Control method, electronic device, medium, system and vehicle for seat belt retractor

Abstract

The present application relates to a control method, electronic device, medium, system and vehicle for a seat belt retractor, wherein the seat belt retractor comprises: a mechanical trigger device for mechanically triggering a locking state of the seat belt retractor; an electric control drive device for electrically driving the mechanical trigger device; wherein the control method comprises: when it is determined that the seat belt retractor needs to be in a suppressed state, the electric control drive device drives the mechanical trigger device to be in a restricted state where the seat belt retractor cannot be triggered. The beneficial effects of the present application are: providing a control method, electronic device, computer-readable medium, system and vehicle that can restrict the mechanical trigger device in the state that the seat belt retractor needs to be in to improve the convenience of use.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle safety control, and in particular to a control method, electronic equipment, medium, system and vehicle for a seat belt retractor. Background Art

[0002] The seat belt retractor is used to lock the seat belt in the event of an emergency in the vehicle so that the occupants can be effectively restrained in their seats to ensure their safety.

[0003] Most current seat belt retractors are mechanically triggered, relying on inertia and gravity for triggering. In actual use, there are often some non-emergency conditions where the seat belt does not need to be locked, but the mechanical triggering conditions are met and the seat belt is locked unreasonably, causing inconvenience to the occupants. Summary of the invention

[0004] The embodiments of the present application provide a control method for a seat belt retractor, an electronic device, a computer-readable medium, a system and a vehicle, which improve the convenience of using the seat belt retractor and at least partially solve the above technical problems.

[0005] In order to achieve the above-mentioned object, according to a first aspect of the present application, a control method for a seat belt retractor is provided, wherein the seat belt retractor comprises: a mechanical trigger device for mechanically triggering a locking state of the seat belt retractor; an electric control drive device for electrically driving the mechanical trigger device;

[0006] The control method comprises: when it is determined that the seat belt retractor needs to be in an inhibited state, the electric control drive device drives the mechanical trigger device to be in a locked state where the mechanical trigger device is restricted and cannot trigger the seat belt retractor.

[0007] Optionally, the determination that the seat belt retractor needs to be in an inhibited state includes: obtaining current vehicle information of the vehicle; wherein the current vehicle information includes: external environment information and / or vehicle operation information; wherein the external environment information includes: environmental obstacle information; wherein the vehicle operation information includes: one or more of vehicle speed, vehicle acceleration and vehicle body angle.

[0008] Optionally, when it is determined that the seat belt retractor needs to be in the inhibited state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor, including:

[0009] When it is sensed according to the environmental obstacle information that there are no obstacles around the vehicle, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor; and / or

[0010] When the vehicle speed is within a preset speed threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor; and / or

[0011] When the vehicle acceleration is within a preset acceleration threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor; and / or

[0012] When the vehicle body angle is within a preset vehicle body angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a restricted locking state where the mechanical trigger device cannot be triggered.

[0013] Optionally, the vehicle current information also includes: vehicle status information, including one or more of driving mode, seat angle and seat mode.

[0014] Optionally, when it is determined that the seat belt retractor needs to be in the inhibited state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor, further comprising:

[0015] When the driving mode is in a state where the inhibition state needs to be triggered, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where the mechanical trigger device is restricted and cannot trigger the seat belt retractor; and / or

[0016] When the seat angle is within a preset seat angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor; and / or

[0017] When the seat mode is in the zero-gravity seat mode, the electrically controlled drive device drives the mechanical trigger device to be in a locked state where the mechanical trigger device is restricted and cannot trigger the seat belt retractor.

[0018] Optionally, the control method further includes: when it is determined that the seat belt retractor needs to be in a locked state, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the locked state of the seat belt retractor.

[0019] Optionally, the determination that the seat belt retractor needs to be in a locked state includes: obtaining current vehicle information of the vehicle; wherein the current vehicle information includes: external environment information and / or vehicle operation information; wherein the external environment information includes: environmental obstacle information; wherein the vehicle operation information includes: one or more of vehicle speed, vehicle acceleration and vehicle body angle.

[0020] Optionally, when it is determined that the seat belt retractor needs to be in a locked state, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the locked state of the seat belt retractor, including:

[0021] When the vehicle speed is greater than or equal to the maximum value of a preset speed threshold interval, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the seat belt retractor in a locked state; and / or

[0022] When the vehicle acceleration is greater than or equal to the maximum value of a preset acceleration threshold interval, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the seat belt retractor in a locked state; and / or

[0023] When the vehicle body angle is greater than or equal to the maximum value of a preset vehicle body angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the seat belt retractor in a locked state.

[0024] Optionally, the control method further includes: when it is determined that the seat belt retractor needs to be in a decoupled state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor.

[0025] Optionally, the determination that the seat belt retractor needs to be in a decoupled state includes: obtaining current vehicle information of the vehicle; wherein the current vehicle information includes: external environment information and / or vehicle operation information; wherein the external environment information includes: environmental obstacle information; wherein the vehicle operation information includes: one or more of vehicle speed, vehicle acceleration and vehicle body angle.

[0026] Optionally, when it is determined that the seat belt retractor needs to be in a decoupled state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor, including:

[0027] When the vehicle speed is less than or equal to the minimum value of a preset speed threshold interval, the electronically controlled drive device drives the mechanical trigger device to be in a locking state capable of independently triggering the seat belt retractor; and / or

[0028] When the vehicle acceleration is less than or equal to the minimum value of a preset acceleration threshold value interval, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor; and / or

[0029] When the vehicle body angle is less than or equal to the minimum value of a preset vehicle body angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locking state capable of independently triggering the seat belt retractor; and / or

[0030] When it is sensed based on the environmental obstacle information that there are no obstacles around the vehicle and when the vehicle speed is less than or equal to the minimum value of a preset speed threshold interval and / or the vehicle acceleration is less than or equal to the minimum value of a preset acceleration threshold interval and / or the vehicle body angle is less than or equal to the minimum value of a preset vehicle body angle threshold interval, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor.

[0031] Optionally, the control method further comprises: when the electric control drive device is powered off, placing the seat belt retractor in a decoupled state so that the mechanical triggering device places the seat belt retractor in a locked state capable of independently triggering the seat belt retractor.

[0032] Optionally, when the vehicle speed is higher, the maximum value of the preset acceleration threshold interval is lower; and / or

[0033] When the vehicle speed is higher, the maximum value of the preset vehicle body angle threshold interval is lower.

[0034] According to a second aspect of the present application, an electronic device is also provided, including:

[0035] one or more processors;

[0036] a storage device having one or more programs stored thereon;

[0037] When the one or more programs are executed by the one or more processors, the processors implement the aforementioned method.

[0038] According to a third aspect of the present application, a computer-readable medium is also provided, on which a computer program is stored, wherein the computer program implements the aforementioned method when executed by a processor.

[0039] According to a fourth aspect of the present application, a seat belt retractor system is also provided, comprising the electronic device, the electric control drive device and the mechanical trigger device as described above.

[0040] According to a fifth aspect of the present application, a vehicle is also provided, comprising the aforementioned electronic device or computer-readable medium or seat belt retractor system.

[0041] The beneficial effects of the present application are: providing a control method, electronic device, computer-readable medium, system and vehicle that can limit the mechanical trigger device in the state that the seat belt retractor needs to be in to improve the convenience of use.

[0042] More specifically, some embodiments of the present application may produce the following specific beneficial effects:

[0043] Based on the determination that the seat belt retractor needs to be in an inhibited state, the electronically controlled drive device drives the mechanical trigger device to put it in a locked state where it is restricted and unable to trigger the seat belt retractor, so that the mechanical trigger device can be restricted under non-emergency conditions, thereby reducing the probability of false triggering of the mechanical trigger device and improving ease of use.

[0044] Based on a comprehensive judgment of the external environment information, vehicle operation information or vehicle status information, the mechanical trigger device in the seat belt retractor is suppressed, thereby reducing the probability of the mechanical trigger device being triggered erroneously.

[0045] Based on a comprehensive judgment of the external environment information, vehicle operation information or vehicle status information, when the vehicle may be in a dangerous condition, the locking state of the seat belt retractor is triggered to lock the seat belt to improve safety.

[0046] Based on a comprehensive judgment of the external environment information, vehicle operation information or vehicle status information, the seat belt retractor is placed in a decoupled state under appropriate working conditions, and the mechanical trigger device can independently trigger the locking state of the seat belt retractor.

[0047] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0049] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0050] Figure 1 is a schematic diagram of the overall structure of a first locking mechanism provided in an exemplary embodiment of the present disclosure;

[0051] Figure 2 is a schematic structural diagram of a first locking mechanism provided in an exemplary embodiment of the present disclosure after the housing is removed;

[0052] Figure 3 is a schematic structural diagram of a locking ratchet in a first locking mechanism provided in an exemplary embodiment of the present disclosure;

[0053] Figure 4 is a schematic structural diagram of a vehicle-sensing ball portion in a first locking mechanism provided in an exemplary embodiment of the present disclosure;

[0054] Figure 5 is a structural schematic diagram of a first pawl assembly portion in a first locking mechanism provided in an exemplary embodiment of the present disclosure;

[0055] Figure 6 is a structural schematic diagram of a second pawl assembly portion in a first locking mechanism provided in an exemplary embodiment of the present disclosure;

[0056] Figure 7 is a structural schematic diagram of a first locking mechanism in a locked state provided in an exemplary embodiment of the present disclosure;

[0057] Figure 8 is a structural schematic diagram of a first locking mechanism provided in an exemplary embodiment of the present disclosure in a suppressed state;

[0058] Fig. 9 is a structural schematic diagram of a first locking mechanism provided in an exemplary embodiment of the present disclosure in a decoupled state;

[0059] Fig.10 is a structural schematic diagram of a second locking mechanism provided in an exemplary embodiment of the present disclosure in a suppressed state;

[0060] Fig.11 is a structural schematic diagram of a second locking mechanism provided in an exemplary embodiment of the present disclosure in a locked state;

[0061] Fig.12 is a schematic structural diagram of a second locking mechanism provided in an exemplary embodiment of the present disclosure after the housing is removed;

[0062] Fig.13 yes Fig.12 A cross-sectional view of the second locking mechanism shown;

[0063] Fig.14 yes Fig.12 A schematic structural diagram of a portion of the second locking mechanism shown;

[0064] Fig.15 is a schematic structural diagram of a vehicle provided in an exemplary embodiment of the present disclosure;

[0065] Fig.16 is a flow chart of a control method of a seat belt retractor provided in an exemplary embodiment of the present disclosure;

[0066] Fig.17is a flow chart of another part of the control method of the seat belt retractor provided in an exemplary embodiment of the present disclosure;

[0067] Fig.18 is a flowchart of another part of the control method of the seat belt retractor provided in the exemplary embodiment of the present disclosure;

[0068] Fig.19 is a block diagram of a vehicle control system provided in an exemplary embodiment of the present disclosure;

[0069] Fig. 20 is a schematic diagram of a main process flow of a vehicle provided in an exemplary embodiment of the present disclosure;

[0070] Fig.21 is a typical flow chart of a control method of a seat belt retractor provided in an exemplary embodiment of the present disclosure;

[0071] Fig. 22 is a block diagram of a control device provided in an exemplary embodiment of the present disclosure;

[0072] Fig.23 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure.

[0073] Description of reference numerals:

[0074] 1. Vehicles;

[0075] 10. Seat belt retractor;

[0076] 100. Locking mechanism;

[0077] 110, housing; 110a, first positioning column; 110b, second positioning column;

[0078] 120, locking ratchet; 121, ratchet;

[0079] 130, car-feel ball bearing;

[0080] 140, follower claw; 141, embedded portion; 142, contact portion;

[0081] 150, first pusher claw assembly; 151, first electromagnetic device; 152, first slide core; 153, first swing member; 153a, first clamping portion; 153b, first rotating shaft portion; 153c, first pusher contact portion; 153d, first movable column;

[0082] 160, second pusher claw assembly; 161, second electromagnetic device; 162, second slide core; 163, second swing member; 163a, second clamping portion; 163b, second rotating shaft portion; 163c, second pusher contact portion; 163d, second movable column;

[0083] 170, first return spring;

[0084] 180, second return spring;

[0085] 190, bead seat; 191, base portion; 191a, seat groove; 192, bracket portion;

[0086] 200, locking mechanism; 210, housing; 220, locking ratchet; 230, vehicle-sensing ball; 240, follow-up claw; 290, ball seat;

[0087] 250, claw assembly;

[0088] 251. Sliding core; 252. Return spring. DETAILED DESCRIPTION

[0089] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0090] Reference Figures 1 to 9 As shown, the present application provides a locking mechanism 100, which is suitable for a seat belt retractor 10, and the locking mechanism 100 includes: a housing 110, a locking ratchet 120, a vehicle-sensing ball 130, a follower claw 140, a first claw assembly 150, a second claw assembly 160, a first return spring 170, a second return spring 180 and a ball seat 190, etc.

[0091] The housing 110 forms an inner space; the locking ratchet 120 is rotationally connected to the housing 110; the vehicle-sensing ball 130 is movably arranged on one side of the locking ratchet 120; the follower claw 140 is movably arranged between the locking ratchet 120 and the vehicle-sensing ball 130; the first pusher claw assembly 150 is used to push the follower claw 140 in a first direction; and the second pusher claw assembly 160 is used to push the follower claw 140 in a second direction.

[0092] Among them, a plurality of ratchet teeth 121 are provided on the outer periphery of the locking ratchet 120; the follower claw 140 is provided with an embedding portion 141 for embedding the ratchet teeth 121 to limit the rotation of the locking ratchet 120 and a contact portion 142 for contacting the vehicle-sensing ball 130; the vehicle-sensing ball 130 is arranged between the first pusher claw assembly 150 and the second pusher claw assembly 160 so that the first pusher claw assembly 150 and the second pusher claw assembly 160 respectively push the follower claw 140 to a first preset position for locking the locking ratchet 120 and a second preset position for releasing the locking ratchet 120.

[0093] By adopting the above solution, the seat belt retractor 10 can lock or release the seat belt under the control of the vehicle controller according to the specific application scenario of the vehicle, thereby meeting the requirements of various application scenarios. At the same time, when the vehicle's electronic control fails and the mechanical triggering conditions are met, the vehicle sensing ball 130 triggers the locking of the seat belt to increase safety.

[0094] In particular, the use of two groups of pusher claw assemblies can place the follower claw 140 in more states so that the seat belt retractor 10 has more control states for the seat belt.

[0095] Specifically, the housing 110 may be an outer shell of the seat belt retractor 10 or an outer shell structure fixedly connected to the outer shell of the seat belt retractor 10 .

[0096] The locking ratchet 120 and the belt reel of the seat belt retractor 10 are connected to each other in a non-rotating manner, that is, the locking ratchet 120 and the belt reel (not shown in the figure, the same below) rotate synchronously, and locking the rotation of the locking ratchet 120 is equivalent to locking the belt reel. The belt reel is used to wind the seat belt, so the seat belt can be locked and released by locking and releasing the belt reel.

[0097] In some embodiments of the present application, the vehicle-sensing ball 130 is constructed as a spherical steel ball, so that the inertia it can experience in all directions is relatively consistent.

[0098] In some embodiments of the present application, the follower claw 140 is rotatably connected to the housing 110, and the rotation axis of the follower claw 140 is parallel to the rotation axis of the follower claw 140. This is a better solution both from the perspective of locking and preventing motion interference.

[0099] In some embodiments of the present application, the ball seat 190 is formed with a seat groove 191 a for limiting the position of the vehicle-feeling ball 130 ; wherein the ball seat 190 is fixedly connected to the housing 110 .

[0100] The ball seat 190 includes a base portion 191 and a bracket portion 192. The base portion 191 is used to form a seat groove 191a; the bracket portion 192 is used to form a bracket shaft hole; the follower claw 140 is formed with a rotating shaft portion that can extend into the bracket shaft hole so that the follower claw 140 and the ball seat 190 are rotatably connected.

[0101] The bead seat 190 can form a groove that can better fit the shape of the vehicle-sensing ball 130, that is, the seat groove 191a, so as to effectively set the threshold condition of the mechanical trigger. As a structural reuse, the bead seat 190 can be rotatably connected to the follower claw 140 through the bracket part 192.

[0102] As a specific solution, the bracket portion 192 may be disposed between the locking ratchet 120 and the base portion 191 .

[0103] In order to better maintain the position of the wheel-sensing ball 130 or enable the wheel-sensing ball 130 to effectively drive the follower claw 140, the contact portion 142 of the follower claw 140 is provided with a contact groove (not shown in the figure, the same below) arranged opposite to the seat groove 191a. The term "relative" here means that the seat groove 191a and the contact groove are in substantially opposite directions.

[0104] In some embodiments of the present application, the first finger assembly 150 includes: a first electromagnetic device 151 , a first sliding core 152 and a first swinging member 153 .

[0105] The first electromagnetic device 151 is used to generate a first magnetic field; at least a portion of the first sliding core 152 is composed of a magnetic body and is configured to generate displacement under the action of the first magnetic field of the first electromagnetic device 151; the first swinging member 153 is configured to swing under the drive of the first sliding core 152; the first electromagnetic device 151 is fixedly connected to the housing 110; the first sliding core 152 is slidably connected to the first electromagnetic device 151; the first swinging member 153 is rotatably connected to the housing 110 to enable the follower claw 140 to be moved.

[0106] The first electromagnetic device 151 can be any device that converts electrical energy into magnetic energy, such as an electromagnetic relay or other forms of electromagnets.

[0107] In some embodiments of the present application, the second finger assembly 160 includes: a second electromagnetic device 161 , a second sliding core 162 and a second swinging member 163 .

[0108] The second electromagnetic device 161 is used to generate a second magnetic field; at least a portion of the second sliding core 162 is composed of a magnetic body and is configured to generate displacement under the action of the second magnetic field of the second electromagnetic device 161; the second swinging member 163 is configured to swing under the drive of the second sliding core 162; the second electromagnetic device 161 is fixedly connected to the housing 110; the second sliding core 162 is slidably connected to the second electromagnetic device 161; the second swinging member 163 is rotatably connected to the housing 110 to enable the follower claw 140 to be moved.

[0109] The second electromagnetic device 161 can be any device that converts electrical energy into magnetic energy, such as an electromagnetic relay or other forms of electromagnets.

[0110] In some embodiments of the present application, the first return spring 170 is used to apply an elastic force to the first sliding core 152 and / or the first swinging member 153 to reset them; one end of the first return spring 170 is connected to the housing 110, and the other end is connected to the first sliding core 152 and / or the first swinging member 153.

[0111] In some embodiments of the present application, the second return spring 180 is used to apply an elastic force to the second sliding core 162 and / or the second swinging member 163 to reset them; one end of the second return spring 180 is connected to the housing 110, and the other end is connected to the second sliding core 162 and / or the second swinging member 163.

[0112] Reference Figures 1 to 6 As shown, as a specific solution, the first return spring 170 is directly connected to the first swing member 153, and the second return spring 180 is directly connected to the second swing member 163. Although the resistance of the first sliding core 152 and the second sliding core 162 must be overcome in this way, the elastic force is applied more directly.

[0113] As a specific solution, a first positioning column 110a and a second positioning column 110b are formed inside the housing 110, a first movable column 153d is formed on the first swinging member 153, a second movable column 163d is formed on the second swinging member 163, and hanging rings are provided at both ends of the first return spring 170 and the second return spring 180. The two hanging rings of the first return spring 170 are respectively fitted to the first positioning column 110a and the first movable column 153d; the two hanging rings of the second return spring 180 are respectively fitted to the second positioning column and the second movable column 163d.

[0114] In some embodiments of the present application, the rotation axis of the first swing member 153 is parallel to the rotation axis of the second swing member 163 ; the sliding direction of the first sliding core 152 and the sliding direction of the second sliding core 162 are parallel to different directions.

[0115] Reference Figure 1 and Figure 2 As shown, as a specific solution, the sliding direction of the first sliding core 152 intersects perpendicularly with the sliding direction of the second sliding core 162. Different sliding directions can make the follower claw 140 subject to forces in different directions, thereby avoiding the occurrence of jamming, because the mutually perpendicular sliding directions can generate enough multi-directional force components to avoid the situation where the forces are equal and offset and thus jamming.

[0116] Reference Figure 2 , Figures 5 and 6As shown, the first swinging member 153 of the present application includes: a first clamping portion 153a, a first rotating shaft portion 153b and a first contact portion 153c. Among them, the first clamping portion 153a is formed with a clamping groove to form a movable connection with the first sliding core 152; the first rotating shaft portion 153b is used to form a rotating pair with the housing 110 to form a rotating connection; the first contact portion 153c is used to contact the follower claw 140 to drive the follower claw 140 to rotate. It should be noted that the first contact portion 153c has no fixed connection relationship with the follower claw 140, that is, the first contact portion 153c has no effect on the freedom of the follower claw 140 after rotating out of a specific position, which is also the reason why the mechanical trigger can still work after the electric control fails.

[0117] Similarly, refer to Figure 2 , Figures 5 and 6 As shown, the second swinging member 163 of the present application includes: a second clamping portion 163a, a second rotating shaft portion 163b and a second contact portion 163c. The second clamping portion 163a is formed with a clamping groove so as to form a movable connection with the second sliding core 162; the second rotating shaft portion 163b is used to form a rotating pair with the housing 110 to form a rotating connection; the second contact portion 163c is used to contact the follower claw 140 so as to drive the follower claw 140 to rotate. It should be noted that the second contact portion 163c has no fixed connection relationship with the follower claw 140, that is, the second contact portion 163c has no effect on the freedom of the follower claw 140 after rotating out of a specific position, which is why the mechanical trigger can still work after the electric control fails.

[0118] Of course, in order to adapt to different structures, the specific shapes of the first swing member 153 and the second swing member 163 can be configured according to requirements.

[0119] Reference Figures 7 to 9 As shown, the locking mechanism 100 of the present application has three states: Figure 7 The lock status is shown. Figure 8 Shown is the inhibited state, Fig. 9 Shown is the decoupled state.

[0120] The locked state is the state when the seat belt is locked, and the suppressed state is the state when the follower claw 140 releases the locking ratchet 120, and the follower claw 140 can suppress the ball 130 to limit the position. In this state, the seat belt can be pulled out, but the follower claw 140 suppresses the ball 130 to reduce the noise generated by the ball 130. The decoupled state is the state in which the ball 130 can drive the follower claw 140 to move to the locking ratchet 120 under the action of inertia. In this state, the mechanical vehicle sense recovery effect can ensure that when the first magnetic field and / or the second magnetic field disappear, the mechanical trigger can still work, further improving the reliability of the locking mechanism.

[0121] When the vehicle is running normally, the sensing device (sensor) senses the changes in the tilt angle and acceleration. The control device (ECU) receives the signal from the sensor and determines that there is no danger at this time. The first electromagnetic device 151 is powered off → the first sliding core 152 extends to the right (pops out) → drives the first swinging member 153 to rotate counterclockwise around the fulcrum under the reset action of the first reset spring 170; the second electromagnetic device 161 is powered on → the second sliding core 162 retracts downward (attracts) → drives the second swinging member 163 to rotate counterclockwise around the fulcrum → drives the follower claw 140 to rotate downward, thereby suppressing the mechanical vehicle feel and suppressing the rotation of the ball 130.

[0122] When the sensor determines that a dangerous situation occurs, the second electromagnetic device 161 is powered off → the second sliding core 162 extends upward → the second swinging member 163 rotates clockwise around the fulcrum and is lifted up under the action of the second return spring 180; the first electromagnetic device 151 is powered on → the first sliding core 152 retracts to the left → drives the first swinging member 153 to rotate clockwise around the fulcrum, drives the follower claw 140 to rotate upward and mesh with the ratchet, thereby completing the restraint of the occupant.

[0123] When the first electromagnetic device 151 and the second electromagnetic device 161 fail or lose power, that is, when the first magnetic field and the second magnetic field disappear, the first electromagnetic device 151 loses power → the first sliding core 152 extends to the right → the first swinging member 153 rotates counterclockwise around the fulcrum and is lifted under the restoring action of the first return spring 170; the second electromagnetic device 161 loses power → the second sliding core 162 extends upward → the second swinging member 163 rotates clockwise around the fulcrum and is lifted under the restoring action of the second return spring 180.

[0124] At this time, the mechanical vehicle feeling is restored, and the ball 130 is configured to be able to drive the claw to move to a state where the ratchet 120 is locked under the action of inertia, such as by sensing the acceleration change through the ball 130, and then pushing the claw to achieve locking.

[0125] This solution uses two electromagnetic devices to control the mechanical vehicle sense, realize active locking and suppression, so it can meet the zero-gravity seat working condition, large-angle seat adjustment, and suppress vehicle sense noise, further improving the comfort of use. At the same time, when the power is off or a fault occurs, the ECU controls the two electromagnetic devices to cut off the power at the same time, and the mechanical vehicle sense takes effect. At this time, the seat belt can still be locked.

[0126] At the same time, at a higher level, in order to ensure reliability and increase design redundancy, a position monitoring device (not shown in the figure, the same below), such as a grating, can be added to the sliding core to identify whether the sliding core is in the engaged or ejected position.

[0127] Specifically, the monitoring device detects that the sliding core is in the ejection position and records 1, and in the pull-in position and records 0. Then this signal is transmitted to the control unit ECU. When the ECU receives the signal 1, the electromagnetic device is in the power-off ejection state, so the next time the ECU should send a power-on signal; conversely, when the ECU receives the signal 0, the electromagnetic device is in the power-on pull-in state, so the next time the ECU should send a power-off signal. Through the above operation, the risk of control logic errors can be reduced and the design reliability can be further increased.

[0128] Reference Figures 10 to 14 As shown, as another embodiment of the locking mechanism 200, its housing 210, locking ratchet 220, vehicle-sensing ball 230, follower claw 240 and ball seat 290 adopt designs similar to the above-mentioned scheme, which are not described in detail here; the difference between it and the above-mentioned embodiment is that only one pusher claw assembly 250 is adopted, that is, it only has one sliding core 251 and one built-in return spring 252, thereby eliminating the external spring.

[0129] in, Fig.10 and Fig.11 The two states of inhibit and lock are shown respectively.

[0130] The present application also provides a control method for a seat belt retractor, which is applied to the seat belt retractor. The seat belt retractor includes: a mechanical trigger device and an electromagnetic control device.

[0131] Specifically, the mechanical trigger device is used to mechanically trigger the locking state of the seat belt retractor; illustratively, the mechanical trigger device includes the aforementioned follower claw 140 and the vehicle sensing ball 130 .

[0132] The electrically controlled drive device is used to electrically drive the mechanical trigger device; illustratively, the electrically controlled drive device includes the aforementioned electromagnetic device.

[0133] In some embodiments, the seat belt retractor has a locked state, a suppressed state, and a decoupled state.

[0134] When the seat belt retractor is in a locked state, the seat belt is in a locked state, and the mechanical trigger device restricts the rotation of the locking ratchet, that is, the follower claw of the above solution is engaged with the locking ratchet.

[0135] When the seat belt retractor is in the inhibited state, the mechanical trigger device is in a restricted movement state, that is, the follower claw of the above scheme restricts the free movement of the vehicle sensing ball. At this time, the mechanical trigger device cannot limit the rotation of the locking ratchet, and the seat belt is in a free pulling state.

[0136] When the seat belt retractor is in a decoupled state, the mechanical trigger device is in a released free moving state, that is, the follower claw of the above scheme releases the restriction on the vehicle sensing ball, and the mechanical trigger device can limit the rotation of the locking ratchet when moving to a preset position.

[0137] In the present application, free movement refers to the ability to move to a preset position without constraint under the action of inertia, rather than unlimited movement. The "freedom" here refers to an unconstrained state, rather than the movement result being random and arbitrary.

[0138] The control method of the seat belt retractor of the present application includes the following main steps:

[0139] S100: When it is determined that the seat belt retractor needs to be in the inhibited state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where the mechanical trigger device is restricted and cannot trigger the seat belt retractor.

[0140] In this way, when it is determined that the seat belt retractor needs to be in a suppressed state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor, that is, the vehicle sensing ball of the above solution is restricted from moving freely by the follower claw. This allows the mechanical trigger device to be restricted in non-emergency conditions, reduces the probability of false triggering of the mechanical trigger device, and improves ease of use.

[0141] At the same time, since the vehicle-sensing ball is restricted from moving freely, the noise generated by the vehicle-sensing ball when the vehicle vibrates can be reduced.

[0142] In one embodiment of the present application, refer to Fig.16 As shown, more specifically, the control method of the seat belt retractor includes the following specific steps:

[0143] S101: Acquire current vehicle information of the vehicle;

[0144] S102: When it is determined that the seat belt retractor needs to be in the inhibited state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where the mechanical trigger device is restricted and cannot trigger the seat belt retractor.

[0145] Specifically, the vehicle current information includes one or more of the vehicle external environment information and the vehicle operation information.

[0146] The vehicle external environment information includes: environmental obstacle information. Environmental obstacle information includes the vehicle external surrounding environment and road conditions, which can be obtained by using sensors, and the sensors may include but are not limited to: cameras, millimeter wave radars, laser radars and other sensor devices.

[0147] The vehicle operation information includes one or more of vehicle speed, vehicle acceleration and vehicle body angle. The vehicle operation information is obtained by using an inertial measurement unit (IMU), which can mainly detect the vehicle motion state.

[0148] Based on the acquired external environment information and vehicle operation information, the vehicle microcontroller (MCU) or driving control unit (ECU) processes the vehicle's current information and makes a comprehensive judgment to determine whether the seat belt retractor needs to be in a state. When it is determined that the seat belt retractor needs to be in an inhibited state, an inhibiting signal is sent to the electronically controlled drive device, which drives the mechanical trigger device to put it in a locked state where it is restricted and cannot trigger the seat belt retractor.

[0149] In some embodiments, step S102 may include the following specific steps:

[0150] When it is sensed based on the environmental obstacle information that there are no obstacles around the vehicle, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor.

[0151] This solution takes into account the obstacles around the vehicle to prevent collision risks. When there are no obstacles around the vehicle, that is, the vehicle is in a non-collision-prone working condition, the seat belt does not need to be locked. At this time, by limiting the mechanical trigger device, it cannot trigger the locking state of the seat belt retractor, avoiding the mechanical trigger device from generating noise due to vehicle vibration during normal driving, thereby improving riding comfort.

[0152] In some embodiments, step S102 may include the following specific steps:

[0153] When the vehicle speed is within a preset speed threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where the mechanical trigger device is restricted and cannot trigger the seat belt retractor.

[0154] When the vehicle acceleration is within a preset acceleration threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where the mechanical trigger device is restricted and cannot trigger the seat belt retractor.

[0155] It can be understood that the preset speed threshold range and the preset acceleration threshold range can be determined based on the vehicle design, vehicle type, national standards, etc.

[0156] For example, according to the national standard (GB14166), for a type 4 retractor, when the vehicle deceleration reaches 0.45g (g=9.81m / s), the retractor should be locked. The maximum value of the acceleration threshold interval preset in the present application may be less than 0.45g, for example, 0.1-0.44g.

[0157] By adopting such a scheme, it is determined whether the seat belt retractor needs to be triggered in the inhibition state based on at least one of the vehicle speed and the vehicle acceleration, so that the mechanical trigger device cannot trigger the locking state of the seat belt retractor. While meeting the safety requirements, it avoids the mechanical trigger device from generating noise due to vehicle vibration during normal driving of the vehicle, thereby improving riding comfort.

[0158] In some embodiments, step S102 may include the following specific steps:

[0159] When the vehicle body angle is within a preset vehicle body angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor.

[0160] It can be understood that the vehicle body angle threshold range can be determined based on the vehicle structure design, vehicle type and national standards.

[0161] For example, according to the national standard (GB14166), for a type 4 retractor, when the sensitive device is tilted more than 27° in any direction at the installation position specified by the manufacturer, the retractor should be locked. The maximum value of the preset vehicle body angle threshold range of the present application can be less than 27°, for example, it can be 0-26°.

[0162] For example, when a vehicle is parked on a steep slope, the posture of the vehicle body may cause the vehicle to sense a lock, but in reality the vehicle is only parked. When the vehicle needs to be started again, the seat belt may be locked and the webbing may not be pulled out, making it unusable, posing a safety risk.

[0163] By adopting such a solution, it is determined whether the seat belt retractor needs to be triggered in the inhibition state based on the vehicle body angle, so that the mechanical trigger device cannot trigger the locking state of the seat belt retractor, thereby avoiding the locking state being mistakenly triggered due to the vehicle body angle, and avoiding the situation where the seat belt retractor is mistakenly locked and the seat belt cannot be pulled out, thereby improving convenience and safety.

[0164] The above environmental obstacle information, vehicle speed, vehicle acceleration and vehicle body angle can be used to determine the state that the seat belt retractor needs to be in separately, or to make a judgment in combination with at least two of them, thereby improving accuracy, safety performance and comfort performance.

[0165] In some embodiments, the vehicle current information also includes: vehicle status information.

[0166] Specifically, the vehicle status information includes one or more of a driving mode, a seat angle, and a seat mode.

[0167] By combining vehicle status information, external environment information and vehicle operation information to comprehensively determine the state that the seat belt retractor needs to be in, the accuracy of determining the current state of the vehicle is improved.

[0168] In some embodiments, step S102 may include the following specific steps:

[0169] When the driving mode is in a state requiring trigger inhibition, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor.

[0170] Specifically, the driving modes include one or more of a comfort mode, an off-road mode, a snow mode, and the like.

[0171] For example, when the driving mode is in sport mode, low-speed creeping is likely to occur, and the vehicle may experience multiple rapid accelerations and decelerations in a short period of time during the process of getting out of trouble. In such cases, the danger is usually low because of the low speed. At this time, by limiting the mechanical trigger device, it cannot trigger the locking state of the seat belt retractor, avoiding frequent locking that may cause strangulation of the occupants, and improving the comfort of use.

[0172] By adopting such a solution, it is determined whether the seat belt retractor needs to be triggered in the inhibition state based on the driving mode, and the driving conditions under various driving modes are flexibly considered to avoid the seat belt retractor from being accidentally locked, thereby improving the convenience and comfort of use.

[0173] In some embodiments, step S102 may include the following specific steps:

[0174] When the seat angle is within a preset seat angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor.

[0175] It can be understood that the preset seat angle threshold range is determined according to the seat structure design, vehicle structure design, etc.

[0176] By adopting this solution, it is determined whether the seat belt retractor needs to be triggered in the inhibition state based on the seat angle, thereby avoiding accidental triggering of the locking state when the seat is at a large tilt angle, thereby improving user comfort.

[0177] In some embodiments, step S102 may include the following specific steps:

[0178] When the seat mode is in the zero-gravity seat mode, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where the mechanical trigger device is restricted and cannot trigger the seat belt retractor.

[0179] For example, in a vehicle with automatic driving, the seat back and seat cushion can be adjusted at a large angle in the zero-gravity seat mode, and the overall rotation is 360 degrees, which exceeds the limit angle of the mechanical trigger device triggering the locking state of the seat belt retractor, which easily causes the seat belt to lock. At this time, by limiting the mechanical trigger device, it is impossible to trigger the locking state of the seat belt retractor, thereby ensuring that the adjustment of the seat back and seat cushion will not trigger the locking of the seat belt.

[0180] By adopting this solution, it is determined whether the seat belt retractor needs to be triggered in the inhibition state based on the seat mode, thereby avoiding the false triggering of the mechanical trigger device in non-hazardous situations and improving passenger comfort.

[0181] The above driving mode, seat angle and seat mode can be used to determine the state that the seat belt retractor needs to be in separately, or combine at least two of them to make a judgment, thereby improving accuracy and thus improving safety performance and comfort performance.

[0182] In some embodiments, the state that the seat belt retractor needs to be in determined based on the vehicle external environment information and the vehicle operation information has a higher priority than the state that the seat belt retractor needs to be in determined based on the vehicle state information. It can be understood that when the vehicle acceleration is greater than the preset acceleration threshold interval and the seat mode is in the zero gravity seat mode, it should be determined that the seat belt retractor needs to be in the locked state. Such a priority judgment scheme is adopted to ensure safety performance.

[0183] In some embodiments, the control method further comprises:

[0184] S200: When it is determined that the seat belt retractor needs to be in a locked state, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the seat belt retractor in a locked state.

[0185] In this way, the locking state of the seat belt retractor is triggered when the vehicle may be in a dangerous working condition, that is, the follower claw of the above scheme is engaged with the locking ratchet, the rotation of the locking ratchet is restricted, the seat belt is locked, and safety is improved.

[0186] In one embodiment of the present application, refer to Fig.17 As shown, more specifically, the control method of the seat belt retractor includes the following specific steps:

[0187] S201: Acquire current vehicle information of the vehicle;

[0188] S202: When it is determined that the seat belt retractor needs to be in a locked state, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the seat belt retractor in a locked state.

[0189] Specifically, the vehicle current information includes: one or more of the vehicle external environment information and the vehicle operation information.

[0190] Among them, the external environment information includes: environmental obstacle information.

[0191] The vehicle operation information includes one or more of vehicle speed, vehicle acceleration and vehicle body angle.

[0192] Based on the acquired external environment information and vehicle operation information, the vehicle microcontroller (MCU) or driving control unit (ECU) processes the vehicle's current information and makes a comprehensive judgment to determine whether the seat belt retractor needs to be in a state. When it is determined that the seat belt retractor needs to be in a locked state, a locking signal is sent to the electronically controlled drive device, which drives the mechanical trigger device to force it to be triggered and keep the seat belt retractor in a locked state.

[0193] In some embodiments, step S202 may include the following specific steps:

[0194] When the vehicle speed is greater than or equal to the maximum value of the preset speed threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a forced triggering state and maintain the seat belt retractor in a locked state.

[0195] It can be understood that when the vehicle speed is greater than or equal to the maximum value of the preset speed threshold range, the vehicle is in a state with a high risk factor. At this time, it can be determined that the seat belt retractor needs to be in a locked state to prevent possible emergencies and improve safety performance.

[0196] In some embodiments, step S202 may include the following specific steps:

[0197] When the vehicle acceleration is greater than or equal to the maximum value of the preset acceleration threshold value interval, the electronically controlled drive device drives the mechanical trigger device to be in a forced triggering state and keep the seat belt retractor in a locked state.

[0198] For example, the maximum value of the preset acceleration threshold interval may be 0.45g, and when the vehicle acceleration is greater than or equal to 0.45g, it is determined that the seat belt retractor needs to be in a locked state. In this way, possible emergency situations can be prevented and safety performance can be improved.

[0199] In some embodiments, step S202 may include the following specific steps:

[0200] When the vehicle body angle is greater than or equal to the maximum value of the preset vehicle body angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the seat belt retractor in a locked state.

[0201] Exemplarily, the maximum value of the preset vehicle body angle threshold range may be 27°. On a road surface with an inclination angle exceeding 27°, the vehicle may roll over, posing a certain safety risk. In this case, it should be determined that the seat belt retractor needs to be in a locked state.

[0202] In this way, possible emergencies can be prevented and safety performance can be improved.

[0203] The above vehicle speed, vehicle acceleration and vehicle body angle may be used to determine the state that the seat belt retractor needs to be in separately, or to make a judgment in combination with at least two of them, thereby improving accuracy and balancing safety performance and comfort performance.

[0204] In some embodiments, the control method further comprises:

[0205] S300: When it is determined that the seat belt retractor needs to be in a decoupled state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor.

[0206] It can be understood that when it is determined that the seat belt retractor needs to be in a decoupled state, the electronically controlled drive device drives the mechanical trigger device to put it in a locked state that can independently trigger the seat belt retractor, that is, the follow-up claw of the above scheme releases the restriction on the vehicle sensing ball, and the vehicle sensing ball is in a free moving state. The vehicle sensing ball can push the follow-up claw to engage with the locking ratchet under the action of inertia, thereby limiting the rotation of the locking ratchet.

[0207] In one embodiment of the present application, refer to Fig.18 As shown, more specifically, the control method of the seat belt retractor includes the following specific steps:

[0208] S301: Acquire current vehicle information of the vehicle;

[0209] S302: When it is determined that the seat belt retractor needs to be in a decoupled state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor.

[0210] Specifically, the vehicle current information includes: vehicle external environment information and / or vehicle operation information;

[0211] Among them, the vehicle external environment information includes: environmental obstacle information;

[0212] The vehicle operation information includes one or more of vehicle speed, vehicle acceleration and vehicle body angle.

[0213] Based on the acquired external environment information and vehicle operation information, the vehicle microcontroller (MCU) or driving control unit (ECU) processes the vehicle's current information and makes a comprehensive judgment to determine whether the seat belt retractor needs to be in a state. When it is determined that the seat belt retractor needs to be in a decoupled state, a decoupling signal is sent to the electronically controlled drive device, which drives the mechanical trigger device to put it in a locked state that can independently trigger the seat belt retractor.

[0214] In some embodiments, step S302 may include the following specific steps:

[0215] When the vehicle speed is less than or equal to the minimum value of the preset speed threshold interval, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor.

[0216] It can be understood that when the vehicle speed is less than or equal to the minimum value of the preset speed threshold interval, the vehicle is in a low-speed driving state, and the noise of the mechanical trigger device caused by the vehicle vibration is relatively small.

[0217] Since the drive device relieves the constraints of the mechanical triggering device, energy consumption can be reduced.

[0218] In some embodiments, step S302 may include the following specific steps:

[0219] When the vehicle acceleration is less than or equal to the minimum value of the preset acceleration threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor.

[0220] It can be understood that when the vehicle acceleration is less than or equal to the minimum value of the preset acceleration threshold interval, the vehicle is in a stable driving state, and the noise of the mechanical trigger device caused by the vehicle vibration is relatively small. At the same time, since the driving device releases the restriction on the mechanical trigger device, energy consumption can be reduced.

[0221] In some embodiments, step S302 may include the following specific steps:

[0222] When the vehicle body angle is less than or equal to the minimum value of a preset vehicle body angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor.

[0223] It can be understood that when the vehicle body angle is less than or equal to the minimum value of the preset vehicle body angle threshold range, the vehicle posture is in a relatively stable state, and the vehicle body angle will not cause the mechanical trigger device to trigger the locking state of the seat belt retractor, thereby reducing energy consumption while ensuring safety.

[0224] The above vehicle speed, vehicle acceleration and vehicle body angle can be used to determine the state that the seat belt retractor needs to be in separately, or to make a judgment in combination with at least two of them, so as to improve accuracy, improve safety performance and comfort performance, and reduce energy consumption.

[0225] In some embodiments, step S302 may include the following specific steps:

[0226] When it is sensed based on environmental obstacle information that there are no obstacles around the vehicle and when the vehicle speed is less than or equal to the minimum value of a preset speed threshold interval and / or the vehicle acceleration is less than or equal to the minimum value of a preset acceleration threshold interval and / or the body angle is less than or equal to the minimum value of a preset body angle threshold interval, the electronically controlled drive device drives the mechanical trigger device to be in a locked state that can independently trigger the seat belt retractor.

[0227] By adopting this solution, environmental obstacle information is comprehensively judged together with vehicle speed, vehicle acceleration and body angle to avoid possible collision risks and improve safety performance.

[0228] In some embodiments, the control method further comprises:

[0229] When the electric control drive device is powered off, the seat belt retractor is in a decoupled state so that the mechanical trigger device can independently trigger the seat belt retractor to be in a locked state.

[0230] It can be understood that when the electric control drive device is powered off, the electric control drive device releases the restriction on the mechanical trigger device, and the mechanical trigger device is in a free moving state. The locking state of the seat belt retractor is triggered by the mechanical trigger device itself to ensure safety.

[0231] In some embodiments, when the vehicle speed is higher, the maximum value of the preset acceleration threshold interval is lower; when the vehicle speed is higher, the maximum value of the preset vehicle body angle threshold interval is lower.

[0232] It can be understood that as the vehicle speed increases, taking into account delays such as the signal acquisition frequency and the action time of the electromagnetic drive device, the maximum value of the corresponding threshold interval should also be advanced, that is, as the speed increases, the maximum value of the preset acceleration threshold interval should also be reduced synchronously.

[0233] Exemplarily, when the vehicle speed is 0-60 kmh, the maximum value of the preset acceleration threshold interval is 0.45 g, and the maximum value of the preset body angle threshold interval is 27°; when the vehicle speed increases, such as increasing to 100 kmh, the maximum value of the preset acceleration threshold interval can be reduced to 0.35 g, and the tilt angle is reduced to 20°.

[0234] By adopting such a solution, early locking is achieved and the total locking time of the seat belt retractor is reduced.

[0235] Reference Fig.19 As shown, the control method of this application is mainly based on Fig.19 The vehicle control system shown.

[0236] Among them, MCU (Motor control unit) represents the vehicle microcontroller, which serves as the brain of the vehicle for data processing and logical operations, etc. ECU (Electronic Control Unit) is a driving controller, which is mainly responsible for controls related to vehicle operation. IMU (Inertial Measurement Unit) represents an inertial measurement unit, which can mainly detect the motion state of the vehicle. Sensors represent various sensors used to detect the vehicle environment, which may include but are not limited to: cameras, millimeter-wave radars, laser radars and other sensing devices. The electromagnetic device refers to the electromagnetic device used to drive the sliding core in the aforementioned seat belt retractor, that is, the electronically controlled drive device in the control method of the present application.

[0237] Specifically, the vehicle will obtain current vehicle information while driving, and this current vehicle information is generally used to help users drive or perform intelligent control of the vehicle.

[0238] For the control method of this application, refer to Fig. 20 As shown, the main processing flow of the vehicle of this application includes: perception, processing, judgment, decision-making, and execution.

[0239] Among them, the vehicle obtains corresponding information from IMU and other sensors, and then the ECU or MCU processes the information and makes judgments on the processed information. After various judgments, it decides whether to trigger a certain working state of the seat belt retractor, and then performs the execution stage, that is, sending the corresponding electrical signal to the seat belt retractor to put it in a certain state.

[0240] More specifically, in the perception stage, the vehicle's speed, acceleration, body angle and other changes are sensed to provide signals for subsequent judgment. In the processing stage, the detected signals are filtered. In the judgment stage, the actual signals are analyzed and compared, and compared with the set thresholds to provide a basis for the next decision. In the decision stage, the results of the threshold comparison are received, the actual working conditions are comprehensively analyzed, and instructions are given. In the execution stage, instructions are received and trigger actions are carried out in place.

[0241] As a more specific solution, the above control flow is described as follows:

[0242] Perception: When the vehicle is powered on and running: sensors perceive the vehicle's internal seat status information, external body tilt angle, acceleration change information in real time; and camera sensors perceive comprehensive road condition information;

[0243] Processing: There will be a lot of harmonic interference information in the perception signal of vehicle working conditions, which needs to be filtered out to restore the actual working conditions as much as possible; (IMU refers to inertial measurement unit, which measures the acceleration and posture of objects) Usually, some filtering operations will be performed inside the IMU to ensure the validity of the output information, but considering the high reliability requirements of safety functions, the ECU also needs to perform more and higher-order filtering to further improve the removal of invalid interference (chip computing power requirements); this process will involve a lot of software algorithm optimization, measurement of actual working conditions, etc.

[0244] At the same time, in order to reduce more external interference factors, the installation environment requirements on the product side can also be optimized (sheet metal rigidity, resonance optimization, lightweight) to reduce interference from non-body conditions.

[0245] Judgment: After receiving the signal, the MCU will start signal comparison and compare the set threshold. To ensure reliability, this process will introduce optimization algorithms, such as multiple comparisons (such as comparing the threshold three times in a row), continuous monitoring (starting monitoring and comparison from outside the upper and lower limits of the threshold), etc. The automotive microcontroller (MCU) controls the electronic system in the car (equivalent to the brain of the car, with a high-processing CPU); after signal comparison, it will generate working condition judgment data, which will be recorded and archived. It provides data for subsequent optimization and fault handling.

[0246] Decision: After the MCU completes the signal comparison, it will form a preliminary version of the working condition judgment. At the same time, it is also necessary to collect and confirm the vehicle's driving status (vehicle speed, driving mode, domain control requirements), the passenger's riding status (whether there is someone, whether the belt buckle is inserted, child seat, etc.), whether the vehicle is in a dangerous situation, etc., to comprehensively determine whether to trigger the locking signal.

[0247] Principle: Passing line: When regulatory requirements are met, the corresponding locking / unlocking function is executed; Good line: On the premise that regulatory requirements are met, the corresponding locking / unlocking function is executed when the occupant has restraint needs; Excellent line: On the premise that regulatory requirements are met, the occupant's restraint needs can be sensed in advance, and the corresponding locking / unlocking function is executed in conjunction with more active safety functions.

[0248] Execution: After receiving the trigger or unlock signal, the electromagnetic device is powered on and off, and the sliding core is attracted and ejected to complete the execution or closing of the trigger action. At the same time, the ECU will record the execution status and send the seat belt execution message to the outside at the same time. (Record the working status)

[0249] Reference Fig.21As shown, as a typical process of the present application, the control method of the present application specifically includes the following steps:

[0250] S401: monitoring vehicle startup information (electromagnetic device is powered on, system performs self-check);

[0251] S402: Monitoring the external environment information of the vehicle;

[0252] S403: monitoring vehicle operation information (vehicle acceleration, vehicle speed, vehicle body angle);

[0253] S404: If the vehicle operation information is less than the set threshold, the electromagnetic device is controlled to suppress the mechanical trigger; otherwise, the suppression is released.

[0254] In some embodiments, the above process is described in detail as follows:

[0255] When the vehicle starts, the sensor system monitors the vehicle start signal and performs a system self-check. If the self-check is normal, the electromagnetic device starts to power on.

[0256] After power is turned on, the electromagnetic device switches to the inhibited state. This prevents the seat belt from being locked due to the vehicle starting on a slope, the seat at a large tilt angle, or in a zero-gravity seat state, which can cause the seat belt to be unable to be pulled out, affecting riding comfort and safety. Currently, the mechanical retractor will be locked when the tilt angle exceeds 27°.

[0257] When the self-check is abnormal, the electromagnetic device is powered off, the sliding core pops out, and the inhibition of the follow-up claw is released. At this time, the traditional mechanical vehicle feel is restored. At the same time, there should be sound and light signals inside the vehicle to remind the driver that the electronic vehicle feel has failed and that maintenance should be carried out in time.

[0258] When the vehicle is running, the sensor system collects information such as the vehicle's acceleration, speed, tilt angle, external surrounding environment, road conditions, etc.

[0259] Vehicle external surrounding environment: In the face of complex road conditions in the city, cameras, millimeter, laser radar and other sensor devices are used to collect external environmental information. For example, when people, cars, and objects suddenly appear in front of, behind, or around the vehicle, there is a risk of frontal or side collision, and the vehicle will actively (such as triggering emergency braking) or passively decelerate at the next moment, and the speed will change dramatically, which may cause the driver to lean forward and other dangerous situations. At this time, the lock should be triggered to avoid leaning forward and protect the safety of passengers.

[0260] Acceleration and speed: The current national standard stipulates that the vehicle must be locked when the acceleration reaches 0.45g. At the same time, to ensure safety, the length of the webbing should not exceed 45mm. However, when using an electromagnetic device for locking, it takes time to react from signal perception to ECU judgment and execution, and then to the electromagnetic device receiving the signal, and the sliding core then sucking and ejecting. When the vehicle speed is monitored to be too fast, in the event of danger, the electromagnetic device actuator is also required to have a faster reaction speed to lock.

[0261] At present, the national standard stipulates that the speed change rate is 25-150g / s. At 25g / s, it takes 18ms from 0-0.45g, and at 150g / s, it only takes 3ms, which leaves less time for the electromagnetic device and signal judgment.

[0262] Therefore, by adopting an advance mechanism, such as triggering the lock signal when the acceleration change reaches 0.2g (actually 0.45g), the time left for signal perception and electromagnetic device triggering is also increased, increasing the design reliability. For example, when the perceived acceleration change reaches 0.2g, the speed change is 14.4km / h, that is, the speed change exceeds 14.4km / h within 2s, and the ECU sends a speed lock.

[0263] At the same time, the current traditional mechanical vehicle sensing is passive locking. From sensing the acceleration change to the webbing locking, the total time is about 52ms, and the locking time is too long. However, the electromagnetic device can sense the speed and acceleration changes exceeding the set threshold, or sense the sudden appearance of people, cars, objects, etc. around the vehicle through the external camera, causing the vehicle speed to suddenly slow down and other unsafe situations, and then actively lock. By actively locking in advance, the total locking time is reduced, and safety is further improved.

[0264] On a road with an inclination angle exceeding 27°, the vehicle may roll over, posing a certain safety risk, and should be locked at this time.

[0265] When it is judged through perception that people, cars, objects, etc. suddenly appear around the vehicle, and there is a risk of lateral or rear collision, which may cause the driver to lean forward and other dangerous situations, the lock should be triggered at this time to avoid leaning forward and protect the safety of passengers.

[0266] When it detects that there is no risk in the external environment, the vehicle operation information (such as speed, acceleration, tilt angle, etc.) is sensed. When it exceeds the set threshold, the lock should be triggered.

[0267] At this time, the electromagnetic device is powered off and the sliding core pops out, releasing the inhibition of the vehicle-sensing follow-up claw. At this time, under the action of the steel ball, the follow-up claw is pushed to rotate to lock the ratchet, thereby restricting the movement of the webbing.

[0268] When the ECU determines that there is no danger in the outside world, the electromagnetic device is energized and the sliding core retracts, inhibiting the vehicle-feeling follow-up claw, and then inhibiting the rotation of the steel ball, thereby suppressing the mechanical vehicle sense, thereby ensuring that the seat belt can be pulled out and used normally in the zero-gravity seat condition or any seat state, avoiding the mechanical vehicle sense from being locked incorrectly in a non-dangerous situation; at the same time, it can reduce the vibration noise of the steel ball during movement, improving riding comfort.

[0269] Of course, in other application scenarios where locking, inhibition and decoupling are considered to be triggered, the above steps can be implemented.

[0270] Reference Fig. 22 As shown, the control device of the present application includes: a collection module and a driving module.

[0271] Among them, the acquisition module is used to obtain the current vehicle information of the vehicle.

[0272] The driving module is at least used for controlling the electronically controlled driving device to drive the mechanical triggering device to be in a locked state where the mechanical triggering device is restricted and cannot trigger the seat belt retractor when it is determined that the seat belt retractor needs to be in the inhibited state.

[0273] The vehicle current information includes: vehicle external environment information and / or vehicle operation information;

[0274] The vehicle external environment information includes: environmental obstacle information; the vehicle operation information includes: one or more of vehicle speed, vehicle acceleration and vehicle tilt angle;

[0275] When the seat belt retractor is in the inhibited state, the mechanical trigger device is in a state of restricted movement.

[0276] Specifically, the control method of the present application can be executed by ECU or MCU, so MCU or ECU can both serve as the above-mentioned control device.

[0277] Reference Fig.23 As shown, the electronic device 800 may include a processing device 801 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 808 to a random access memory (RAM) 803. Various programs and data required for the operation of the electronic device 800 are also stored in the random access memory (RAM) 803. The processing device 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0278] Typically, the following devices may be connected to the I / O interface 805: input devices 806 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 807 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 808 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 809. The communication device 809 may allow the electronic device 800 to communicate with other devices wirelessly or by wire to exchange data. Although Fig. 9 The electronic device 800 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Fig. 9 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0279] In particular, according to some embodiments of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 809, or installed from the storage device 808, or installed from the ROM 802. When the computer program is executed by the processing device 801, the above-mentioned functions defined in the method of some embodiments of the present application are executed.

[0280] It should be noted that the computer-readable medium of some embodiments of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above, which is not specifically limited in the present application. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0281] In some embodiments of the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus, or device. In some embodiments of the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0282] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as Hyper Text Transfer Protocol (HTTP), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), an internet (e.g., the Internet), and a peer-to-peer network (Advanced Developers Hands-On Conference, adho), as well as any currently known or future developed network.

[0283] The computer-readable medium may be included in the electronic device, or may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: when it is determined that the seat belt retractor needs to be in the inhibited state, controls the electronic control drive device to drive the mechanical trigger device to be in a locked state where the seat belt retractor is restricted and cannot be triggered.

[0284] Computer program code for performing the operations of some embodiments of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0285] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a portion of a code, which contains one or more executable instructions for implementing a specified logical function.

[0286] It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.

[0287] For example, two boxes shown in succession may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of boxes in the block diagram and / or flow chart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0288] The units described in some embodiments of the present application may be implemented by software or hardware. The units described may also be provided in a processor, for example, may be described as: a processor including an acquisition module and a drive module. The names of these units do not constitute limitations on the units themselves in certain circumstances, for example, the drive module may also be described as "a unit for, when it is determined that the seat belt retractor needs to be in an inhibited state, an electronically controlled drive device drives a mechanical trigger device to put it in a locked state where it is restricted and cannot trigger the seat belt retractor".

[0289] The functions described above in this article may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), Application Specific Standard Parts (ASSP), System on Chips (SOC), Complex Programmable Logic Device (CPLD), etc.

[0290] The present application also provides a seat belt retractor system, comprising the aforementioned electronic device, an electric control drive device and a mechanical trigger device.

[0291] Reference Fig.15 As shown, the present application also provides a vehicle 1, which includes the aforementioned electronic device or the aforementioned computer-readable medium or the aforementioned seat belt retractor system.

[0292] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0293] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0294] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0295] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A control method for a seat belt retractor, the seat belt retractor comprising: A mechanical trigger device, used to mechanically trigger the locking state of the seat belt retractor; An electrically controlled drive device, used to electrically drive the mechanical trigger device; Wherein, the mechanical trigger device comprises: A car-feeling ball, configured to move under inertia; A follower claw configured to limit the movement of the vehicle-sensing ball under the drive of the electronically controlled drive device; The control method comprises: When it is determined that the seat belt retractor needs to be in the inhibited state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor; Wherein, when it is determined that the seat belt retractor needs to be in the inhibited state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor, including: The electronically controlled drive device drives the follower claw to directly restrain the vehicle-feeling ball through the follower claw.

2. The control method according to claim 1, It is characterized in that in, The determining that the seat belt retractor is required to be in an inhibited state includes: Get the vehicle's current information; The vehicle current information includes: vehicle external environment information and / or vehicle operation information; Wherein, the vehicle external environment information includes: environmental obstacle information; The vehicle operation information includes one or more of vehicle speed, vehicle acceleration and vehicle body angle.

3. The control method according to claim 2, It is characterized in that Wherein, when it is determined that the seat belt retractor needs to be in the inhibited state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor, including: When it is sensed according to the environmental obstacle information that there are no obstacles around the vehicle, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor; and / or When the vehicle speed is within a preset speed threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor; and / or When the vehicle acceleration is within a preset acceleration threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor; and / or When the vehicle body angle is within a preset vehicle body angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a restricted locking state where the mechanical trigger device cannot be triggered.

4. The control method according to claim 2, characterized in that: The vehicle current information also includes: Vehicle status information including one or more of driving mode, seat angle, and seat mode.

5. The control method according to claim 4, It is characterized in that Wherein, when it is determined that the seat belt retractor needs to be in the inhibited state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor, further comprising: When the driving mode is in a state where the inhibition state needs to be triggered, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where the mechanical trigger device is restricted and cannot trigger the seat belt retractor; and / or When the seat angle is within a preset seat angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locked state where it is restricted and cannot trigger the seat belt retractor; and / or When the seat mode is in the zero-gravity seat mode, the electrically controlled drive device drives the mechanical trigger device to be in a locked state where the mechanical trigger device is restricted and cannot trigger the seat belt retractor.

6. The control method according to claim 1, characterized in that: The control method further comprises: When it is determined that the seat belt retractor needs to be in a locked state, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the locked state of the seat belt retractor.

7. The control method according to claim 6, It is characterized in that in, The determining that the seat belt retractor needs to be in a locked state includes: Get the vehicle's current information; The vehicle current information includes: vehicle external environment information and / or vehicle operation information; Wherein, the vehicle external environment information includes: environmental obstacle information; The vehicle operation information includes one or more of vehicle speed, vehicle acceleration and vehicle body angle.

8. The control method according to claim 7, It is characterized in that Wherein, when it is determined that the seat belt retractor needs to be in a locked state, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the locked state of the seat belt retractor, including: When the vehicle speed is greater than or equal to the maximum value of a preset speed threshold interval, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the seat belt retractor in a locked state; and / or When the vehicle acceleration is greater than or equal to the maximum value of a preset acceleration threshold interval, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the seat belt retractor in a locked state; and / or When the vehicle body angle is greater than or equal to the maximum value of a preset vehicle body angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be forcibly triggered and maintain the seat belt retractor in a locked state.

9. The control method according to claim 1, characterized in that: The control method further comprises: When it is determined that the seat belt retractor needs to be in the decoupled state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor.

10. The control method according to claim 9, It is characterized in that in, The determining that the seat belt retractor needs to be in a decoupled state includes: Get the vehicle's current information; The vehicle current information includes: vehicle external environment information and / or vehicle operation information; Wherein, the vehicle external environment information includes: environmental obstacle information; The vehicle operation information includes one or more of vehicle speed, vehicle acceleration and vehicle body angle.

11. The control method according to claim 10, It is characterized in that Wherein, when it is determined that the seat belt retractor needs to be in a decoupled state, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor, including: When the vehicle speed is less than or equal to the minimum value of a preset speed threshold interval, the electronically controlled drive device drives the mechanical trigger device to be in a locking state capable of independently triggering the seat belt retractor; and / or When the vehicle acceleration is less than or equal to the minimum value of a preset acceleration threshold value interval, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor; and / or When the vehicle body angle is less than or equal to the minimum value of a preset vehicle body angle threshold range, the electronically controlled drive device drives the mechanical trigger device to be in a locking state capable of independently triggering the seat belt retractor; and / or When it is sensed based on the environmental obstacle information that there are no obstacles around the vehicle and when the vehicle speed is less than or equal to the minimum value of a preset speed threshold interval and / or the vehicle acceleration is less than or equal to the minimum value of a preset acceleration threshold interval and / or the vehicle body angle is less than or equal to the minimum value of a preset vehicle body angle threshold interval, the electronically controlled drive device drives the mechanical trigger device to be in a locked state capable of independently triggering the seat belt retractor.

12. The control method according to any one of claims 1 to 11, characterized in that: The control method further comprises: When the electric control drive device is powered off, the seat belt retractor is in a decoupled state so that the mechanical trigger device is in a locked state capable of independently triggering the seat belt retractor.

13. The control method according to claim 8, characterized in that: When the vehicle speed is higher, the maximum value of the preset acceleration threshold interval is lower; and / or When the vehicle speed is higher, the maximum value of the preset vehicle body angle threshold interval is lower.

14. An electronic device, characterized in that: include: one or more processors; a storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the processors implement the method according to any one of claims 1 to 13.

15. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 13 is implemented.

16. A seat belt retractor system, characterized in that: It comprises the electronic device as claimed in claim 14, an electric control drive device and a mechanical trigger device.

17. A vehicle, characterized in that: include: The electronic device of claim 14 or the computer readable medium of claim 15 or the seat belt retractor system of claim 16.

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