Vehicle seat control method, device and vehicle

Abstract

The application provides a vehicle seat control method and device and a vehicle. The method comprises the following steps: acquiring an environment parameter signal of vehicle driving; when it is determined that the seat is subjected to an inertial impact and a seat adjustment condition is met according to the environment parameter signal, determining a target angle of adjusting a seat backrest in the opposite direction of the inertial impact; and controlling a driving motor to drive the seat backrest to rotate and adjust the seat backrest to the target angle in the opposite direction of the inertial impact. The application solves the problem that passengers are subjected to inertial impact in scenes such as braking or sharp turning, and the discomfort caused by the forward tilting of inertial force is offset by adjusting the angle of the seat backrest according to the principle of motion dynamics.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to a vehicle seat control method, device, and vehicle. Background Technology

[0002] With economic development and rising consumption levels, vehicle products are increasingly emphasizing human-centered and intelligent design concepts. Especially for domestic brands facing the urgent need for upward development, how to embody human-centered design principles to create higher-value products and address some pain points in the current vehicle driving experience has become one of the core challenges facing vehicle design today.

[0003] Specifically, during vehicle braking, due to the influence of inertia, when the braking deceleration exceeds a critical value, passengers inside the vehicle will be thrown forward, causing a strong impact and discomfort. This problem also exists in other deceleration scenarios, such as sharp turns. Seatbelts only protect occupants to a certain extent; they cannot completely eliminate the impact and discomfort caused by inertia. This issue has always been a key and challenging problem affecting the driving experience, and currently there is no specific and effective solution to this pain point. Summary of the Invention

[0004] The purpose of this application is to provide a vehicle seat control method, device, and vehicle to solve the problem of discomfort caused to occupants by impact and tilting due to inertial forces during vehicle braking or turning.

[0005] In a first aspect, embodiments of this application provide a vehicle seat control method, including: Acquire environmental parameter signals for vehicle operation; When the environmental parameter signal determines that the seat is subjected to an inertial impact and the seat adjustment conditions are met, the target angle for adjusting the seat backrest in the opposite direction of the inertial impact is determined. The drive motor is controlled to rotate the seat back, adjusting the target angle of the seat back in the opposite direction of the inertial impact.

[0006] In some possible embodiments, the environmental parameter signals include vehicle speed signals and brake pedal signals. Determining that the seat has been subjected to inertial impact and meets the seat adjustment conditions based on the environmental parameter signals includes at least one of the following steps: Based on the vehicle speed signal, a braking deceleration signal is determined. When the braking deceleration signal exceeds a set deceleration threshold, the seat is subjected to inertial impact and the seat adjustment conditions are met. When a brake pedal signal is detected, it is determined that the seat has been subjected to an inertial impact and that the seat adjustment conditions are met.

[0007] In some possible embodiments, the environmental parameter signals include vehicle speed signals and occupant load sensing signals, and determining the target angle for adjusting the seat back in the opposite direction of the inertial impact includes: If the first adjustment strategy is adopted, a pre-set fixed angle is obtained, and the fixed angle is determined as the target angle for adjusting the seat back in the opposite direction of the inertial impact; If the second adjustment strategy is adopted, the braking deceleration signal is determined based on the vehicle speed signal, and the inertial force is calculated based on the braking deceleration signal and the passenger load sensing signal. Based on the constraint relationship between the seat back angle and the gravitational torque, determine the target seat back angle corresponding to the balance between the gravitational torque and the inertial force; Based on the target seat back angle, determine the target angle for adjusting the seat back in the opposite direction of the inertial impact.

[0008] In some possible embodiments, calculating the inertial force based on the braking deceleration signal and the member load sensing signal includes: Calculate F=M (a+△a); Wherein, F is the inertial force, M is the occupant load signal, a is the braking deceleration signal, and Δa is the set deceleration hysteresis adjustment value.

[0009] In some possible embodiments, the environmental parameter signal further includes a road slope signal. Based on the constraint relationship between the seat back angle and the gravitational torque, the target seat back angle corresponding to the equilibrium of the gravitational torque and the inertial force is determined, including: Calculate An = arctan(F / M) g)-β; Where An is the target seat back angle, F is the inertial force, M is the occupant load sensing signal, g is the gravitational acceleration, and β is the road slope signal.

[0010] In some possible embodiments, the vehicle driving environment parameters also include a brake pedal signal, and determining the target angle for adjusting the seat back in the opposite direction of the inertial impact includes at least one of the following steps: If a brake pedal signal is detected and the vehicle is not in an emergency braking state, the first adjustment strategy determines the target angle to be adjusted in the opposite direction of the inertial impact, and then the second adjustment strategy determines the target angle to be adjusted in the opposite direction of the inertial impact. The fixed angle in the first adjustment strategy is the preset minimum gradient angle. If a brake pedal signal is detected and it is an emergency braking situation, the target angle for adjustment in the opposite direction of the inertial impact is determined according to the first adjustment strategy, where the fixed angle in the first adjustment strategy is the maximum gradient angle.

[0011] In some possible embodiments, the vehicle driving environment parameter signal further includes a driving mode, and determining the target angle for adjusting the seat back in the opposite direction of the inertial impact includes: When the current driving mode is determined to be fully intelligent driving mode, the first adjustment strategy is used to determine the target angle for adjustment in the opposite direction of inertial impact, and then the second adjustment strategy is used to determine the target angle for adjustment in the opposite direction of inertial impact. The fixed angle in the first adjustment strategy is the preset minimum gradient angle. When the current driving mode is determined to be either assisted intelligent driving or fully manual driving mode, the driver's seat follows a first adjustment strategy, where the fixed angle in the first adjustment strategy is the maximum gradient angle. The other seats first follow the first adjustment strategy to determine the target angle to be adjusted in the opposite direction of the inertial impact, where the fixed angle in the first adjustment strategy is the preset minimum gradient angle. Then, they follow a second adjustment strategy to determine the target angle to be adjusted in the opposite direction of the inertial impact.

[0012] In some possible embodiments, the vehicle driving environment parameters also include distance signals and vehicle speed signals, and the detection of emergency braking includes: Based on the vehicle speed signal and distance signal, if the deceleration value required to avoid a collision is greater than a set deceleration threshold and the rate of change of the current braking deceleration signal is greater than a set rate of change threshold, then emergency braking is confirmed to have been detected.

[0013] In some possible embodiments, acquiring environmental parameter signals for vehicle operation includes: When the vehicle is ignited, environmental parameter signals for vehicle operation are acquired based on the power system signals.

[0014] After adjusting the seat back to the target angle in the opposite direction of the inertial impact, the method further includes: When the vehicle speed is determined to increase based on the vehicle speed signal or when a brake release signal is obtained, the seat is adjusted to a pre-memorized seat posture.

[0015] Secondly, embodiments of this application provide a vehicle seat control device, the device comprising: The environmental parameter signal acquisition module is used to acquire environmental parameter signals of the vehicle during operation. The control module is used to determine the target angle of the seat backrest to be adjusted in the opposite direction of the inertial impact when the seat is subjected to an inertial impact and the seat adjustment conditions are met, based on the environmental parameter signal. The seat adjustment module is used to control the drive motor to drive the seat back to rotate, and adjust the seat back to the target angle in the opposite direction of the inertial impact.

[0016] In some possible embodiments, the environmental parameter signals include vehicle speed signals and brake pedal signals. The control module is used to determine, based on the environmental parameter signals, that the seat has experienced an inertial impact and meets the seat adjustment conditions, including: Based on the vehicle speed signal, a braking deceleration signal is determined. When the braking deceleration signal exceeds a set deceleration threshold, the seat is subjected to inertial impact and the seat adjustment conditions are met. When a brake pedal signal is detected, it is determined that the seat has been subjected to an inertial impact and that the seat adjustment conditions are met.

[0017] In some possible embodiments, the environmental parameter signals include vehicle speed signals and occupant load sensing signals, and the control module determines a target angle for adjusting the seat back in the opposite direction of the inertial impact, including: If the first adjustment strategy is adopted, a pre-set fixed angle is obtained, and the fixed angle is determined as the target angle for adjusting the seat back in the opposite direction of the inertial impact; If the second adjustment strategy is adopted, the braking deceleration signal is determined based on the vehicle speed signal, and the inertial force is calculated based on the braking deceleration signal and the passenger load sensing signal. Based on the constraint relationship between the seat back angle and the gravitational torque, determine the target seat back angle corresponding to the balance between the gravitational torque and the inertial force; Based on the target seat back angle, determine the target angle for adjusting the seat back in the opposite direction of the inertial impact.

[0018] In some possible embodiments, the control module is used to calculate the inertial force based on the braking deceleration signal and the member load sensing signal, including: Calculate F=M (a+△a); Wherein, F is the inertial force, M is the occupant load signal, a is the braking deceleration signal, and Δa is the set deceleration hysteresis adjustment value.

[0019] In some possible embodiments, the environmental parameter signal further includes a road slope signal, and the control module determines the target seat back angle corresponding to the balance between the gravitational torque and the inertial force based on the constraint relationship between the seat back angle and the gravitational torque, including: Calculate A n = arctan(F / M g)-β; Among them, A n The target seat back angle is denoted by F, the inertial force is denoted by M, the occupant load sensing signal is denoted by g, and the road slope signal is denoted by β.

[0020] In some possible embodiments, the vehicle driving environment parameters also include a brake pedal signal, and the control module determines a target angle for adjusting the seat back in the opposite direction of the inertial impact, including at least one of the following steps: If a brake pedal signal is detected and the vehicle is not in an emergency braking state, the first adjustment strategy determines the target angle to be adjusted in the opposite direction of the inertial impact, and then the second adjustment strategy determines the target angle to be adjusted in the opposite direction of the inertial impact. The fixed angle in the first adjustment strategy is the preset minimum gradient angle. If a brake pedal signal is detected and it is an emergency braking situation, the target angle for adjustment in the opposite direction of the inertial impact is determined according to the first adjustment strategy, where the fixed angle in the first adjustment strategy is the maximum gradient angle.

[0021] In some possible embodiments, the vehicle driving environment parameter signal further includes a driving mode, and the control module determines a target angle for adjusting the seat back in the opposite direction of the inertial impact, including: When the current driving mode is determined to be fully intelligent driving mode, the first adjustment strategy is used to determine the target angle for adjustment in the opposite direction of inertial impact, and then the second adjustment strategy is used to determine the target angle for adjustment in the opposite direction of inertial impact. The fixed angle in the first adjustment strategy is the preset minimum gradient angle. When the current driving mode is determined to be either assisted intelligent driving or fully manual driving mode, the driver's seat follows a first adjustment strategy, where the fixed angle in the first adjustment strategy is the maximum gradient angle. The other seats first follow the first adjustment strategy to determine the target angle to be adjusted in the opposite direction of the inertial impact, where the fixed angle in the first adjustment strategy is the preset minimum gradient angle. Then, they follow a second adjustment strategy to determine the target angle to be adjusted in the opposite direction of the inertial impact.

[0022] In some possible embodiments, the vehicle driving environment parameters further include a distance signal and a vehicle speed signal, and the control module detects emergency braking, including: Based on the vehicle speed signal and distance signal, if the deceleration value required to avoid a collision is greater than a set deceleration threshold and the rate of change of the current braking deceleration signal is greater than a set rate of change threshold, then emergency braking is confirmed to have been detected.

[0023] In some possible embodiments, the environmental parameter signal acquisition module acquires environmental parameter signals of the vehicle's operation, including: When the vehicle is ignited, environmental parameter signals for vehicle operation are acquired based on the power system signals.

[0024] After adjusting the seat back to the target angle in the opposite direction of the inertial impact, the seat adjustment module is also used for: When the vehicle speed is determined to increase based on the vehicle speed signal or when a brake release signal is obtained, the seat is adjusted to a pre-memorized seat posture.

[0025] Thirdly, another embodiment of this application also provides a vehicle including the vehicle seat control device provided in the above embodiments.

[0026] Fourthly, another embodiment of this application also provides a computer storage medium storing a computer program for causing a computer to execute any of the vehicle seat control methods provided in the embodiments of this application.

[0027] This application embodiment utilizes the principles of motion dynamics. When a forward inertial impact is detected on the occupant, the target angle of the seat back that needs to be opposite to the inertial force is determined and adjusted so that the occupant's back is directed in the opposite direction of the inertial force. This solves the problem of the discomfort of leaning forward caused by inertial force during rapid braking and sharp turns.

[0028] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of a vehicle seat control device according to an embodiment of this application; Figure 2 This is a schematic diagram illustrating the state of a driver when subjected to an impact according to an embodiment of the present disclosure; Figure 3 This is a force analysis diagram of an improved human body model according to an embodiment of the present disclosure; Figure 4 This is a flowchart of seat control according to an embodiment of the present disclosure; Figure 5 This is a schematic diagram of the motor distribution of a seat according to an embodiment of the present disclosure; Figure 6 This is a flowchart of a vehicle seat control method according to an embodiment of the present disclosure. Detailed Implementation

[0031] To further illustrate the technical solutions provided in the embodiments of this application, a detailed description is provided below in conjunction with the accompanying drawings and specific implementation methods. Although the embodiments of this application provide method operation steps as shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on conventional or non-inventive effort. For steps that do not logically have a necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this application. In actual processing or when the control device executes the method, it may be executed sequentially or in parallel according to the method shown in the embodiments or drawings.

[0032] Given that existing technologies suffer from the problem of forward-leaning impact forces experienced when a vehicle brakes or turns, this application proposes a vehicle seat control method capable of counteracting the inertial impact forces during braking or turning.

[0033] In view of this, the inventive concept of this application is as follows: First, the environmental parameter signal of the vehicle is acquired, and the adjustment function of the vehicle seat back is activated. When it is determined that the vehicle is in a deceleration state and the inertial force on the occupant reaches the set seat adjustment condition, the central controller adjusts the seat back angle by controlling the drive motor. The reverse movement of the seat can lower the center of gravity to reduce the inertial force, while increasing its own gravitational torque to counteract the inertial force, which can greatly improve the comfort and stability of the occupant.

[0034] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0035] The vehicle seat control method in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0036] Figure 1 A schematic diagram of a vehicle seat control device according to an embodiment of this application is provided, including: The environmental parameter signal acquisition module 101 acquires environmental parameter signals of the vehicle during operation.

[0037] The environmental parameter signals in this embodiment can be acquired by an environmental parameter signal acquisition module in the vehicle. The environmental parameter signal acquisition module includes various sensors for acquiring environmental parameter signals during vehicle operation. The vehicle's driving status can be determined based on the environmental parameter information during vehicle operation.

[0038] The control module 11 can be a seat central controller or a body domain controller, used to determine the target angle of the seat backrest to be adjusted in the opposite direction of the inertial impact when the seat is subjected to inertial impact and the seat adjustment conditions are met, based on the environmental parameter signals.

[0039] Based on environmental parameters, the vehicle's driving state can be determined. If the vehicle is currently decelerating, the seat is likely experiencing an inertial impact. Furthermore, depending on the scenario, specific seat adjustment conditions can be set for deceleration. For example, a threshold value could be set to satisfy the seat adjustment condition, or the threshold value could be omitted, and the seat adjustment condition would be satisfied as long as deceleration is confirmed. Once the seat adjustment condition is satisfied, a target angle for adjusting the seat back in the opposite direction of the inertial impact needs to be determined. This angle can be a fixed setting or a calculated angle required to balance the inertial impact.

[0040] The seat adjustment module is used to control the drive motor to drive the seat back to rotate, and adjust the seat back to the target angle in the opposite direction of the inertial impact.

[0041] The aforementioned seats may include a driver's seat 15, a passenger seat 16, and a rear seat 17. Correspondingly, the seat adjustment module may include, but is not limited to, a driver's seat adjustment execution unit 12, a passenger seat adjustment execution unit 13, and a rear seat adjustment execution unit 14.

[0042] When the vehicle is started, the Controller Area Network (CAN) sends a power start signal to the central controller to activate the seat control adjustment function, regardless of the vehicle start method.

[0043] like Figure 2 As shown, when a vehicle brakes, if the deceleration exceeds value A, due to inertia, even though the occupant is wearing a seatbelt, their upper body will still lean forward and experience an impact. The higher the initial velocity V0 and the higher the deceleration a, the more pronounced this leaning impact will be. This is because seatbelts primarily function in two scenarios: ① To prevent occupants from being ejected from the vehicle during a collision. ② In the instant of a high-speed vehicle impact, the seatbelt can lock instantly to prevent the human body from colliding with the vehicle body.

[0044] To mitigate the impact of inertial forces during braking, force analysis based on an occupant's human body model reveals that simply reducing the inertial force causing forward tilting can significantly improve or prevent this situation, enhancing stability and comfort during driving. A reverse motion design lowers the center of gravity to reduce inertial forces, while simultaneously increasing the body's own gravitational torque to counteract these forces. Figure 3As shown, the torque generated by the inertial force F1 is greater than the torque generated by the inertial force F2. Furthermore, the positive superposition of F1 and the gravitational torque is far greater than the negative superposition of F2 and the gravitational torque. Therefore, this achieves the purpose of inertial impact. However, for the lower body of the occupant, due to the inward tilt angle of the seat towards the thighs and buttocks, the inertial force cannot propel the occupant forward.

[0045] The vehicle seat control device provided in this application utilizes the principles of motion dynamics. Based on different inertial forces, the seat backrest is adjusted at the corresponding angle via a motor and control program, causing the occupant's back to move in the opposite direction of the inertial force. This counteracts the forward tilting impact caused by the inertial force, solving the discomfort of forward impact and tilting caused by inertial force in passenger vehicles at Level 2 and above of intelligent driving during braking when the braking deceleration reaches a certain value. It can also be extended to solve the problem of lateral impact and tilting caused by inertial force in other common vehicle operating conditions, such as high-speed cornering and sharp turns with small radii.

[0046] This application embodiment utilizes signals collected by the vehicle's existing hardware modules (ESC or VDDM, electric seat) as control input signals, eliminating the need for developing new monitoring technology modules. The drive motor can be shared based on the electric seat, saving some development and procurement costs.

[0047] like Figure 1 As shown, the environmental parameter signal acquisition module 101 can acquire, but is not limited to, the following 10 types of signals: power system signal 1, brake pedal signal 2, braking deceleration signal 3, vehicle speed signal 4, slope gradient signal 5, seat occupant sensing signal 6, occupant load sensing signal 7, seat back angle signal 8, distance to the vehicle in front signal 9, driving model signal 10.

[0048] Serial number 1 is the powertrain signal, input to the central seat controller (or integrated into the body domain controller, hereinafter referred to as the central controller) as the wake-up signal for the seat inertial shock adjustment function; Serial number 2 is the brake pedal signal, input to the central controller as one of the seat pre-adjustment signals; Serial number 3 is the vehicle braking deceleration signal, input to the central controller as one of the parameters for calculating inertial force and adjusting the seat back angle; Serial number 4 is the vehicle speed signal during normal driving, input to the central controller as one of the parameters for calculating deceleration, inertial force, and adjusting the seat back angle; Serial number 5 is the road slope signal, input to the central controller as a parameter for calculating seat adjustment. One of the parameters for the backrest angle; Serial number 6 is the seat occupant sensing signal, which is input to the central controller to identify the occupant and center of gravity position, and to determine whether seat adjustment is activated; Serial number 7 is the occupant load sensing signal, which is input to the central controller to calculate inertial force and is one of the parameters for adjusting the seat backrest angle; Serial number 8 is the current seat backrest angle signal, which is input to the central controller to calculate the adjustment of the seat backrest angle; Serial number 9 is the forward vehicle distance signal, which is input to the central controller by the ranging radar located at the front of the vehicle to determine whether emergency braking will be initiated; Serial number 11 is the driving mode, which is input to the central controller to select the driver's seat strategy.

[0049] In some possible embodiments, the environmental parameter signals include vehicle speed signals, braking deceleration signals, and brake pedal signals. The control module is used to determine, based on the environmental parameter signals, that the seat has experienced an inertial impact and meets the seat adjustment conditions, including: Based on the vehicle speed signal, a braking deceleration signal is determined or a collected braking deceleration signal is acquired. When the braking deceleration signal exceeds a set deceleration threshold, the seat is subjected to inertial impact and the seat adjustment conditions are met. When a brake pedal signal is detected, it is determined that the seat has been subjected to an inertial impact and that the seat adjustment conditions are met.

[0050] The vehicle's braking deceleration signal is calculated by acquiring the vehicle speed signal, or it can be directly acquired through the environmental parameter signal acquisition module. Seat adjustment is not performed simply because braking deceleration is detected. When the deceleration value is very small, the inertial impact force on the occupant is small, and there is no obvious discomfort, the conditions for seat adjustment are not met. In this embodiment, a deceleration threshold can be preset based on tests. The deceleration threshold is a fixed value built into the system after testing. When the deceleration exceeds the threshold, the occupant will have obvious discomfort, and the conditions for seat adjustment are met.

[0051] If seat adjustment is triggered by deceleration, different seat back angles can be adjusted according to the magnitude of the deceleration. If seat adjustment is based on pedal signals, a fixed seat back angle can be adjusted.

[0052] In one or more possible embodiments, the environmental parameter signals include vehicle speed signals and occupant load sensing signals, and the control module determines a target angle for adjusting the seat back in the opposite direction of the inertial impact, which can be achieved using any of the following adjustment strategies: 1) First adjustment strategy Obtain a pre-set fixed angle and determine the fixed angle as the target angle for adjusting the seat back in the opposite direction of the inertial impact.

[0053] Specifically, different fixed angles can be set based on the seat adjustments triggered in different scenarios.

[0054] 2) Second adjustment strategy

[0055] The braking deceleration signal is determined based on the vehicle speed signal, and the inertial force is calculated based on the braking deceleration signal and the occupant load sensing signal. Based on the constraint relationship between the seat back angle and the gravitational torque, the target seat back angle corresponding to the balance between the gravitational torque and the inertial force is determined. Based on the target seat back angle, the target angle for adjusting the seat back in the opposite direction of the inertial impact is determined.

[0056] The purpose of adjusting the seat back in gradient is to reduce the inertial force experienced by the occupant during braking. According to the force analysis of the occupant's human body model, reducing the inertial force that causes the occupant to lean forward can improve discomfort and enhance seating stability. The design of moving the seat back in the opposite direction of the inertial impact force can achieve this. This design lowers the position of the occupant's center of gravity, reduces the inertial force, and at the same time, the increase in the occupant's own gravitational torque offsets the inertial force.

[0057] In this embodiment of the application, when determining the target angle for seat adjustment, the inertial force is calculated based on the braking deceleration signal and the occupant load sensing signal: Calculate F=M (a+△a); Wherein, F is the inertial force, M is the occupant load signal, a is the braking deceleration signal, and Δa is the set deceleration hysteresis adjustment value.

[0058] Considering that signal acquisition, data processing by the central controller, and adjustment of the seat back angle all require a process, and that seat adjustment lags behind the current impact with errors in angle adjustment, in order to correct this error, the current deceleration 'a' is corrected by adding 'Δa' when calculating the inertial force. 'Δa' represents the slope of the vehicle's braking deceleration, a characteristic value of the vehicle's braking system, and requires calibration in practice. The calibrated values ​​differ for different vehicle models and characteristics, but are fixed for each vehicle.

[0059] According to the principles of mechanics, when the inertial force and the gravitational torque are balanced, the inertial impact on the occupant can be canceled out. Therefore, the target angle of the seat back can be calculated based on the currently monitored signals and road conditions: angle value A. n =arctan(H / L)-β=arctan(F / M g)-β, where H is the vertical distance from the center of gravity of the human body corresponding to angle A to the joint point of human rotation, and L is the horizontal distance from the center of gravity of the human body corresponding to angle A to the joint point of human rotation. n The target seat back angle is denoted by F, the inertial force is denoted by M, the occupant load sensing signal is denoted by g, and the road slope signal is denoted by β.

[0060] The first and second adjustment strategies described above can be implemented individually or in combination. They can also be implemented according to different driving modes. Possible implementation methods are given below.

[0061] 1) Seat adjustment during emergency braking

[0062] If a brake pedal signal is detected and it is an emergency braking situation, the target angle for adjustment in the opposite direction of the inertial impact is determined according to the first adjustment strategy, where the fixed angle in the first adjustment strategy is the maximum gradient angle.

[0063] In another possible embodiment, when the central controller detects excessive vehicle speed and excessive distance to the vehicle ahead based on the vehicle distance and speed signals in the environmental parameter signals, and determines that there is a risk of collision, it confirms the emergency braking mode and automatically initiates emergency braking. The method for determining emergency braking is as follows: First, calculate the deceleration required to avoid a collision: a = V 2 / S / 2, where a is the required deceleration, V is the vehicle speed, and S is the distance to the vehicle in front.

[0064] When the required braking deceleration a is greater than the deceleration threshold ac (usually 5.8 m / s²), and the rate of change of deceleration da / dt is greater than the deceleration threshold K (usually 1), the vehicle is deemed to meet the conditions for initiating emergency braking.

[0065] In this embodiment, the adjustment method is referred to as the safe driving seat adjustment mode.

[0066] 2) Adjustment of tiered seats during non-emergency braking

[0067] If a brake pedal signal is detected and the vehicle is not in an emergency braking state, the first adjustment strategy determines the target angle to be adjusted in the opposite direction of the inertial impact, and then the second adjustment strategy determines the target angle to be adjusted in the opposite direction of the inertial impact. The fixed angle in the first adjustment strategy is the preset minimum gradient angle.

[0068] The adjustment of the vehicle seat backrest is based on different inertial impact forces, with a minimum gradient value of A0 and others of A1, A2, ..., An. Specifically, the angle is calculated according to the above-mentioned seat backrest angle calculation formula. In actual situations, the inertial impact experienced by the occupant may be very large, but the adjustment angle of the vehicle seat cannot be infinitely large. Therefore, An is the maximum gradient value for gradient adjustment.

[0069] In this embodiment, this adjustment method is referred to as the optimal comfort seat adjustment mode.

[0070] After the vehicle is started, the central controller identifies the vehicle's driving mode by reading the driving mode signal. The driving mode is selected by the driver. The seat adjustment methods corresponding to different driving modes are shown below.

[0071] 1) Fully Intelligent Driving Mode

[0072] When the vehicle is in fully intelligent driving mode, the control strategies for each seat are adjusted according to the optimal comfort mode.

[0073] First, the target angle for adjustment in the opposite direction of the inertial impact is determined according to the first adjustment strategy. Then, the target angle for adjustment in the opposite direction of the inertial impact is determined according to the second adjustment strategy. The fixed angle in the first adjustment strategy is the preset minimum gradient angle.

[0074] 2) Assisted intelligent driving mode; When the vehicle's driving mode is set to Assisted Intelligent Driving Mode, the driver's seat control strategy is adjusted according to the Safe Driving Mode, while the control strategies for other seats are adjusted according to the Optimal Comfort Mode.

[0075] The driver's seat is adjusted according to the first adjustment strategy, where the fixed angle is the maximum gradient angle. The other seats are first adjusted according to the first adjustment strategy to determine the target angle in the opposite direction of the inertial impact, where the fixed angle is the pre-set minimum gradient angle. Then, the second adjustment strategy is used to determine the target angle in the opposite direction of the inertial impact.

[0076] 3) Fully manual driving mode.

[0077] When the vehicle's driving mode is fully manual, the driver's seat control strategy is adjusted according to the safe driving mode, while the control strategies of other seats are adjusted according to the optimal comfort mode.

[0078] The driver's seat is adjusted according to the first adjustment strategy, where the fixed angle is the maximum gradient angle. The other seats are first adjusted according to the first adjustment strategy to determine the target angle in the opposite direction of the inertial impact, where the fixed angle is the pre-set minimum gradient angle. Then, the second adjustment strategy is used to determine the target angle in the opposite direction of the inertial impact.

[0079] When the driving mode is determined to be either assisted intelligent driving mode or fully manual driving, in order to maximize the driver's seating comfort and facilitate the driver to exert maximum braking force, the driver's seat control strategy is adjusted according to the safe driving mode. Therefore, regardless of whether the vehicle is detected to be braking and meeting the gradient adjustment conditions or an emergency braking state is detected, the driver's seat adjustment is only adjusted according to a fixed value A, which is the test value of human factors engineering experiments.

[0080] In some possible embodiments, the central controller drives an independent motor for each seat to adjust the seat back angle; In some other possible embodiments, since each seat has an independent seat load signal, the seat back is not adjusted when no occupant is detected in the seat.

[0081] In another possible embodiment, the seat back angle can be adjusted manually. The central controller sends signals to each independent control unit of the seat through external feedback, thereby enabling manual adjustment. At this time, the seat back angle data is stored in the seat posture.

[0082] In one possible embodiment, when the central controller detects an increase in vehicle speed or the release of the brake pedal signal, and confirms that the vehicle is in a normal driving state (neither braking nor emergency braking), the adjusted seat is restored to the pre-memorized seat posture.

[0083] Based on the same inventive concept, embodiments of this application provide a vehicle seat control method, such as... Figure 6 As shown, it includes: Step 601: Obtain environmental parameter signals for vehicle operation; Step 602: When it is determined from the environmental parameter signal that the seat is subjected to inertial impact and the seat adjustment conditions are met, determine the target angle for adjusting the seat back in the opposite direction of the inertial impact. Step 603: Control the drive motor to drive the seat back to rotate, and adjust the seat back to the target angle in the opposite direction of the inertial impact.

[0084] The following is based on Figure 4 The complete flowchart of the seat control system is described in one embodiment.

[0085] In one possible embodiment, the central controller first needs to be woken up. When the vehicle is ignited (electric vehicle powered on), the CAN network sends an ignition signal to the central controller, waking up the seat control and adjustment system. At this time, the central controller reads the vehicle speed parameters through the CAN network. The vehicle speed signal is sent to the central controller by the ESC or VDDM through the CAN network. When the vehicle speed is detected to be greater than the threshold V0, and the occupant identification signal determines that there is an occupant, the drive modules of each control unit (1~N) will be activated to enter the preparation state; otherwise, the central controller will not activate the drive modules.

[0086] Once the seat control and adjustment system is activated, the central controller continuously monitors environmental parameter information via the CAN network. Figure 1 (2-10). After starting the vehicle, the driver will manually select the driving mode. At this time, the central controller reads the driving mode signal to identify whether the vehicle is in fully intelligent driving mode, assisted intelligent driving mode, or fully manual driving mode.

[0087] In one possible embodiment, when the driving mode is identified as fully intelligent driving, the control strategies for each seat are adjusted according to the optimal comfort mode.

[0088] In some possible embodiments, when a brake pedal signal is detected and the vehicle distance signal does not trigger the emergency braking mode, the target angle for adjustment in the opposite direction of inertial impact is first determined according to the seat occupant sensing signal, braking deceleration signal, vehicle speed signal and road slope signal, and then the target angle for adjustment in the opposite direction of inertial impact is determined according to the second adjustment strategy. It should be noted that each seat has an independent control unit and drive module, with each seat's control unit and drive module corresponding one-to-one, including but not limited to the driver's seat module, front passenger seat module, rear seat module... and so on up to the Nth row of seats module. The central controller reads the seat occupant sensor signals to confirm whether each seat is occupied. When an occupant is confirmed, the seat back is adjusted to the target angle. After the central controller activates the drive module of each seat, the independent control unit adjusts the gradient value A according to calculations. n The signal is sent to the corresponding drive module, which controls the bidirectional DC motor to rotate and adjust the angle of the seat back. When it is confirmed that there are no occupants, the drive module of the seat will not perform the operation.

[0089] Posture Memory Restoration: When the central controller is activated and detects an occupant in the seat, it stores the monitored seat angle data in the controller's data storage module some time after the vehicle starts, as the occupant's normal sitting posture data. After the seat has been adjusted, upon reading the vehicle speed signal increase and the brake release signal, the central controller issues a command to automatically adjust the seat back to the previous occupant's sitting posture based on the previously memorized seat posture.

[0090] System Function Integration: The manual adjustment function control circuit for the electric seats is integrated into the central controller. The manual adjustment switch only sends an external request to the central controller when manual seat adjustment is needed. The central controller then sends the pull-up or stop request signals from each seat switch to the respective independent control unit. The independent control unit then sends commands to the drive module to drive the motor to adjust the seat. When automatic adjustment conflicts with an external adjustment request, the central controller arbitrates the external request and the automatic adjustment function to determine which operation to perform.

[0091] In some possible embodiments, when a brake pedal signal is detected and an emergency braking mode is activated via a distance signal, a target angle for adjustment in the opposite direction of the inertial impact is determined according to a first adjustment strategy. This target angle is the maximum gradient angle.

[0092] In another possible embodiment, when the driving mode is identified as assisted intelligent driving or fully manual driving, the control strategy of the driver's seat is adjusted according to the safe driving mode, and the control strategies of other seats are adjusted according to the optimal comfort mode.

[0093] The seat adjustment methods for the optimal comfort mode of other seats in assisted intelligent driving or fully manual driving modes are the same as those in the fully intelligent driving mode. The following only describes the safe driving mode for the driver's seat: In some possible embodiments, when a brake pedal signal is detected or a distance signal triggers an emergency braking mode, a target angle for adjustment in the opposite direction of inertial impact is determined according to a first adjustment strategy based on the seat occupant sensing signal, braking deceleration signal, vehicle speed signal, and road slope signal. This target angle is adjusted and controlled only by a gradient value A, which is an empirical value from human factors engineering testing, to meet the requirements of driver seating comfort and maximum brake pedal force.

[0094] The seat adjustment function is achieved by Figure 5 It consists of several parts: occupant sensing sensor, angle sensor, load sensor, tilt motor, electric seat switch, sliding motor, lumbar support motor, rear vertical motor, lumbar support switch, and front vertical motor.

[0095] The occupant sensing sensor is used to provide seat occupant sensing signals to the environmental parameter signal acquisition module.

[0096] Angle sensors are used to collect signals from the angle of the seat back.

[0097] The load sensor is used to collect occupant load sensing signals.

[0098] The electric seat switch controls whether the seat is powered on, thus enabling automatic control.

[0099] The sliding motor, the front vertical motor, and the rear vertical motor control the height and forward / backward position of the seat.

[0100] The tilt motor, lumbar support motor, and lumbar support switch control the adjustment angle of the seat back.

[0101] In some possible implementations, various aspects of the vehicle seat control method provided in this application can also be implemented in the form of a program product, which includes program code that, when the program product is run on a computer device, causes the computer device to perform the steps of the vehicle seat control method according to the various exemplary embodiments of this application described above.

[0102] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0103] The program product for the vehicle seat control method according to the embodiments of this application can be a portable compact disc read-only memory (CD-ROM) and include program code, and can run on an electronic device. However, the program product of this application is not limited thereto. In this document, the readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0104] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0105] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0106] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's electronic device, partially on the user's device, as a standalone software package, partially on the user's electronic device and partially on a remote electronic device, or entirely on a remote electronic device or server. In cases involving remote electronic devices, the remote electronic device can be connected to the user's electronic device via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external electronic device (e.g., via the Internet using an Internet service provider).

[0107] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0108] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0109] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] This application is described with reference to flowchart illustrations and block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block and / or segment of the flowchart illustrations and block diagrams, as well as combinations of blocks and segments in the flowchart illustrations and block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart. Figure 1 One or more processes and boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0111] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and boxes Figure 1 The function specified in one or more boxes.

[0112] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and boxes Figure 1 The steps of the function specified in one or more boxes.

[0113] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0114] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A vehicle seat control method, characterized in that, include: Acquire environmental parameter signals for vehicle operation, including vehicle speed signals and passenger load sensing signals; When the environmental parameter signal determines that the seat is subjected to an inertial impact and the seat adjustment conditions are met, the target angle for adjusting the seat backrest in the opposite direction of the inertial impact is determined. The step of determining the target angle for adjusting the seat back in the opposite direction of the inertial impact includes: if a first adjustment strategy is adopted, obtaining a pre-set fixed angle and determining the fixed angle as the target angle for adjusting the seat back in the opposite direction of the inertial impact; if a second adjustment strategy is adopted, determining a braking deceleration signal based on the vehicle speed signal, calculating the inertial force based on the braking deceleration signal and the occupant load sensing signal; determining the target seat back angle corresponding to the balance between the gravitational torque and the inertial force based on the constraint relationship between the seat back angle and the gravitational torque; determining the target angle for adjusting the seat back in the opposite direction of the inertial impact based on the target seat back angle; and controlling the drive motor to drive the seat back to rotate, adjusting the seat back to the target angle in the opposite direction of the inertial impact.

2. The method as described in claim 1, characterized in that, The environmental parameter signals include vehicle speed signals and brake pedal signals. Determining whether the seat has been subjected to inertial impact and meets the seat adjustment conditions based on the environmental parameter signals includes at least one of the following steps: Based on the vehicle speed signal, a braking deceleration signal is determined. When the braking deceleration signal exceeds a set deceleration threshold, the seat is subjected to inertial impact and the seat adjustment conditions are met. When a brake pedal signal is detected, it is determined that the seat has been subjected to an inertial impact and that the seat adjustment conditions are met.

3. The method as described in claim 1, characterized in that, The inertial force is calculated based on the braking deceleration signal and the member load sensing signal, including: Calculate F=M (a+△a); Where F is the inertial force, M is the occupant load sensing signal, a is the braking deceleration signal, and Δa is the set deceleration hysteresis adjustment value.

4. The method as described in claim 1, characterized in that, The environmental parameter signals also include road slope signals. Based on the constraint relationship between the seat back angle and the gravitational torque, the target seat back angle corresponding to the balance between the gravitational torque and the inertial force is determined, including: Calculate A n = arctan(F / M g)-β; Among them, A n Let F be the target seat back angle, M be the inertial force, g be the occupant load sensing signal, β be the gravitational acceleration, and β be the road slope signal.

5. The method as described in claim 1, characterized in that, The vehicle driving environment parameters also include a brake pedal signal, and determining the target angle for adjusting the seat back in the opposite direction of the inertial impact includes at least one of the following steps: If a brake pedal signal is detected and the vehicle is not in an emergency braking state, the first adjustment strategy determines the target angle to be adjusted in the opposite direction of the inertial impact, and then the second adjustment strategy determines the target angle to be adjusted in the opposite direction of the inertial impact. The fixed angle in the first adjustment strategy is the preset minimum gradient angle. If a brake pedal signal is detected and it is an emergency braking situation, the target angle for adjustment in the opposite direction of the inertial impact is determined according to the first adjustment strategy, where the fixed angle in the first adjustment strategy is the maximum gradient angle.

6. The method as described in claim 1, characterized in that, The vehicle driving environment parameter signal also includes the driving mode, and determining the target angle for adjusting the seat back in the opposite direction of the inertial impact includes: When the current driving mode is determined to be fully intelligent driving mode, the first adjustment strategy is used to determine the target angle for adjustment in the opposite direction of inertial impact, and then the second adjustment strategy is used to determine the target angle for adjustment in the opposite direction of inertial impact. The fixed angle in the first adjustment strategy is the preset minimum gradient angle. When the current driving mode is determined to be either assisted intelligent driving or fully manual driving mode, the driver's seat follows a first adjustment strategy, where the fixed angle in the first adjustment strategy is the maximum gradient angle. The other seats first follow the first adjustment strategy to determine the target angle to be adjusted in the opposite direction of the inertial impact, where the fixed angle in the first adjustment strategy is the preset minimum gradient angle. Then, they follow a second adjustment strategy to determine the target angle to be adjusted in the opposite direction of the inertial impact.

7. The method as described in claim 5, characterized in that, The vehicle driving environment parameters also include distance signals and vehicle speed signals. Emergency braking is detected, including: Based on the vehicle speed signal and distance signal, if the deceleration value required to avoid a collision is greater than a set deceleration threshold and the rate of change of the current braking deceleration signal is greater than a set rate of change threshold, then emergency braking is confirmed to have been detected.

8. The method as described in claim 1, characterized in that, Acquire environmental parameter signals for vehicle operation, including: When the vehicle is ignited, environmental parameter signals for vehicle operation are acquired based on the power system signals. After adjusting the seat back to the target angle in the opposite direction of the inertial impact, the method further includes: When the vehicle speed is determined to increase based on the vehicle speed signal or when a brake release signal is obtained, the seat is adjusted to a pre-memorized seat posture.

9. A vehicle seat control device, characterized in that, include: An environmental parameter signal acquisition module is used to acquire environmental parameter signals of vehicle operation, including vehicle speed signals and passenger load sensing signals. The control module is configured to determine a target angle for adjusting the seat back in the opposite direction of the inertial impact when the seat is subjected to an inertial impact and the seat adjustment conditions are met, based on the environmental parameter signals. Determining the target angle for adjusting the seat back in the opposite direction of the inertial impact includes: if a first adjustment strategy is adopted, obtaining a pre-set fixed angle and determining the fixed angle as the target angle for adjusting the seat back in the opposite direction of the inertial impact; if a second adjustment strategy is adopted, determining a braking deceleration signal based on the vehicle speed signal, calculating the inertial force based on the braking deceleration signal and the occupant load sensing signal; determining a target seat back angle corresponding to the balance between the gravitational torque and the inertial force based on the constraint relationship between the seat back angle and the gravitational torque; and determining the target angle for adjusting the seat back in the opposite direction of the inertial impact based on the target seat back angle. The seat adjustment module is used to control the drive motor to drive the seat back to rotate, and adjust the seat back to the target angle in the opposite direction of the inertial impact.

10. A vehicle, characterized in that, Includes the vehicle seat control device as described in claim 9.

11. A computer storage medium, characterized in that, The computer storage medium stores a computer program that enables the computer to perform the method as described in any one of claims 1-8.

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