embodiments, the second preset difference value can be actually determined according to a model of the vehicle, and different models of the vehicle correspond to different second preset difference values. In yet other embodiments, the second preset difference value can be determined according to a calculation error of the angle change amount of the backrest in the target seat. Specifically, in a case where the calculation error of the angle change amount of the backrest in the target seat is greater, the second preset difference value can be set to be smaller, and in a case where the calculation error of the angle change amount of the backrest in the target seat is smaller, the second preset difference value can be set to be greater, so that the calibration result is more accurate. The first preset difference value and the second preset difference value can be the same or different.

[0083] In some embodiments, in a case where the difference between the pulse theoretical value of the second motor and the pulse recorded value is less than or equal to the second preset difference value, the vehicle keeps the pulse recorded value of the second motor unchanged.

[0084] To sum up, the technical scheme provided by the embodiments of the present application, the vehicle pre-establishes a corresponding relationship (i.e., the second sub-model) between the angle change amount of the backrest in the target seat and the pulse theoretical value of the second motor corresponding to the target seat, after collecting the seat image of the target seat, the current angle of the backrest in the target seat can be determined based on the seat image, the current angle of the backrest is compared with the reference angle of the backrest, and the angle change amount of the backrest in the target seat is obtained, and then the pulse theoretical value of the second motor is determined based on the second sub-model and the angle change amount of the backrest in the target seat, and the pulse recorded value of the second motor is verified based on the determined pulse theoretical value, so that the pulse recorded value of the second motor is more accurate, and the risk of squeezing the people and objects in the vehicle caused by the inaccurate pulse recorded value in the case of adjusting the position of the target seat is avoided, and the safety of seat adjustment is improved.

[0085] The following describes the establishment process of the first sub-model. The process includes the following steps.

[0086] S501, controlling the middle slide rail of the target seat to move to a first limit position, setting the motor pulse number of the first motor to a first initial value, and capturing a first image.

[0087] After the middle slide rail of the target seat moves to the first limit position, the position of the target seat in the vehicle cannot be further moved forward. The first initial value can be set according to experience. For example, the first initial value is 0.

[0088] In some embodiments, the vehicle can start from S501 after receiving a model establishment indication triggered by a user. Optionally, the vehicle includes a model establishment control. After receiving a trigger signal for the model establishment control, the model establishment indication is obtained. The model establishment control can be a physical control or a virtual control. Optionally, the vehicle receives the model establishment indication and triggers the model establishment process after analyzing that a specified keyword is included in a voice signal of the user. In some embodiments, the vehicle receives the model establishment indication when detecting that the seat controller is replaced or that a component (such as a seat controller, a slide rail, a rotating shaft, or the like) in the target seat is replaced.

[0089] S502, controlling the middle slide rail of the target seat to move to a second limit position, capturing a second image, and obtaining a current pulse record value of the first motor as a first end value.

[0090] The first motor drives the slide rail to move. The vehicle can collect a pulse signal emitted by the first motor when the first motor rotates one circle, count and record the pulse signal, and the current pulse record value is the total number of pulse signals emitted by the first motor when the slide rail moves from the first limit position to the second limit position recorded by the vehicle. After the middle slide rail of the target seat moves to the second limit position, the position of the target seat in the vehicle cannot be further moved backward.

[0091] It should be noted that the same shooting parameter is used for capturing the first image and capturing the second image, and the first specified shooting parameter is used.

[0092] S503, determining the maximum horizontal displacement of the middle slide rail of the target seat based on the first image and the second image.

[0093] In the embodiments of the present application, the vehicle identifies the first image to obtain a seventh pixel coordinate of a first feature point of a seat cushion in the target seat, identifies the second image to obtain an eighth pixel coordinate of the first feature point of the seat cushion in the target seat, and processes the seventh pixel coordinate and the eighth pixel coordinate through an image ranging algorithm to obtain the maximum horizontal displacement of the middle slide rail of the target seat.

[0094] S504, determining the first sub-model based on a ratio between the maximum horizontal displacement of the slide rail and the first difference.

[0095] The first difference refers to a difference between the first end value and the first start value. In the embodiments of the present application, the vehicle determines a ratio between the maximum horizontal displacement of the slide rail and the first difference as the first sub-model. Exemplarily, the maximum horizontal displacement of the slide rail is 40 cm, the first start value is 0, and the first end value is 1200, and then the first sub-model is 40 / (1200-0), i.e. 1 / 300.

[0096] The process of establishing the second sub-model is described below. The process includes the following steps.

[0097] S505, controlling the backrest of the target seat to rotate to a first limit angle, setting a pulse record value of a second motor as a second start value, and shooting a third image.

[0098] The first limit angle is also the minimum angle of the backrest. The second start value can be set according to experience. Exemplarily, the second start value is 0.

[0099] S506, controlling the backrest of the target seat to rotate to a second limit angle, shooting a fourth image, and obtaining a current pulse record value of the second motor as a second end value.

[0100] The second limit angle is also the maximum angle of the backrest. The second motor drives the rotating shaft to rotate. The vehicle can collect a pulse signal emitted by the second motor when the second motor rotates one circle, count and record the pulse signal, and the current pulse record value of the second motor is also the total number of the pulse signals emitted by the second motor when the backrest rotates from the first limit angle to the second limit angle. It should be noted that the shooting parameters used for shooting the third image and the fourth image are the same, and both are the second specified shooting parameters.

[0101] S507, determining a maximum angle change of the backrest of the target seat based on the third image and the fourth image.

[0102] In the embodiment of the present application, the vehicle identifies the third image to obtain the ninth pixel coordinates of the second feature point of the backrest in the target seat and the tenth pixel coordinates of the first feature point of the cushion, obtains a third distance between the ninth pixel coordinates and the tenth pixel coordinates, determines the minimum angle of the backrest in the target seat through the third distance and a preset corresponding relationship, identifies the fourth image to obtain the eleventh pixel coordinates of the second feature point of the backrest in the target seat and the twelfth pixel coordinates of the first feature point of the cushion, obtains a fourth distance between the eleventh pixel coordinates and the twelfth pixel coordinates, determines the maximum angle of the backrest in the target seat through the fourth distance and the preset corresponding relationship, and determines a difference between the maximum angle and the minimum angle as the maximum angle change of the backrest in the target seat.

[0103] S508, determining the second sub-model based on a ratio between the maximum angle change of the backrest and the second difference.

[0104] The second difference refers to a difference between the second end value and the second start value. In the embodiment of the present application, the vehicle determines the second sub-model based on a ratio between the maximum angle change of the backrest and the second difference. Exemplarily, the maximum angle change of the backrest is 60 degrees, the first start value is 0, and the first end value is 1800, and then the second sub-model is 60 / (1800-0), that is, 1 / 300.

[0105] The first sub-model and the second sub-model can also be established simultaneously. The establishment of the first sub-model and the second sub-model will be described below. Figure 5 The process is described. Figure 5 A flowchart of the establishment of the position pulse model (including the first sub-model and the second sub-model) provided by one embodiment of the present application is shown.

[0106] S510, controlling the slide rail in the target seat to move to a first limit position and controlling the backrest in the target seat to rotate to a first limit angle.

[0107] S520, setting the pulse record value of the first motor as the first start value and setting the pulse record value of the second motor as the second start value.

[0108] S530, shooting a fifth image.

[0109] S540, controlling the slide rail in the target seat to move to a second limit position and controlling the backrest in the target seat to rotate to a second limit angle.

[0110] S550, shooting a sixth image.

[0111] S560, obtaining the current pulse record value of the first motor as the first end value and obtaining the current pulse record value of the second motor as the second end value.

[0112] S570, determine a maximum horizontal displacement amount of the slide rail in the target seat and a maximum angle change amount of the backrest in the target seat based on the fifth image and the sixth image.

[0113] S580, determine the first sub-model based on a ratio between the maximum horizontal displacement amount of the slide rail and the first difference value.

[0114] The first difference value refers to a difference between the first end value and the first start value.

[0115] S590, determine the second sub-model based on a ratio between the maximum angle change amount of the backrest and the second difference value.

[0116] The second difference value refers to a difference between the second end value and the second start value.

[0117] In some embodiments, after obtaining the first sub-model and the second sub-model, the vehicle also needs to reset the target seat. Specifically, the vehicle can control the position of the slide rail in the target seat to return to the position before step S510, and the angle of the backrest to return to the angle before step S510; the vehicle can also control the position of the slide rail in the target seat to a specified position, and the angle of the backrest to a specified angle, where the specified position can be a position adjusted by a user habit, the specified angle can be an angle adjusted by a user habit, and the like, which are not limited in the embodiments of the present application.

[0118] In some embodiments, after obtaining the first sub-model and the second sub-model, the vehicle can also send the first sub-model and the second sub-model and its model information to the server, so that the server can forward the first sub-model and the second sub-model to other vehicles of the same model.

[0119] Please refer to Figure 6 , which shows a block diagram of a seat data calibration apparatus provided by an embodiment of the present application. The apparatus includes an image acquisition module 610, a position parameter acquisition module 620, a comparison module 630, and a seat data calibration module 640.

[0120] The image acquisition module 610 is configured to acquire a seat image of a target seat in a vehicle by an image acquisition device in the vehicle.

[0121] The position parameter acquisition module 620 is configured to determine a current position parameter of the target seat based on the seat image of the target seat.

[0122] The comparison module 630 is configured to compare the current position parameter of the target seat with a reference position parameter to obtain a position parameter change amount of the target seat.

[0123] The seat data calibration module 640 is configured to calibrate the pulse recorded value of the target motor corresponding to the target seat based on a pre-established position pulse model and a position parameter variation of the target seat, the position pulse model being used to represent a relationship between the position parameter variation of the target seat and a pulse theoretical value of the target motor.

[0124] In some embodiments, the seat data calibration module 640 is configured to: determine the pulse theoretical value of the target motor based on the position pulse model and the position parameter variation of the target seat; and update the pulse recorded value to the pulse theoretical value when a difference between the pulse theoretical value and the pulse recorded value is greater than a preset difference.

[0125] In some embodiments, the position parameter variation of the target seat includes a horizontal displacement of a slide rail in the target seat, the target motor includes a first motor, the position pulse model includes a first sub-model, the first sub-model is used to represent a relationship between the horizontal displacement of the slide rail in the target seat and a pulse theoretical value of the first motor, and the seat data calibration module 640 is configured to: determine the pulse theoretical value of the first motor based on the horizontal displacement of the slide rail in the target seat and the first sub-model.

[0126] In some embodiments, the generation process of the first sub-model includes the following steps: controlling the slide rail in the target seat to move to a first limit position, setting a pulse recorded value of the first motor to a first starting value, and taking a first image; controlling the slide rail in the target seat to move to a second limit position, taking a second image, and obtaining a current pulse recorded value of the first motor as a first ending value; determining a maximum horizontal displacement of the slide rail in the target seat based on the first image and the second image; and determining the first sub-model based on a ratio between the maximum horizontal displacement of the slide rail and a first difference, the first difference being a difference between the first ending value and the first starting value.

[0127] In some embodiments, the position parameter variation of the target seat includes an angle variation of a backrest in the target seat, the target motor includes a second motor, the position pulse model includes a second sub-model, the second sub-model is used to represent a corresponding relationship between the angle variation of the backrest in the target seat and a pulse theoretical value of the second motor, and the seat data calibration module 640 is configured to: determine the pulse theoretical value of the second motor based on the angle variation of the backrest in the target seat and the second sub-model.

[0128] In some embodiments, the generating process of the second sub-model comprises the following steps: controlling the backrest in the target seat to rotate to a first limit angle, setting the pulse record value of the second motor to a second starting value, and taking a third image; controlling the backrest in the target seat to rotate to a second limit angle, and taking a fourth image, and obtaining the current pulse record value of the second motor as a second ending value; determining the maximum angle change of the backrest in the target seat based on the third image and the fourth image; and determining the second sub-model based on the ratio between the maximum angle change of the backrest and a second difference value, the second difference value being the difference between the second ending value and the second starting value.

[0129] In some embodiments, the device comprises a counting module and a reminding module (not shown in the figure). The counting module is configured to update the value of the calibration frequency counter. The reminding module is configured to send a reminding information when the updated value of the calibration frequency counter is greater than a preset value, and the reminding information is used to remind that the target seat has failed.

[0130] In summary, the technical scheme provided by the embodiments of the present application pre-establishes a corresponding relationship (i.e., a position-pulse model) between the position parameter change of the target seat and the pulse theoretical value of the target motor corresponding to the target seat for the vehicle. After the seat image of the target seat is collected, the current position parameter of the target seat can be determined based on the seat image. The current position parameter is compared with the reference position parameter of the target seat to obtain the position parameter change of the target seat. Then, the pulse theoretical value of the target motor is determined based on the position-pulse model and the position parameter change of the target seat. The pulse record value of the target motor is verified based on the determined pulse theoretical value, so that the pulse record value of the target motor is more accurate, the position of the target seat is more accurate, and the risk of squeezing the people and objects in the vehicle caused by the inaccurate pulse record value is avoided, thereby improving the safety of seat adjustment.

[0131] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and module can refer to the corresponding process in the foregoing method embodiments, which will not be described herein.

[0132] In the several embodiments provided by the present application, the coupling between the modules can be electrical, mechanical or other forms of coupling.

[0133] In addition, each functional module in each embodiment of the present application can be integrated in one processing module, or each module can exist physically, or two or more modules can be integrated in one module. The above integrated module can be realized in the form of hardware or in the form of a software functional module.

[0134] Please refer toFigure 7 It is shown that the embodiments of the present application also provide a vehicle 700, which comprises one or more processors 710, a memory 720, an ultrasonic radar, a laser radar and one or more application programs. Among them, one or more application programs are stored in the memory 720 and configured to be executed by one or more processors 77, and one or more application programs are configured to execute the method described in the above embodiments.

[0135] The processor 710 can include one or more processing cores. The processor 710 connects various parts within the entire battery management system through various interfaces and lines, and performs various functions of the battery management system and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 720, and calling data stored in the memory 720. Optionally, the processor 710 can be implemented in at least one of the hardware forms of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 77 can integrate a combination of one or several of central processing unit 710 (Central Processing Unit, CPU), graphics processing unit 77 (Graphics Processing Unit, GPU) and modem. Among them, the CPU mainly processes the operating system, user interface and application programs, etc.; the GPU is responsible for rendering and drawing display content; the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 77, but can be realized by a separate communication chip.

[0136] The memory 720 can include random access memory 720 (Random Access Memory, RAM) and can also include read-only memory 720 (Read-Only Memory). The memory 720 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 720 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as touch function, sound playing function, image playing function, etc.), instructions for implementing various method embodiments described below, etc. The data storage area can also store data created by the electronic device in use (such as phonebook, audio and video data, chat record data) and the like.

[0137] Please refer to Figure 8The computer readable storage medium 800 has storage space for computer program instructions 810 to perform any of the method steps described above. These computer program instructions 810 can be read out from or written into one or more computer program products.

[0138] The computer readable storage medium can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer readable storage medium comprises a non-transitory computer readable storage medium. The computer readable storage medium 800 has storage space for computer program instructions 810 to perform any of the method steps described above. These computer program instructions 810 can be read out from or written into one or more computer program products.

[0139] The above merely provides the preferred embodiments of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed as above with the preferred embodiments, it is not intended to limit the present application, and any person skilled in the art, without departing from the technical solution of the present application, can make some minor changes or modifications to the equivalent embodiments with the above disclosed technical content, as long as it does not depart from the technical solution of the present application. Any modification, change, and modification of the above embodiments according to the technical essence of the present application, are still within the scope of the technical solution of the present application.

Claims

1. A method for calibrating seat data, characterized in that, The method includes: The image of the target seat in the vehicle is acquired by an image acquisition device in the vehicle. The target seat refers to the seat whose position parameters have changed. The current position parameters of the target seat are determined based on the seat image of the target seat; The current position parameters of the target seat are compared with the reference position parameters to obtain the change in the position parameters of the target seat; Based on the pre-established position pulse model and the change in position parameters of the target seat, the pulse recording value of the target motor corresponding to the target seat is calibrated. The position pulse model is used to characterize the relationship between the change in position parameters of the target seat and the theoretical pulse value of the target motor. The target motor corresponding to the target seat refers to the motor that drives the change in position parameters of the target seat.

2. The method according to claim 1, characterized in that, The calibration of the pulse recording values ​​of the target motor corresponding to the target seat based on the pre-established position pulse model and the position parameter changes of the target seat includes: Based on the position pulse model and the change in the position parameters of the target seat, the theoretical pulse value of the target motor is determined; If the difference between the theoretical pulse value and the recorded pulse value is greater than a preset difference, the recorded pulse value is updated to the theoretical pulse value.

3. The method according to claim 2, characterized in that, The change in the position parameters of the target seat includes the horizontal displacement of the slide rail in the target seat; the target motor includes a first motor; the position pulse model includes a first sub-model, which is used to characterize the relationship between the horizontal displacement of the slide rail in the target seat and the pulse theoretical value of the first motor; The step of determining the theoretical pulse value of the target motor based on the position pulse model and the change in position parameters of the target seat includes: determining the theoretical pulse value of the first motor based on the horizontal displacement of the slide rail in the target seat and the first sub-model.

4. The method according to claim 3, characterized in that, The generation process of the first sub-model includes the following steps: Control the slide rail in the target seat to move to the first limit position, set the pulse recording value of the first motor to the first starting value, and capture the first image; Control the slide rail in the target seat to move to the second limit position, capture the second image, and obtain the current pulse recording value of the first motor as the first end value; Based on the first image and the second image, determine the maximum horizontal displacement of the slide rail in the target seat; The first sub-model is determined based on the ratio between the maximum horizontal displacement of the slide rail and a first difference, where the first difference refers to the difference between the first end value and the first start value.

5. The method according to claim 2, characterized in that, The change in the position parameters of the target seat includes the change in the angle of the backrest in the target seat; the target motor includes a second motor; the position pulse model includes a second sub-model, which is used to characterize the correspondence between the change in the angle of the backrest in the target seat and the theoretical pulse value of the second motor; The step of determining the theoretical pulse value of the target motor based on the position pulse model and the position parameter change of the target seat includes: determining the theoretical pulse value of the second motor based on the angle change of the backrest in the target seat and the second sub-model.

6. The method according to claim 5, characterized in that, The generation process of the second sub-model includes the following steps: Control the backrest of the target seat to rotate to the first limit angle, set the pulse recording value of the second motor to the second starting value, and capture a third image; Control the backrest of the target seat to rotate to the second limit angle, and capture a fourth image to obtain the current pulse recording value of the second motor as the second end value; Based on the third and fourth images, determine the maximum angle change of the backrest in the target seat; The second sub-model is determined based on the ratio between the maximum angle change of the backrest and the second difference, where the second difference refers to the difference between the second end value and the second start value.

7. The method according to any one of claims 2 to 5, characterized in that, After updating the pulse recorded value to the pulse theoretical value when the difference between the pulse theoretical value and the pulse recorded value is greater than a preset difference, the method further includes: Update the value of the calibration count counter; If the updated value of the calibration count counter is greater than a preset value, a reminder message is issued to alert the target seat that a malfunction has occurred.

8. A seat data calibration device, characterized in that, The device includes: The image acquisition module is used to acquire images of a target seat in the vehicle through an image acquisition device in the vehicle, wherein the target seat refers to a seat whose position parameters have changed; A position parameter acquisition module is used to determine the current position parameters of the target seat based on the seat image of the target seat; The comparison module is used to compare the current position parameters of the target seat with the reference position parameters to obtain the change in the position parameters of the target seat; The seat data calibration module is used to calibrate the pulse recording value of the target motor corresponding to the target seat based on a pre-established position pulse model and the change in position parameters of the target seat. The position pulse model is used to characterize the relationship between the change in position parameters of the target seat and the theoretical pulse value of the target motor. The target motor corresponding to the target seat refers to the motor that drives the change in position parameters of the target seat.

9. A vehicle, characterized in that, include: One or more processors; Memory; One or more applications, wherein the one or more said applications are stored in the memory and configured to be executed by one or more said processors, the one or more said applications being configured to perform the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that can be invoked by a processor to perform the method as described in any one of claims 1-7.

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