Seat belt system control method, device, seat belt system, vehicle and medium

Abstract

The present application relates to a seat belt system control method, device, seat belt system, vehicle and medium, wherein the seat belt system control method includes determining the clutch state of the pretensioning motor and the retractor according to the first speed of the pretensioning motor and / or the second speed of the retractor when the target clutch state of the pretensioning motor and the retractor is the disengaged clutch state; and controlling the seat belt system to adjust and execute the corresponding disengagement and engagement operation according to the clutch state. The present invention can effectively improve the disengagement synthesis efficiency of the seat belt system and improve the user experience.

Description

Technical Field

[0001] The present application relates to the field of seat belt control, and in particular to a seat belt system control method, device, seat belt system, vehicle, and medium. Background Art

[0002] An active seatbelt system is an intelligent safety device that proactively adjusts the belt's tightness based on the vehicle's real-time conditions to provide enhanced protection. When pre-tensioning, the active seatbelt disengages the belt retractor after the belt is tightened to a certain level, preventing over-tightening of the belt.

[0003] However, due to factors such as product aging, voltage fluctuations, and occupant operation of the webbing, there is a certain probability of failure in the disengagement and engagement operation, which affects the quality of active seat belt pretensioning. Summary of the Invention

[0004] The embodiments of the present application provide a seat belt system control method, device, seat belt system, vehicle, and medium, which improve the seat belt system disengagement synthesis power to at least partially solve the above-mentioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of the present application, a seat belt system control method is provided, which is applied to a seat belt system, wherein the seat belt system includes a pretensioning motor and a retractor for retracting the seat belt, and the seat belt system control method includes:

[0006] When the target clutch state of the pretensioning motor and the retractor is the disengaged clutch state, determining the clutch state of the pretensioning motor and the retractor according to the first rotation speed of the pretensioning motor and / or the second rotation speed of the retractor;

[0007] The seat belt system is controlled to adjust and execute corresponding disengagement operations according to the clutch state.

[0008] According to a second aspect of the present application, a seat belt system control device is provided, which is applied to a seat belt system, wherein the seat belt system includes a pretensioning motor and a retractor for retracting the seat belt, and the seat belt system control device includes:

[0009] a determining unit, configured to determine the clutch state of the pretensioning motor and the retractor according to the first rotational speed of the pretensioning motor and / or the second rotational speed of the retractor when the target clutch state of the pretensioning motor and the retractor is the disengaged clutch state;

[0010] A control unit is used to control the seat belt system to adjust and execute corresponding disengagement operations according to the clutch state.

[0011] According to a third aspect of the present application, a seat belt system is further provided, comprising a pretensioning motor and a retractor for retracting the seat belt, wherein the seat belt system is controlled and executed by the steps of any of the above methods.

[0012] According to a fourth aspect of the present application, a vehicle is also provided, which includes a seat belt system as described above, as well as a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of any of the methods described above.

[0013] According to a fifth aspect of the present application, a computer-readable storage medium is also provided, which includes a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to perform the steps of any of the above methods.

[0014] The seatbelt system control method provided in an embodiment of the present application is applied to a seatbelt system including a pretensioner motor and a retractor for retracting a seatbelt. When the target clutch state of the pretensioner motor and the retractor is a disengaged state, the clutch state of the pretensioner motor and the retractor is determined based on a first speed of the pretensioner motor and / or a second speed of the retractor. A disengagement parameter is updated based on the clutch state, and the seatbelt system is controlled to execute a disengagement operation corresponding to the updated disengagement parameter. Thus, when the pretensioner motor and the retractor of the seatbelt system need to be disengaged, the retractor's clutch state is determined in real time by detecting the speed of the pretensioner motor and / or the retractor, and the corresponding disengagement operation is adjusted and executed based on the retractor's clutch state, enabling the seatbelt system to successfully reach the disengaged state and improving the disengagement efficiency of the seatbelt system.

[0015] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0017] 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 drawing numbers represent the same parts in the following description.

[0018] Figure 1 This is a flow chart of an embodiment of a seat belt system control method provided in an embodiment of the present invention;

[0019] Figure 2 is a block diagram of a seat belt system provided in an embodiment of the present invention;

[0020] Figure 3 is a schematic structural diagram of a seat belt system provided in an embodiment of the present invention;

[0021] Figure 4 is a timing diagram of PWM signals involved in the preload motor provided in an embodiment of the present invention;

[0022] Figure 5 This is an example diagram of the operating process of the seat belt system provided in an embodiment of the present invention;

[0023] Figure 6 is a schematic structural diagram of a seat belt system control device provided in an embodiment of the present invention;

[0024] Figure 7 2 is a schematic structural diagram of a vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not 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.

[0026] According to the background technology of this application, active seatbelts in related art, when performing pre-tensioning tasks, will perform a disengagement operation after the seatbelt is tightened to a certain degree, stopping the power supply to the seatbelt retractor and preventing over-tightening of the belt. However, due to factors such as product aging, voltage fluctuations, and occupant manipulation of the belt, there is a certain probability of failure in the disengagement operation, affecting the quality of active seatbelt pretensioning.

[0027] In order to solve the above problems, the embodiments of the present application propose a seat belt system control method, device, seat belt system, vehicle and medium. When the pretensioning motor and retractor of the seat belt system need to be in a disengaged state, the embodiments of the present application detect the rotational speed of the pretensioning motor and / or retractor to judge the clutch state of the retractor in real time, thereby adjusting and executing the corresponding disengagement operation according to the clutch state of the retractor, so that the seat belt system can successfully reach the disengaged state, and the disengagement synthesis efficiency of the seat belt system can be improved.

[0028] Specifically, the seat belt system control method in the present application can be applied to a seat belt system, and the seat belt system is controlled by the seat belt system control method. The execution subject of the seat belt system control method can be the seat belt system. For example, the seat belt system includes a main control unit for executing the method. The execution subject can also be a device equipped with the above-mentioned seat belt system, which can be a transportation equipment such as a vehicle (such as a car, an electric car, a hybrid car), a safety seat (such as a child safety seat), an entertainment device or other safety protection equipment, etc.

[0029] In the following, each embodiment will be described in detail by taking the seat belt system as an example in which the execution subject of the seat belt system control method is the seat belt system.

[0030] In this embodiment, if Figure 1 As shown, the seat belt system control method may include the following steps:

[0031] S10, when the target clutch state of the pretensioning motor and the retractor is the disengaged clutch state, determining the clutch state of the pretensioning motor and the retractor according to the first rotational speed of the pretensioning motor and / or the second rotational speed of the retractor;

[0032] In this embodiment, the seatbelt system includes a pretensioner motor and a retractor for retracting the seatbelt. The clutch state between the pretensioner motor and the retractor can be a disengaged state or an engaged state. The seatbelt system can perform an engaged clutch operation to adjust the clutch state between the pretensioner motor and the retractor to the engaged state, and can also perform a disengaged clutch operation to adjust the clutch state between the pretensioner motor and the retractor to the disengaged state.

[0033] In the clutched state, the pretensioner motor and retractor interact with each other. The active rotation of the pretensioner motor drives the retractor, and the active rotation of the retractor also drives the pretensioner motor. When the pretensioner motor and retractor are in the clutched state, the retractor's rotation can be controlled by controlling the pretensioner motor's rotation, thereby actively controlling the retraction of the seat belt and improving safety protection.

[0034] In the disengaged clutch state, the interaction between the pre-tensioning motor and the retractor can be avoided. The rotation of the pre-tensioning motor will not affect the rotation of the retractor. On the contrary, the rotation of the retractor will not drive the rotation of the pre-tensioning motor, thereby not increasing the resistance of the user to adjust the seat belt and improving the user experience.

[0035] In some embodiments, reference Figure 2The seatbelt system 100 includes a controller system 110, a pretensioning motor 120, a retractor 150, and a seatbelt 160. The seatbelt 160 is typically a webbing. A transmission mechanism 130 and a clutch 140 are provided between the pretensioning motor 120 and the retractor 150. The clutch 140's engaged / disengaged state is also the clutch state between the pretensioning motor 120 and the retractor 150. The seatbelt system 100 can be installed near a vehicle, a safety seat, or other equipment.

[0036] Among them, the module that specifically executes the method provided in this embodiment in the seat belt system 100 may be the controller system 110, and the controller system 110 includes a CAN message 210, a power module 220 and a main control module 230, such as Figure 3 shown.

[0037] Among them, the seat belt system 100 can be applied to vehicles, and the CAN message 210 can be a chassis network message, which contains information such as power gear, seat status, seat belt buckle status, driver status, vehicle pre-collision status, vehicle speed, brake pedal depth, etc., which are sent by other sensors or modules on the vehicle.

[0038] Among them, there are three power gears: ON, ACC and OFF.

[0039] There are two seat states: occupied and unoccupied.

[0040] There are two states of the seat belt buckle: seat belt fastened and seat belt unfastened.

[0041] There are two types of driver states: driver fatigue and driver non-fatigue.

[0042] There are two types of vehicle pre-collision states, namely, vehicle pre-collision and vehicle non-pre-collision.

[0043] The input of the power module 220 may be the normal power of the entire vehicle, which is used to power various modules of the seat belt system.

[0044] Among them, such as Figure 3 As shown, the main control module 230 includes a CAN signal transceiver unit 231 , a main control chip 232 , a motor drive unit 233 , a motor speed detection unit 234 and a retractor speed detection unit 235 .

[0045] Among them, the CAN signal transceiver unit 231 is used for communication between the main control chip 232 and the entire vehicle.

[0046] The main control chip 232 is used to store important information such as software code and fault codes. During operation, it communicates with the vehicle via the CAN signal transceiver unit 231, processes signals from the motor speed detection unit 234 and the retractor speed detection unit 235, and instructs the motor drive unit 233 to perform corresponding clutching or disengaging operations. These operations can be performed based on the pretensioning requirements of the seatbelt system 100 to achieve a target clutching state between the pretensioning motor 120 and the retractor 150. The target clutching state is the clutching state that is required between the pretensioning motor 120 and the retractor 150, but may not currently be achieved.

[0047] The pre-tensioning task is a task that requires active tightening of the seat belt. When the seat belt system needs to perform the pre-tensioning task, the target clutch state is the clutch-engaged state, and the corresponding clutch-engaged operation will be performed, so that the pre-tensioning motor can be in the clutch-engaged state with the retractor. The rotation of the pre-tensioning motor can drive the retractor to rotate, thereby realizing active control of the retraction of the seat belt.

[0048] When the seat belt system does not need to perform the pre-tensioning task, the target clutch state is the disengaged state. In this regard, if the clutch state is not the disengaged state, the disengaged clutch operation needs to be executed and adjusted in real time until the clutch state is the disengaged state.

[0049] Furthermore, if Figure 2 As shown, one end of the clutch 140 is connected to the transmission mechanism 130, and the other end is connected to the retractor 150. When the pretensioning motor 120 rotates forward, the transmission mechanism 130 drives one end of the clutch 140 to rotate, engaging the clutch 140 and placing it in a clutched state. When the pretensioning motor 120 continues to rotate forward, the retractor 150 also begins to rotate, retracting the seat belt 160. When the seat belt 160 has been retracted to the desired position, the seat belt system's pretensioning task is completed. At this point, the pretensioning motor 120 rotates in reverse, disengaging the clutch 140 and placing it in a disengaged state. The retractor 150 and seat belt 160 no longer rotate with the pretensioning motor 120.

[0050] Among them, such as Figure 3 As shown, the motor drive unit 233 can forward the PWM signal and steering signal received from the main control chip 232 to the pre-tensioning motor, so that it can rotate forward or reverse according to the duty cycle and steering input of the received PWM signal, so that the seat belt system can execute the clutch operation, seat belt retraction and disengagement operations.

[0051] The motor speed detection unit 234 is used to obtain the first speed of the preload motor or information related to the first speed and send it to the main control chip 232. The motor speed detection unit 234 can be a position sensor or a module that calculates the speed through motor characteristic parameters.

[0052] The retractor speed detection unit 235 includes a sensor assembly for detecting the retractor's speed and a magnetic disk mounted on the retractor. The sensor assembly includes a Hall effect sensor and a Hall effect sensor driver circuit for detecting the disk's rotation. The retractor drives the magnetic disk, causing the sensor module to generate a square wave, which is transmitted to the main control chip 232, allowing the main control chip 232 to detect the retractor's speed.

[0053] When the target clutch state of the pretensioning motor and the retractor is the disengaged state, in order to ensure successful disengagement, it is necessary to obtain the first speed of the pretensioning motor and / or the second speed of the retractor in real time or at intervals when the target clutch state of the pretensioning motor and the retractor is the disengaged state, so as to determine the clutch state of the pretensioning motor and the retractor, which clutch state refers to the actual or current clutch state of the pretensioning motor and the retractor.

[0054] Optionally, if the pre-tightening motor receives a disengagement control signal, or the pre-tightening motor is in a stopped state, the target clutch state is determined to be a disengagement state.

[0055] In this embodiment, when the seat belt system is performing a disengagement operation, a disengagement control signal is sent to the pretensioning motor. The disengagement control signal may include a PWM signal and a steering signal. The execution process of the disengagement operation is a continuous process. During this process, the pretensioning motor will also continuously receive the disengagement control signal to enable the pretensioning motor to continuously perform the disengagement operation, such as continuous reversal. When the pretensioning motor receives the disengagement control signal, the target clutch state is the disengagement state. Therefore, it is necessary to continuously monitor the clutch state of the pretensioning motor and the retractor by obtaining the first speed of the pretensioning motor and / or the second speed of the retractor.

[0056] Optionally, the seatbelt system sends a disengagement control signal to the pretensioner motor after determining that the seatbelt system has completed a pretensioning task. Pretensioning tasks include pretensioning, emergency pretensioning, pre-collision pretensioning, and auxiliary seatbelt retraction. For example, when a user just buckles their seatbelt, the auxiliary seatbelt retraction task can be executed to quickly tighten the seatbelt and improve protection. In the event of an accident, the emergency pretensioning task or the pre-collision pretensioning task can be executed to mitigate the dive caused by inertia. Pretensioning tasks must be completed in the clutched state.

[0057] Specifically, if Figure 3As shown, the seatbelt system is applied to a vehicle. CAN signal transceiver unit 231 receives CAN messages 210 from the vehicle and sends them to main control chip 232. Main control chip 232 processes the received CAN message information and determines whether a pretensioning task has been triggered based on the vehicle's status. If so, the pretensioning task is executed. When executing the pretensioning task, main control chip 232 transmits the clutch control signal, including the steering signal and PWM signal, to motor drive unit 233. Motor drive unit 233 converts the signal into an electrical signal and sends it to pretensioning motor 120 to drive it forward, allowing the seatbelt system to perform clutch engagement, seatbelt retraction, and seatbelt pretensioning operations.

[0058] More specifically, the motor drive unit 233 can be a VNHD7008AY chip. The main control chip 232 sets the chip's INA pin high, the INB pin low, and the PWM pin to input a PWM signal, driving the pretensioning motor in forward rotation. This forward rotation of the pretensioning motor drives one end of the clutch in forward rotation, completing the clutch engagement operation. The pretensioning motor then continues to rotate forward, completing the seatbelt retraction operation. When the seatbelt is fully retracted, the retractor's second speed returns to zero, and the pretensioning motor then continues to rotate forward, further tightening the seatbelt to complete the pretensioning operation.

[0059] For example, when performing the pre-tightening task, the steering signal in the control signal sent by the main control unit to the pre-tightening motor may be a signal corresponding to forward rotation, and the duty cycle setting curve of the PWM signal in the control signal may be as follows: Figure 4 As shown, the task causes the pre-tightening motor to include the following actions: initialization waiting, clutch connection, seat belt retraction, pre-tightening, slow stop, reversing delay, clutch disengagement and slow stop.

[0060] The initialization wait action has a duty cycle of 0 and a duration of T1, which can be determined based on actual needs. The clutch engagement action has a duty cycle of a smooth ramp, starting at D1 and ending at D2, with a duration of (T1-T2). The noise generated during clutch engagement should be considered, so the specific value is subject to calibration. The seatbelt retraction action has a duty cycle of D2 and a duration of (T2-T3). A larger D2 value results in faster seatbelt retraction and increased noise. The preload action has a duty cycle of D3 and a duration of (T3-T4). A larger D3 value results in a greater preload force. Different tasks require different preload force and duration, so the specific value is subject to calibration. The slow stop action has a duty cycle of a smooth ramp, with a duration of (T4-T5), starting at D3 and ending at 0. Its purpose is to bring the motor to a slow stop, minimizing noise and impact. The duty cycle of the commutation delay action is 0, and the action duration is (T5-T6). Its purpose is to allow the motor to fully stop and prepare for reverse operation. Among them, the duty cycle of the declutching action rises smoothly to D4, and then remains at D4. The action duration is (T6-T7). It is necessary to consider the effect of declutching and the overall noise. The specific values ​​involved above are subject to the calibration effect. By judging whether the pretensioning time of the seat belt reaches the set threshold, etc., it is judged whether the current pretensioning task has been completed. For example, when it is detected that the first speed of the retractor returns to zero, the pretensioning motor will run for a preset time at a fixed duty cycle. After the preset time is reached, it is judged that the pretensioning task is completed and the motor slowly stops.

[0061] Optionally, after completing the pretensioning task, the seatbelt system will disengage the belt and send a disengagement control signal to the pretensioner motor via the main control chip. The disengagement control signal may include a steering signal and a PWM signal. In this case, the steering signal will be a reverse signal, causing the pretensioner motor to reverse and disengage. When the clutch state between the pretensioner motor and the retractor reaches the disengaged state, the retractor no longer rotates with the pretensioner motor, and the pretensioner motor can be controlled to stop.

[0062] In some embodiments, the motor drive unit may be a VNHD7008AY chip. The main control chip sets the INA pin of the chip to low, the INB pin to high, and the PWM pin to input a PWM signal to drive the preload motor to reverse.

[0063] Another objective of this embodiment is to provide a method for passively detecting whether the disengagement state is successful. This method effectively addresses the issue of the seatbelt system failing to recognize and respond to unsuccessful disengagement in extreme situations, where the user can detect that the disengagement was not successful, but the seatbelt system is unable to recognize the situation and remains unresponsive. Specifically, when the pretensioner motor is in a stopped state (i.e., it does not actively rotate), for example, after completing the pretensioning task, the pretensioner motor is controlled to be stopped. At this point, the target clutch state of the pretensioner motor and retractor in the seatbelt system should also be a disengaged state, thereby increasing the user's initiative in adjusting the seatbelt and improving the user experience. Furthermore, the clutch state of the pretensioner motor and retractor can be determined based on the current first speed of the pretensioner motor and / or the second speed of the retractor to avoid situations in which the pretensioner motor and retractor remain in a clutched state, indicating an unsuccessful disengagement and requiring parameter adjustment and re-execution of the disengagement operation.

[0064] Step S20: controlling the seat belt system to adjust and execute corresponding disengagement and clutching operations according to the clutch state.

[0065] In this embodiment, if the clutch state is the disengaged state, there is no need to control the seat belt system to perform the disengagement operation. If the seat belt system is performing the disengagement operation at this time and the pretensioning motor is receiving the disengagement control signal, it is necessary to adjust the seat belt system to adjust the currently executed disengagement operation to enter the end process, including slowly stopping the pretensioning motor with a certain acceleration or time, or stopping it immediately.

[0066] If the clutch state is the disengaged state, there is no need to control the seat belt system to perform the disengagement operation. If the seat belt system does not perform the disengagement operation at this time, the process of detecting the clutch state can be closed.

[0067] If the clutch state is the engaged clutch state, it is necessary to control the seat belt system to perform the disengagement operation. If the seat belt system is performing the disengagement operation at this time and the pretensioning motor is receiving the disengagement control signal, it is necessary to continue to perform the corresponding disengagement operation and continue to send the disengagement control signal to the pretensioning motor, or adjust the relevant parameters of the disengagement operation, including adjusting the duty cycle and amplitude of the disengagement control signal sent to the pretensioning motor, so as to achieve a better disengagement effect.

[0068] If the clutch state is the engaged clutch state, it is necessary to control the seat belt system to perform the disengagement operation. If the seat belt system does not perform the disengagement operation, that is, the seat belt system is not running, it is necessary to adjust the parameters corresponding to the currently stored disengagement operation, including adjusting the stored duty cycle, amplitude, etc. of the disengagement control signal that can be sent to the pretensioning motor, and then control the seat belt system to perform the disengagement operation after the adjusted parameters, including sending the disengagement control signal with adjusted duty cycle, amplitude and other parameters to the pretensioning motor, so as to achieve a better disengagement effect.

[0069] In the technical solution disclosed in this embodiment, when the target clutch state of the pretensioning motor and the retractor is the disengaged state, that is, when the pretensioning motor and the retractor of the seat belt system need to be in the disengaged state, the clutch state of the retractor is judged in real time by detecting the rotational speed of the pretensioning motor and / or the retractor, and the corresponding disengagement operation is adjusted and executed according to the clutch state of the retractor, so that the seat belt system can successfully reach the disengaged state, thereby improving the disengagement synthesis efficiency of the seat belt system.

[0070] Based on any of the above embodiments, in another embodiment, step S20 of “controlling the seat belt system to adjust and execute a corresponding disengagement operation according to the clutch state” includes:

[0071] Get the running status of the preload motor;

[0072] The clutch state is determined based on the first speed and / or the second speed and the operating state.

[0073] In this embodiment, the operating state of the pretensioning motor is obtained. The operating state can be divided into a shutdown state and a powered state. When the pretensioning motor is in the shutdown state, the pretensioning motor will no longer rotate. If the first speed of the pretensioning motor is greater than a threshold, it may be because the user pulling the seat belt provides power to the retractor in the clutched state, and kinetic energy is transferred to the pretensioning motor, causing it to rotate. Therefore, if the pretensioning motor is in the shutdown state, the clutch state is determined based on whether the first speed is greater than a first preset speed. Furthermore, the clutch state can also be determined based on whether the first speed is greater than the first preset speed and whether the second speed is greater than a second preset speed to improve the accuracy of the determination.

[0074] When the pre-tensioning motor is in motion, the pre-tensioning motor has different effects on the retractor under different clutch states. If the pre-tensioning motor is in motion, the clutch state is determined by judging whether the second speed is greater than the fourth speed. The clutch state can also be determined by combining the first speed and the second speed to improve the judgment accuracy.

[0075] Based on any of the above embodiments, in another embodiment, step S20 of “controlling the seat belt system to adjust and execute a corresponding disengagement operation according to the clutch state” includes:

[0076] determining an idling coefficient of the seat belt system according to the first speed and the second speed, and a transmission ratio between the pretensioning motor and the retractor;

[0077] The clutch state is determined based on the idling coefficient and the preset idling coefficient.

[0078] In this embodiment, the transmission ratio between the pre-tensioning motor and the retractor is obtained. The transmission ratio is determined based on the mechanical structure between the pre-tensioning motor and the retractor, and represents the degree of interaction between the pre-tensioning motor and the retractor in the clutch state. Figure 1 As shown, the transmission ratio may be the transmission ratio of the transmission mechanism 130 between the pre-tensioning motor 120 and the retractor 150. After obtaining the first speed and the second speed, the idling coefficient of the seat belt system may be calculated according to the following formula:

[0079]

[0080] Where S1 is the first speed, S2 is the second speed, N is the transmission ratio, and γ is the idling coefficient, which indicates the degree to which the active rotation of the preload motor or retractor affects the other. If the idling coefficient is greater than a preset idling coefficient, for example, 0, it indicates a high probability of stable interaction between the preload motor and retractor, rather than active idling of the preload motor or retractor. In this case, the preload motor and retractor are in a disengaged state; otherwise, they are in an engaged state.

[0081] In this way, an idling coefficient with a specific value is calculated according to the first speed and the second speed, and the transmission ratio between the pretensioning motor and the retractor, thereby more accurately determining the clutch state of the pretensioning motor and the retractor.

[0082] Based on any of the above embodiments, in yet another embodiment of the present invention, “determining the clutch state according to the idling coefficient and the preset idling coefficient” includes:

[0083] If the preload motor receives the disengagement control signal, the first number of times the idling coefficient is greater than the preset idling coefficient and the second number of times the idling coefficient is less than the preset idling coefficient are counted;

[0084] If the value by which the first number exceeds the second number is greater than a first preset value, it is determined that the clutch state is a disengaged clutch state.

[0085] In this embodiment, referring to Figure 5 As shown in the figure, when the end condition of the current pre-tensioning task is met, the seat belt system starts to perform the disengagement operation and sends a disengagement control signal to the pre-tensioning motor. If the pre-tensioning motor receives the disengagement control signal, it is necessary to obtain the first speed S1 and the second speed S2 in real time or at intervals of a preset period, and use the above formula Calculate the idle coefficient. After the idle coefficient is detected to be greater than the preset idle coefficient for the first time, the idle coefficient statistics are started.

[0086] Specifically, the difference between the first number of times the idling coefficient is greater than the preset idling coefficient and the second number of times the idling coefficient is less than the preset idling coefficient can be counted. This process can be implemented by a counter. After the counter detects for the first time that the idling coefficient is greater than the preset idling coefficient, it makes a judgment every cycle. If the idling coefficient is not less than the preset idling coefficient in the current cycle, 1 is added. If the idling coefficient is less than the preset idling coefficient in the current cycle, 1 is subtracted. At this time, the value calculated by the counter is the first number of times the idling coefficient is greater than the preset idling coefficient minus the second number of times the idling coefficient is less than the preset idling coefficient. If the value recorded by the counter is greater than the first preset value, that is, the value of the first number exceeding the second number is greater than the first preset value, then it can be judged that a stable disengagement state has been entered.

[0087] Optionally, a first time threshold can also be set. If the recorded value does not exceed the first preset value within the first time threshold after the counter starts counting, it indicates that the disengagement effect of the currently executed disengagement operation is poor. The disengagement parameters of the disengagement operation can be updated to control the seat belt system to execute the disengagement operation after the updated disengagement parameters.

[0088] Optionally, in some specific embodiments, if the pretensioner motor is in a stopped state, the risk of not being in a disengaged state can be determined based on the first speed. If the first speed is greater than a predetermined speed, it indicates that the pretensioner motor may be passively rotating. Therefore, the idle speed coefficient of the seatbelt system can be further determined based on the first and second speeds, as well as the transmission ratio between the pretensioner motor and the retractor. The clutch state can then be determined based on the idle speed coefficient and the idle speed coefficient. This ensures the accuracy of clutch state determination while reducing computational complexity.

[0089] It is understood that if the target clutch state is the disengaged state due to the preload motor receiving the disengagement control signal, then only the determination of whether the current clutch state is the disengaged state can be used as a condition for stopping the disengagement operation. Through the above statistical process, the accuracy of determining the success of disengagement after the preload motor receives the disengagement control signal can be further improved, thereby improving the disengagement efficiency.

[0090] Based on any of the above embodiments, in yet another embodiment of the present invention, “determining the clutch state according to the idling coefficient and the preset idling coefficient” includes:

[0091] If the preload motor is in a stopped state, the statistical idling coefficient is less than the third value of the preset idling coefficient;

[0092] If the third number is greater than the second preset value, it is determined that the clutch state is the clutch-on state.

[0093] In this embodiment, referring to Figure 5As shown in the figure, after the disengagement operation is stopped, the pre-tensioning motor is in a stopped state. When the pre-tensioning motor is in a stopped state, the target clutch state is the disengagement state. In some extreme cases, the actual clutch state may not be the disengagement state. Therefore, the seat belt system continues to obtain the first speed S1 and the second speed S2 in real time or at intervals of a preset period, and calculates the speed by the formula Calculate the idle coefficient. After the idle coefficient is detected to be less than the preset idle coefficient for the first time, the idle coefficient statistics are started.

[0094] Specifically, the third time the idling coefficient is less than the preset idling coefficient can be counted. This process can be achieved through a counter. After the counter detects for the first time that the idling coefficient is less than the preset idling coefficient, it makes a judgment every cycle. If the idling coefficient is not greater than the preset idling coefficient in the current cycle, it is increased by 1. If the idling coefficient is greater than the preset idling coefficient in the current cycle, the current process is terminated. At this time, the value calculated by the counter is the third time the idling coefficient is less than the preset idling coefficient. If the value recorded by the counter is greater than the second preset value, that is, the third time is greater than the second preset value, at this time, it can be accurately judged that the current clutch state is the engaged clutch state.

[0095] Optionally, a second time threshold may be set. If the recorded value of the counter does not exceed a second preset value within the second time threshold after the counter starts counting, it indicates that the current clutch state is still disengaged and the idling coefficient exceeding the preset coefficient is an accidental occurrence. The current process is terminated, and after terminating the current process, the counter may be cleared, and the clutch state may be re-determined based on the first and second speeds. Before re-determining the clutch state based on the first and second speeds, this step may be re-executed after a determination that the first speed is greater than the preset speed indicates a risk of unsuccessful disengagement, or after a preset interval or time, thereby reducing the computational complexity.

[0096] It is understood that if the target clutch state is disengaged because the preload motor is stopped, it is possible to determine whether the current clutch state is engaged, which serves as a condition for re-executing the disengagement operation. This statistical process can further improve the accuracy of determining extreme clutch engagement situations when the preload motor is stopped, thereby increasing the disengagement power output.

[0097] Based on any of the above embodiments, in another embodiment of the present invention, step S30 of “determining the clutch state according to the idling coefficient and the preset idling coefficient” includes:

[0098] If the preload motor receives the disengagement control signal and the clutch state is the disengagement state, the disengagement operation is stopped;

[0099] If the pretensioning motor is in the stopped state and the clutch state is the engaged clutch state, the disengagement parameters of the disengagement operation are updated, and the seat belt system is controlled to perform the disengagement operation after the disengagement parameters are updated.

[0100] In this embodiment, referring to Figure 5 As shown, when the seatbelt system begins the disengagement operation, it sends a disengagement control signal to the pretensioner motor to control its reverse disengagement. When the pretensioner motor receives the disengagement control signal, it indicates that the seatbelt system is performing the disengagement operation. If the current clutch state is detected as disengaged at this time, it indicates that the disengagement operation is successful. The disengagement operation can then be stopped, and the disengagement control signal can be stopped from being sent to the pretensioner motor, causing the pretensioner motor to shut down. Specifically, the disengagement control signal pause time can be adjusted, and the seatbelt system can be controlled to stop sending the disengagement control signal to the pretensioner motor based on the pause time.

[0101] If the current clutch state is detected as the engaged clutch state after the disengagement operation has stopped and the pretensioning motor is in a stopped state, such as when the pretensioning task is not executed, then the current engaged clutch state is illegal and the disengagement operation needs to be performed again. In addition, the current illegal engaged clutch state is most likely caused by the failure of the previous disengagement operation. Therefore, it is necessary to update the stored disengagement parameters of the disengagement operation and control the seat belt system to perform the disengagement operation after the disengagement parameters are updated. The disengagement parameters of the disengagement operation can include the duty cycle, amplitude, counter threshold, etc. of the disengagement control signal, and control the seat belt system to perform the disengagement operation after the disengagement parameters are updated to further improve the success rate of disengagement.

[0102] This embodiment also provides a seat belt system control device, which can be integrated into the seat belt system, for example, Figure 6 As shown, the seat belt system control device may include:

[0103] a determining unit 1001 for determining the clutch state of the pretensioning motor and the retractor according to a first speed of the pretensioning motor and / or a second speed of the retractor when the target clutch state of the pretensioning motor and the retractor is a disengaged clutch state;

[0104] The control unit 1002 is used to control the seat belt system to adjust and execute corresponding disengagement operations according to the clutch state.

[0105] Optionally, the determining unit 1001 is further configured to:

[0106] If the pre-tightening motor receives a disengagement control signal, or the pre-tightening motor is in a stopped state, it is determined that the target clutch state is a disengagement state.

[0107] Optionally, the determining unit 1001 is further configured to:

[0108] Get the running status of the preload motor;

[0109] The clutch state is determined based on the first speed and / or the second speed and the operating state.

[0110] Optionally, the determining unit 1001 is further configured to:

[0111] determining an idling coefficient of the seat belt system according to the first speed and the second speed, and a transmission ratio between the pretensioning motor and the retractor;

[0112] Optionally, the determining unit 1001 is further configured to:

[0113] If the preload motor receives the disengagement control signal, the first number of times the idling coefficient is greater than the preset idling coefficient and the second number of times the idling coefficient is less than the preset idling coefficient are counted;

[0114] If the value by which the first number exceeds the second number is greater than a first preset value, it is determined that the clutch state is a disengaged clutch state.

[0115] Optionally, the determining unit 1001 is further configured to:

[0116] If the preload motor is in a stopped state, the statistical idling coefficient is less than the third value of the preset idling coefficient;

[0117] If the third number is greater than the second preset value, it is determined that the clutch state is the clutch-on state.

[0118] Optionally, the determining unit 1001 is further configured to:

[0119] If the pretensioning motor is in a stopped state and it is detected that the first speed is greater than a preset speed, a step of determining an idling coefficient of the seat belt system according to the first speed and the second speed, and a transmission ratio between the pretensioning motor and the retractor is executed.

[0120] Optionally, the control unit 1002 is further configured to:

[0121] If the preload motor receives the disengagement control signal and the clutch state is the disengagement state, the disengagement operation is stopped;

[0122] If the pretensioning motor is in the stopped state and the clutch state is the engaged clutch state, the disengagement parameters of the disengagement operation are updated, and the seat belt system is controlled to perform the disengagement operation after the disengagement parameters are updated.

[0123] This embodiment is applied to a seatbelt system including a pretensioner motor and a retractor for retracting a seatbelt. When the target clutch state of the pretensioner motor and retractor is a disengaged state, the clutch state of the pretensioner motor and retractor is determined based on a first speed of the pretensioner motor and / or a second speed of the retractor. Disengagement parameters are updated based on the clutch state, and the seatbelt system is controlled to execute a disengagement operation corresponding to the updated disengagement parameters. Thus, when the pretensioner motor and retractor of the seatbelt system need to be disengaged, the retractor's clutch state is determined in real time by detecting the speed of the pretensioner motor and / or retractor. The corresponding disengagement operation is then adjusted and executed based on the retractor's clutch state, enabling the seatbelt system to successfully reach the disengaged state and improving the overall disengagement efficiency of the seatbelt system.

[0124] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0125] Accordingly, embodiments of the present application also provide a seat belt system. This seat belt system can be any of the seat belt systems described in the above embodiments. The seat belt system also includes a processor with one or more processing cores, a memory with one or more computer-readable storage media, and a computer program stored in the memory and executable on the processor. The processor is electrically connected to the memory. The processor is the control center of the seat belt system, connecting the various parts of the entire seat belt system using various interfaces and lines. By running or loading software programs and / or units stored in the memory, and calling data stored in the memory, it executes various functions of the seat belt system and processes data, thereby monitoring the entire seat belt system. The processor can be a processor CPU, a graphics processor GPU, a network processor (NP), etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. In an embodiment of the present application, the processor in the seat belt system will load the instructions corresponding to the processes of one or more applications into the memory in accordance with the following steps, and the processor will run the applications stored in the memory to implement various functions, for example: when the target clutch state of the pretensioning motor and the retractor is the disengaged state, the clutch state of the pretensioning motor and the retractor is determined according to the first speed of the pretensioning motor and / or the second speed of the retractor; and the seat belt system is controlled to adjust and execute the corresponding disengagement operation according to the clutch state.

[0126] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0127] Accordingly, the embodiment of the present application further provides a vehicle, such as Figure 7 As shown, Figure 7A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 1100 may be provided with any of the seat belt systems described in the above embodiments. The vehicle 1100 also includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. It will be understood by those skilled in the art that the vehicle structure shown in the figure does not constitute a limitation of the vehicle and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0128] Processor 1101 is the control center of vehicle 1100. It connects various components of vehicle 1100 using various interfaces and circuits. By running or loading software programs and / or units stored in memory 1102 and accessing data stored in memory 1102, it executes various functions of vehicle 1100 and processes data, thereby providing overall monitoring of vehicle 1100. Processor 1101 can be a CPU, a graphics processor (GPU), a network processor (NP), etc., and can implement or execute the various methods, steps, and logic blocks disclosed in the embodiments of this application.

[0129] In the embodiment of the present application, the processor 1101 in the vehicle 1100 loads instructions corresponding to one or more application processes into the memory 1102 according to the following steps, and the processor 1101 runs the application stored in the memory 1102 to implement various functions, such as:

[0130] When the target clutch state of the pretensioner motor and the retractor of the seat belt system is the disengaged state, determining the clutch state of the pretensioner motor and the retractor according to the first speed of the pretensioner motor and / or the second speed of the retractor;

[0131] The seat belt system is controlled to adjust and execute corresponding disengagement operations according to the clutch status.

[0132] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0133] Optional, such as Figure 7 As shown, the vehicle 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107, respectively. It will be understood by those skilled in the art that Figure 7The vehicle structure shown in the figure does not constitute a limitation to the vehicle, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0134] The touchscreen display 1103 can be used to display a graphical user interface (GUI) and receive user-generated operational instructions generated by the GUI. The touchscreen display 1103 may include a display panel and a touch panel. The display panel can be used to display information input by or provided to the user, as well as various graphical user interfaces (GUIs) of the vehicle. These GUIs can be composed of graphics, text, icons, videos, or any combination thereof. Optionally, the display panel can be configured using a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like. The touch panel can be used to collect user touch operations on or near the touch panel (e.g., operations performed by a user using a finger, stylus, or any other suitable object or accessory on or near the touch panel), generate corresponding operational instructions, and execute corresponding programs in response to the operational instructions. Optionally, the touch panel can include a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal caused by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into touch point coordinates, and then sends it to the processor 1101, and can receive commands sent by the processor 1101 and execute them. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event. Then the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present invention, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize input and output functions. That is, the touch display screen 1103 can also be used as part of the input unit 1106 to realize the input function.

[0135] The radio frequency circuit 1104 may be used to transmit and receive radio frequency signals, thereby establishing wireless communication with network medical devices or other vehicles through wireless communication, and transmitting and receiving signals between network medical devices or other vehicles.

[0136] Audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and microphone. Audio circuit 1105 converts received audio data into electrical signals and transmits them to the speaker, which then converts them into sound signals for output. The microphone, on the other hand, converts collected sound signals into electrical signals, which are received by audio circuit 1105 and converted into audio data. This audio data is then output to processor 1101 for processing, then transmitted via RF circuit 1104 to, for example, another vehicle, or to memory 1102 for further processing. Audio circuit 1105 may also include an earphone jack to allow communication between an external headset and the vehicle.

[0137] The input unit 1106 may be configured to receive input numbers, character information, or user feature information (such as fingerprint, iris, or facial information), and generate keyboard, mouse, joystick, optical, or trackball signal input related to user settings and function control.

[0138] Power supply 1107 is used to power various components of vehicle 1100. Optionally, power supply 1107 can be logically connected to processor 1101 via a power management device, thereby enabling the power management device to manage charging, discharging, and power consumption. Power supply 1107 can also include one or more DC or AC power supplies, a recharging device, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0139] although Figure 7 Not shown, the vehicle 1100 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0140] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0141] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0142] To this end, an embodiment of the present application provides a computer-readable storage medium storing a plurality of computer programs. The computer programs can be loaded by a processor to execute any of the seat belt system control methods provided in the embodiments of the present application. The computer programs can execute the following steps of the seat belt system control method:

[0143] When the target clutch state of the pretensioning motor and the retractor is the disengaged clutch state, the clutch state of the pretensioning motor and the retractor is determined according to the first rotation speed of the pretensioning motor and / or the second rotation speed of the retractor;

[0144] The seat belt system is controlled to adjust and execute corresponding disengagement operations according to the clutch status.

[0145] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0146] The computer-readable storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0147] Since the computer-readable storage medium can implement the beneficially stored computer program that can be implemented by any of the seat belt system control methods provided in the embodiments of the present application, and can execute any of the seat belt system control methods provided in the embodiments of the present application, the effects can be seen in detail in the previous embodiments and will not be repeated here.

[0148] In the aforementioned seatbelt system control method, seatbelt system control device, computer-readable storage medium, seatbelt system, vehicle, etc., the descriptions of various embodiments each have their own emphasis. For portions not described in detail in a particular embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art will clearly understand that, for ease and brevity of description, the specific operating processes and beneficial effects of the aforementioned seatbelt system control device, computer-readable storage medium, computer program product, seatbelt system, and corresponding units can be referred to in the description of the seatbelt system control method in the aforementioned embodiment, and the details will not be repeated here.

[0149] The above is a detailed introduction to a seat belt system control method, device, seat belt system, vehicle, and computer-readable storage medium provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A seat belt system control method, characterized in that: Applied to a seat belt system, the seat belt system includes a pre-tensioning motor and a retractor for retracting the seat belt, and the seat belt system control method includes: When the target clutch state of the pre-tensioning motor and the retractor is a disengaged clutch state, the clutch state of the pre-tensioning motor and the retractor is determined according to the first rotational speed of the pre-tensioning motor and the second rotational speed of the retractor; or, when the pre-tensioning motor is in a stopped state, the clutch state is determined according to whether the first rotational speed is greater than a first preset rotational speed, and when the pre-tensioning motor is in a moving state, the clutch state is determined according to whether the second rotational speed is greater than a fourth rotational speed; The seat belt system is controlled according to the clutch state to adjust and execute corresponding disengagement and clutching operations.

2. The seat belt system control method according to claim 1, characterized in that: The method further comprises: If the pre-tensioning motor receives a disengagement control signal, or the pre-tensioning motor is in a stopped state, it is determined that the target clutch state is a disengagement state.

3. The seat belt system control method according to claim 1, characterized in that: Determining the clutch state of the pretensioning motor and the retractor according to the first rotation speed of the pretensioning motor and the second rotation speed of the retractor comprises: determining an idling coefficient of the seat belt system according to the first rotational speed and the second rotational speed, and a transmission ratio between the pretensioning motor and the retractor; The clutch state is determined according to the idling coefficient and a preset idling coefficient.

4. The seat belt system control method according to claim 3, characterized in that: The step of determining the clutch state according to the idling coefficient and a preset idling coefficient includes: If the preload motor receives a disengagement control signal, counting a first number of times that the idling coefficient is greater than the preset idling coefficient and a second number of times that the idling coefficient is less than the preset idling coefficient; If the value by which the first number of times exceeds the second number of times is greater than a first preset value, it is determined that the clutch state is a disengaged clutch state.

5. The seat belt system control method according to claim 3, characterized in that: The step of determining the clutch state according to the idling coefficient and a preset idling coefficient includes: If the preload motor is in a stopped state, counting the third time when the idling coefficient is less than the preset idling coefficient; If the third number is greater than a second preset value, it is determined that the clutch state is a clutch-on state.

6. The seat belt system control method according to claim 3, characterized in that: The method further comprises: If the pretensioning motor is in a stopped state and it is detected that the first speed is greater than a preset speed, the step of determining the idling coefficient of the seat belt system according to the first speed and the second speed and the transmission ratio between the pretensioning motor and the retractor is performed.

7. The seat belt system control method according to any one of claims 1 to 6, characterized in that: The step of controlling the seat belt system to adjust and execute corresponding disengagement and engagement operations according to the clutch state includes: If the pre-tightening motor receives a disengagement control signal and the clutch state is a disengagement state, then the disengagement operation is stopped; If the pretensioning motor is in a stopped state and the clutch state is a clutch-on state, the clutch-off parameters of the clutch-off operation are updated, and the seat belt system is controlled to perform the clutch-off operation after the clutch-off parameters are updated.

8. A seat belt system control device, characterized in that: Applied to a seat belt system, the seat belt system includes a pre-tensioning motor and a retractor for retracting the seat belt, and the seat belt system control device includes: a determination unit, configured to determine the clutch state of the pretensioning motor and the retractor according to a first rotational speed of the pretensioning motor and a second rotational speed of the retractor when the target clutch state of the pretensioning motor and the retractor is a disengaged clutch state; or, when the pretensioning motor is in a stopped state, determine the clutch state according to whether the first rotational speed is greater than a first preset rotational speed, and when the pretensioning motor is in a moving state, determine the clutch state according to whether the second rotational speed is greater than a fourth rotational speed; The control unit is used to control the seat belt system to adjust and execute corresponding disengagement and clutching operations according to the clutching state.

9. A seat belt system, characterized in that: It comprises a pretensioning motor and a retractor for retracting the seat belt, and the seat belt system is controlled and executed by the steps of the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: It comprises the seat belt system as claimed in claim 9, as well as a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of any one of the methods of claims 1-7.

11. A computer-readable storage medium, characterized in that: It comprises a computer program. When the computer program is run on an electronic device, the computer program is used to make the electronic device execute the steps of any one of the methods of claims 1-7.

Images