Seat collision avoidance method, device and electronic equipment
Through sensors detecting side vehicle information and adjusting the seat roll angle, the seats can be actively avoided, solving the problem of insufficient safety of existing automobile airbags and improving the safety and comfort of the cockpit.
Patent Information
- Application Number
- CN202411527725.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-30
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2044-10-30
AI Technical Summary
As a passive safety device, existing automobile airbags are insufficient in safety and may not be able to eject due to insufficient reception force, resulting in insufficient passenger safety.
The minimum distance and lateral speed of the side vehicles are detected in real time through multiple sensors. When the distance is less than the preset value and the speed is greater than the preset value, the movement duration and rolling angle of the seat are calculated, and the arc swing mechanism and four-link mechanism are used to calculate the arc swing mechanism and the four-link mechanism. Adjust the rolling angle of the seat to achieve active collision avoidance of the seat.
Before a danger occurs, the seat movement can be controlled to achieve active avoidance of impact, improve the safety of the cockpit, ensure the continuity and comfort of seat movement, and improve passenger safety.
Smart Images
Figure CN119018015B_ABST
Abstract
Description
Technical Field
[0001] The present application mainly relates to the field of automobile safety technology, and in particular to a method, device and electronic equipment for seat collision avoidance. Background Art
[0002] Currently, vehicles mainly protect passengers' safety by deploying airbags when a collision occurs. However, the key condition for the deployment of airbags is that the instantaneous acceleration generated by the collision must reach a set value. Since the vehicle body is designed with a collision buffer zone, the airbag may not be able to deploy due to insufficient receiving force. Therefore, as a passive safety device, its safety is still insufficient. Summary of the invention
[0003] The purpose of the present application is to provide a seat collision avoidance method, device and electronic equipment to solve the problem of insufficient safety of existing automobile airbag passive safety devices.
[0004] In a first aspect, the present application provides a seat collision avoidance method, the method comprising:
[0005] Obtaining the minimum distance between the side vehicle and the vehicle and the lateral speed of the side vehicle;
[0006] When the minimum distance is less than a first preset value and the lateral speed is greater than a second preset value, determining the movement duration of the vehicle seat according to the minimum distance and the lateral speed;
[0007] According to the motion duration and the preset seat motion trajectory planning, the roll angle of the seat at each moment within the motion duration is obtained;
[0008] During the movement duration, the seat is adjusted according to the rolling angle at each moment.
[0009] The above method can realize active avoidance of collision by controlling the movement of seats before danger occurs, thereby improving cabin safety.
[0010] Optionally, obtaining the minimum distance between the side vehicle and the vehicle and the lateral speed of the side vehicle includes: based on multiple sensors on the side of the vehicle, respectively obtaining the vertical distances between the side vehicle and the vehicle at the current moment; determining the minimum distance at the current moment from each vertical distance; and calculating the lateral speed based on the minimum distance at the current moment and the minimum distance at the previous moment.
[0011] By using multiple sensors to detect the minimum distance between the side vehicle and the vehicle and the lateral speed of the side vehicle, a detection result with high timeliness and accuracy can be obtained.
[0012] Optionally, the preset seat motion trajectory planning is specifically:
[0013]
[0014] Where, s(t) is the roll angle of the seat at time t, α s is the preset maximum roll angle, x w is the minimum distance, v w is the lateral velocity, k t is the time coefficient.
[0015] The use of the above-mentioned preset seat motion trajectory planning can make the seat movement process from start to stop continuous, ensure the continuity of the seat movement, and improve the comfort of the seat.
[0016] Optionally, the seat includes a swing arc mechanism, which includes a base plate, a support seat, a swing frame, a plurality of swing arms and a drive assembly, wherein the support seat is mounted on the base plate, the swing frame can be rollably arranged on the support seat through the plurality of swing arms, the drive assembly is mounted on the base plate and has a drive rod connected to the swing frame, wherein the plurality of swing arms, the upper side of the support seat and the swing frame form a four-bar linkage.
[0017] Through the four-bar linkage of the seat, the roll angle of the seat can be adjusted to realize the seat movement and achieve the seat collision avoidance effect.
[0018] Optionally, the seat is adjusted according to the roll angle at each moment during the movement duration, including: determining the required length of the moving pair of the drive assembly at each moment based on the roll angle at each moment and the kinematic equation of the four-bar linkage of the seat; and telescopically adjusting the drive rod according to the required length at each moment during the movement duration.
[0019] The roll angle of the seat is adjusted by controlling the length change of the moving pair of the driving assembly, thereby achieving the movement change of the seat.
[0020] Optionally, the formula for determining the required length of the moving pair of the driving assembly at each moment is specifically:
[0021]
[0022] Wherein, a is the length of the upper side of the support seat, b is the length of the plurality of swing arms, c is the length of the swing frame, θ1 is the angle between the first swing arm located on one side of the seat and the ground, θ2 is the angle between the second swing arm located on the other side of the seat and the ground, and α is the roll angle;
[0023]
[0024] in, , , ;
[0025]
[0026] Among them, l CF is the required length of the moving pair of the driving assembly, x0 and y0 are respectively the horizontal and vertical coordinates of the rotation fulcrum in the coordinate system with the preset point as the origin.
[0027] In a second aspect, the present application provides a seat collision avoidance device, the device comprising:
[0028] A data acquisition module, used to acquire the minimum distance between the side vehicle and the vehicle and the lateral speed of the side vehicle;
[0029] a duration determination module, configured to determine the movement duration of the vehicle seat according to the minimum distance and the lateral speed when the minimum distance is less than a first preset value and the lateral speed is greater than a second preset value;
[0030] An angle determination module, used to obtain the rolling angle of the seat at each moment within the movement duration according to the movement duration and a preset seat movement trajectory plan;
[0031] The seat adjustment module is used to adjust the seat according to the rolling angle at each moment during the movement duration.
[0032] Optionally, the data acquisition module is specifically used to: based on multiple sensors on the side of the vehicle, respectively obtain the vertical distance between the side vehicle and the vehicle at the current moment; determine the minimum distance at the current moment from each vertical distance; and calculate the lateral speed based on the minimum distance at the current moment and the minimum distance at the previous moment.
[0033] Optionally, the preset seat motion trajectory planning is specifically:
[0034]
[0035] Where, s(t) is the roll angle of the seat at time t, α s is the preset maximum roll angle, x w is the minimum distance, v w is the lateral velocity, k t is the time coefficient.
[0036] Optionally, the device also includes a swing arc mechanism, which includes a base plate, a support seat, a swing frame, a plurality of swing arms and a drive assembly, wherein the support seat is mounted on the base plate, the swing frame can be rollably arranged on the support seat through the plurality of swing arms, the drive assembly is mounted on the base plate and has a drive rod connected to the swing frame, wherein the plurality of swing arms, the upper side of the support seat and the swing frame form a four-bar linkage.
[0037] Optionally, the seat adjustment module is specifically used to: determine the required length of the moving pair of the drive assembly at each moment based on the roll angle at each moment and the kinematic equation of the four-bar linkage; and telescopically adjust the drive rod according to the required length at each moment within the movement duration.
[0038] Optionally, the formula for determining the required length of the moving pair of the driving assembly at each moment is specifically:
[0039]
[0040] Wherein, a is the length of the upper side of the support seat, b is the length of the plurality of swing arms, c is the length of the swing frame, θ1 is the angle between the first swing arm located on one side of the seat and the ground, θ2 is the angle between the second swing arm located on the other side of the seat and the ground, and α is the roll angle;
[0041]
[0042] in, , , ;
[0043]
[0044] Among them, l CF is the required length of the moving pair of the driving assembly, x0 and y0 are respectively the horizontal and vertical coordinates of the rotation fulcrum in the coordinate system with the preset point as the origin.
[0045] In a third aspect, the present application provides an electronic device, the electronic device comprising:
[0046] Memory, used to store computer programs;
[0047] The processor is used to implement the above-mentioned seat collision avoidance method steps when executing the computer program stored in the memory.
[0048] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned seat collision avoidance method steps are implemented.
[0049] For each aspect from the second to the fourth aspect and the technical effects that may be achieved by each aspect, please refer to the technical effects that can be achieved by the first aspect or the various possible solutions in the first aspect, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS
[0050] The accompanying drawings are included to provide a further understanding of the present application. They are included and constitute a part of the present application. The accompanying drawings illustrate embodiments of the present application and together with the present specification serve to explain the principles of the present application. In the accompanying drawings:
[0051] Figure 1 is a flow chart of the seat collision avoidance method provided by the present application;
[0052] Figure 2 It is a schematic diagram of a possible application scenario provided by the present application;
[0053] Figure 3 is a possible motion curve diagram of a seat provided by the present application;
[0054] Figure 4 It is a front schematic diagram of a seat provided by the present application;
[0055] Figure 5 It is a three-dimensional schematic diagram of a swing arc mechanism of a seat provided by the present application;
[0056] Figure 6 is a three-dimensional exploded view of the drive assembly provided by the present application;
[0057] Figure 7 It is a schematic diagram when the swing frame is in a horizontal state;
[0058] Figure 8 is a schematic diagram of a swing frame in a first swing state;
[0059] Fig. 9 is a schematic diagram of a swing frame in a first swing state;
[0060] Fig.10 It is a motion principle diagram of an arc swing mechanism provided by the present application;
[0061] Fig.11 is a possible motion curve diagram of a driving rod provided by the present application;
[0062] Fig.12 is a schematic diagram of a seat collision avoidance device provided by the present application;
[0063] Fig.13 It is a schematic diagram of the structure of an electronic device provided by the present application. DETAILED DESCRIPTION
[0064] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.
[0065] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.
[0066] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.
[0067] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.
[0068] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.
[0069] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.
[0070] Flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps may be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more operations may be removed from these processes.
[0071] See also Figure 1 As shown, the embodiment of the present application provides a method for seat collision avoidance, and the specific process is as follows:
[0072] Step 101: Obtain the minimum distance between the side vehicle and the vehicle and the lateral speed of the side vehicle;
[0073] In the embodiment of the present application, based on multiple sensors on the side of the vehicle, the vertical distances of the vehicles on the side from the vehicle at the current moment are respectively obtained. The minimum distance at the current moment is determined from each vertical distance, and then the lateral speed is calculated based on the minimum distance at the current moment and the minimum distance at the previous moment.
[0074] Specifically, the multiple sensors may be four sensors installed at the left and right ends of the front and the left and right ends of the rear of the vehicle, or four sensors installed at the front, back, left and right of the vehicle. The sensor can detect the surroundings of the vehicle in real time. The sensor may be a millimeter-wave radar. The linear variable frequency continuous wave emitted by the millimeter-wave radar detects obstacles around the vehicle. The echo generated after encountering the target will be mixed with the transmitted signal to generate an intermediate frequency signal. The digital signal processor processes the intermediate frequency signal to obtain information such as the distance of nearby dangerous targets. Specifically, the millimeter-wave radar uses the CAN bus and the digital signal processor for data exchange. First, the digital signal processor filters the acquired data and removes useless information. Secondly, a clustering algorithm is used to classify nearby vehicles and lock dangerous vehicles. Finally, the closest distance of the dangerous vehicle relative to the vehicle is extracted.
[0075] Below Figure 2 Take the application scenario shown as an example. Figure 2 A and B are two millimeter wave radars on the side of the vehicle. The vertical distance between the vehicle on the side and the vehicle at the current moment is obtained in real time through millimeter wave radar A and millimeter wave radar B. Specifically, with millimeter wave radar A and millimeter wave radar B as the origin of the coordinate system, it is detected that the straight-line distance from the side vehicle D to A is the shortest, and the straight-line distance from the side vehicle C to B is the shortest. The coordinates of D in the coordinate system with A as the origin are obtained as (x d ,y d ) and the coordinates of C in the coordinate system with B as the origin (x c ,y c ), then the vertical distance from the side vehicle to the vehicle obtained by the millimeter-wave radar A is |x d |, the vertical distance from the side vehicle to the vehicle obtained by millimeter wave radar B is |x c |. Determine the minimum value x from the two perpendicular distances w =min(|x c |,|x d |), x w This is the minimum distance at the current moment.
[0076] Then according to the minimum distance x at the current moment w And the minimum distance x at the previous moment w0 , calculate the lateral speed of the vehicle on the side. Among them, the minimum distance x at the previous moment w0 It can be obtained from historical records. The specific calculation formula of lateral velocity is as follows:
[0077]
[0078] Among them, v w is the lateral velocity of the side vehicle, and ∆t is the sampling interval.
[0079] After obtaining the minimum distance between the side vehicle and the host vehicle and the lateral speed of the side vehicle, it is determined whether the minimum distance is less than a first preset value and whether the lateral speed is greater than a second preset value.
[0080] Only when the minimum distance is less than the first preset value and the lateral speed is greater than the second preset value, and these two conditions are met at the same time, the car seat safety collision avoidance function is activated and the operation of the following step 102 is performed.
[0081] The embodiment of the present application uses multiple sensors to detect in real time the minimum distance between the oncoming vehicle and the vehicle and the lateral speed of the oncoming vehicle, so as to obtain real-time detection results with high accuracy, which facilitates subsequent vehicles to make accurate collision avoidance measures in a timely manner according to the detection results, thereby improving vehicle safety.
[0082] Step 102: when the minimum distance is less than the first preset value and the lateral speed is greater than the second preset value, determining the movement duration of the vehicle seat according to the minimum distance and the lateral speed;
[0083] In the embodiment of the present application, the first preset value is the minimum safety distance x s The second preset value is the maximum safe speed v s , the first preset value and the second preset value can be set according to actual needs. When the sensor detects that the minimum distance of the side vehicle is less than the first preset value, and the lateral speed of the side vehicle is greater than the second preset value, that is, x w <x s , v w >v s , activate the car seat safety collision avoidance function.
[0084] According to the minimum distance and lateral speed, the movement duration of the seat of the vehicle is determined. The movement duration is specifically expressed as:
[0085]
[0086] Among them, k t It is the time coefficient, which can be 0.2 or set according to actual needs.
[0087] Step 103: according to the motion duration and the preset seat motion trajectory planning, the rolling angle of the seat at each moment within the motion duration is obtained;
[0088] In an embodiment of the present application, in order to ensure the continuity of the seat during starting and stopping, a preset seat motion trajectory planning can be adopted, and the roll angle of the seat at each moment within the motion duration is calculated based on the determined motion duration of the seat.
[0089] Specifically, the preset seat motion trajectory planning may be harmonic trajectory planning, and the formula is as follows:
[0090]
[0091] Where, s(t) is the roll angle of the seat at time t, α s is the preset maximum roll angle, x w is the minimum distance between the side vehicle and the vehicle, v w is the lateral velocity of the side vehicle, k t is the time coefficient.
[0092] For example, assuming that the preset maximum roll angle α of the seat s The minimum safety distance of the seat safety collision avoidance system is x s =0.2m, maximum safe speed v s =0.3m / s; When the vehicle on the side exceeds the minimum safety distance, the lateral speed v w When the value is 0.5m / s, the motion curve of the seat is as follows Figure 3 As shown in the figure, the ordinate is the roll angle of the seat. Figure 3 It can be seen that in this state, the seat will quickly evade in less than 140ms, and the roll angle will be adjusted from 0° to 12°, leaving buffer space for the side collision process and improving the safety of the cabin.
[0093] Step 104: During the exercise time, the seat is adjusted according to the roll angle at each moment.
[0094] In an embodiment of the present application, after determining the roll angle of the seat at each moment within the movement duration according to the seat movement duration and the preset seat movement trajectory plan, the seat needs to be adjusted according to the roll angle at each moment.
[0095] Figure 4 It is a front schematic diagram of a seat provided by the present application; Figure 5 This is a three-dimensional schematic diagram of a swing arc mechanism of a seat provided by the present application. Figure 4-5 The seat 400 includes a swing arc mechanism, which includes a base plate 410, a support seat 420, a swing frame 430, a plurality of swing arms 440, and a drive assembly 450. The support seat 420 is mounted on the base plate 410, and the swing frame 430 is disposed on the support seat 420 in a rollable manner through the plurality of swing arms 440. The drive assembly 450 is mounted on the base plate 410 and has a drive rod 453 (refer to Figure 7). In the present embodiment, the seat 400 has two support seats 420, namely a first support seat 421 and a second support seat 422, which are arranged on the front and rear sides of the base plate 410 relatively. The first support seat 421 and the second support seat 422 are vertically mounted on the base plate 410 with their lower sides, and the upper ends of each support seat respectively include a first mounting seat 423. In the present embodiment, the plurality of swing arms 440 include four swing arms 441-444. The four corners of the swing frame 430 are respectively connected to one end of a swing arm 440, and the other end of the swing arm 440 is mounted on the mounting seat 423 of each support seat. Specifically, the outer sides of the four corners of the swing frame 430 are provided with a plurality of bolts 431. One end of each swing arm 440 is rotatably connected to the bolt 431 of the swing frame, and the other end of the swing arm 440 is rotatably connected to the first mounting seat 423. Here, the two swing arms 441 and 443 located on one side of the seat (e.g., the left side in the figure) among the four swing arms 441-44 are called first swing arms, and the two swing arms 442 and 444 located on the other side of the seat (e.g., the right side in the figure) are called second swing arms.
[0096] Figure 6 This is a three-dimensional exploded view of the drive assembly. Figure 5-6 As shown, in one embodiment, the drive assembly 450 includes a motor 451, a screw drive 452, a screw 453, a motor controller (not shown) and an assembly mounting seat 454 connected in sequence. In this embodiment, the screw drive 452 includes a worm 521 and a screw nut 522, and the screw nut 522 is stud-connected to the screw 453. Optionally, the screw drive 452 also includes a screw nut fixing seat 523. The screw nut 522 is located in the nut fixing seat 523, and the nut fixing seat 523 is fixedly connected to the assembly mounting seat 454. The motor 451, the worm 521 and the screw nut 522 are connected in sequence, and the motor 451 drives the worm 521 and the screw nut 522 to move, and the screw nut 522 rotates to drive the screw 453 to move linearly. The drive assembly 450 is fixed on the base plate 410 through the assembly mounting seat 454. The screw 453 is used as a driving rod here, and one end of it is connected to the swing frame 430. The screw rod 453 moves linearly along the direction D1 under the drive of the motor 451 (refer to Figure 7 ).
[0097] It is understandable that in other embodiments, the drive component 450 may also select other linear drive components, such as a linear motor.
[0098] Figure 7 It is a schematic diagram when the swing frame is in a horizontal state. Figure 8 is a schematic diagram of the swing frame in the first swing state. Figure 7-8As shown, when the swing frame 430 needs to roll from horizontal to right, the motor controller controls the rotation direction of the motor 451 to increase the length of the end of the screw rod 453 connected to the swing frame 430, and the extended screw rod 453 pushes the swing frame 430 to rotate in the counterclockwise direction. Fig. 9 is a schematic diagram of the swing frame in the second swing state. Figure 7 and 9 As shown, when the swing frame 430 needs to roll from horizontal to left, the motor controller controls the rotation direction of the motor 451 to reduce the length of the end of the screw rod 453 connected to the swing frame 430, and the shortened screw rod 453 drives the swing frame 430 to rotate in the clockwise direction.
[0099] The motion principle of the swing arc mechanism is as follows Fig.10 As shown, from the perspective of mechanism, the first swing arms 441 and 443 are used as the first connecting rod AC, the length direction of the swing frame 430 is used as the second connecting rod CD, the second swing arms 442 and 444 are used as the third connecting rod BD, and the upper side of the support seat 420 is used as the fourth connecting rod AB. The first connecting rod AC, the second connecting rod CD, the third connecting rod BD and the fourth connecting rod AB form a planar four-bar linkage mechanism, and the moving pair CF of the driving assembly 450, the first connecting rod AC and the fourth connecting rod AB constitute a crank moving guide rod mechanism.
[0100] For the planar four-bar linkage, the kinematic equation is:
[0101]
[0102] Among them, b is the length of the first link AC and the third link BD, c is the length of the second link CD, a is the length of the fourth link AB, θ1 is the angle between the first link AC and the ground, θ2 is the angle between the third link BD and the ground, α is the angle between the second link CD and the ground, which is also the roll angle of the seat.
[0103] For the crank movable guide rod mechanism, the length calculation formula of its movable pair CF is:
[0104]
[0105] Among them, l CF is the required length of the moving pair CF, x0 and y0 are the horizontal and vertical coordinates of the rotation fulcrum F in the coordinate system with a preset point (the preset point can be point A) as the origin. Here, the length between the screw nut 522 and the rotation axis of the motor 451 is called the moving pair length of the driving assembly 450.
[0106] For the planar four-bar linkage, the motion angle of the first link AC can be obtained by the elimination method:
[0107]
[0108] in, , , .
[0109] According to the roll angle of the seat at each moment during the motion duration obtained in the above step 103, combined with the kinematic equation of the above planar four-bar linkage, the motion angle of the first link AC and the length calculation formula of the drive rod CF, the required length of the drive rod CF at each moment can be determined.
[0110] For example, assuming that in the above four-bar linkage, a=0.2m, b=0.13m, c=0.3m, x0=0.11, y0=-0.1, according to the above Figure 3 The motion curve of the middle seat is obtained, and the motion curve of the driving rod CF is obtained as follows Fig.11 As shown, the ordinate is the length change of the driving rod CF.
[0111] Finally, during the movement time, the seat's drive rod is telescoped and adjusted according to the required length at each moment to realize the movement of the seat and complete lateral collision avoidance.
[0112] The present invention detects the minimum distance between the side vehicle and the vehicle and the lateral speed of the side vehicle through multiple sensors, and can obtain detection results with high timeliness and accuracy. When the detection result meets the triggering condition of the seat collision avoidance function, the seat collision avoidance function is activated, and according to the detection result, the length change of the moving pair is controlled through the swing arc mechanism and the four-bar linkage mechanism of the seat to adjust the roll angle of the seat, thereby realizing the movement of the seat. The seat collision avoidance method can control the seat movement in advance before the collision occurs, thereby reducing the risk caused by the collision and greatly improving the safety of the seat; in addition, the length of the seat movement time depends on the detected risk level, that is, the state of the side vehicle approaching the vehicle, which can achieve collision avoidance effects in different scenarios.
[0113] Based on the same inventive concept, the present application also provides a seat collision avoidance device, which is used to actively avoid collision by controlling the movement of the seat before the danger occurs, thereby improving the safety of the cabin, see Fig.12 As shown, the device comprises:
[0114] The data acquisition module 701 is used to acquire the minimum distance between the side vehicle and the vehicle and the lateral speed of the side vehicle;
[0115] The duration determination module 702 is used to determine the movement duration of the vehicle seat according to the minimum distance and the lateral speed when the minimum distance is less than a first preset value and the lateral speed is greater than a second preset value;
[0116] An angle determination module 703, used to obtain the rolling angle of the seat at each moment within the movement duration according to the movement duration and the preset seat movement trajectory planning;
[0117] The seat adjustment module 704 is used to adjust the seat according to the roll angle at each moment during the movement duration.
[0118] Optionally, the data acquisition module is specifically used to: based on multiple sensors on the side of the vehicle, respectively obtain the vertical distance between the side vehicle and the vehicle at the current moment; determine the minimum distance at the current moment from each vertical distance; and calculate the lateral speed based on the minimum distance at the current moment and the minimum distance at the previous moment.
[0119] Optionally, the preset seat motion trajectory planning is specifically:
[0120]
[0121] Where, s(t) is the roll angle of the seat at time t, α s is the preset maximum roll angle, x w is the minimum distance, v w is the lateral velocity, k t is the time coefficient.
[0122] Optionally, the device also includes a swing arc mechanism, which includes a base plate, a support seat, a swing frame, a plurality of swing arms and a drive assembly, wherein the support seat is mounted on the base plate, the swing frame can be rollably arranged on the support seat through the plurality of swing arms, the drive assembly is mounted on the base plate and has a drive rod connected to the swing frame, wherein the plurality of swing arms, the upper side of the support seat and the swing frame form a four-bar linkage.
[0123] Optionally, the seat adjustment module is specifically used to: determine the required length of the drive rod at each moment based on the roll angle at each moment and the kinematic equation of the four-bar linkage; and telescopically adjust the drive rod according to the required length at each moment within the movement duration.
[0124] Optionally, the formula for determining the required length of the driving rod at each moment is specifically:
[0125]
[0126] Wherein, a is the length of the upper side of the support seat, b is the length of the plurality of swing arms, c is the length of the swing frame, θ1 is the angle between the first swing arm located on one side of the seat and the ground, θ2 is the angle between the second swing arm located on the other side of the seat and the ground, and α is the roll angle;
[0127]
[0128] in, , , ;
[0129]
[0130] Among them, l CF is the required length of the driving rod, x0 and y0 are respectively the horizontal and vertical coordinates of the rotation fulcrum in the coordinate system with the preset point as the origin.
[0131] Based on the same inventive concept, an electronic device is also provided in the embodiment of the present application, and the electronic device can realize the function of the aforementioned seat collision avoidance device, referring to Fig.13 , the electronic device comprises:
[0132] At least one processor 801, and a memory 802 connected to the at least one processor 801. The specific connection medium between the processor 801 and the memory 802 is not limited in the embodiment of the present application. Fig.13 In the example, the processor 801 and the memory 802 are connected via a bus 800. Fig.13 The connections between other components are shown in bold lines, and are not intended to be limiting. The bus 800 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Fig.13 Only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor 801 can also be called a controller, and there is no limitation on the name.
[0133] In the embodiment of the present application, the memory 802 stores instructions that can be executed by at least one processor 801. The at least one processor 801 can execute the seat collision avoidance method discussed above by executing the instructions stored in the memory 802. The processor 801 can implement Fig.11 The functions of each module in the device shown.
[0134] Among them, the processor 801 is the control center of the device, and can use various interfaces and lines to connect the various parts of the entire control device. By running or executing instructions stored in the memory 802 and calling the data stored in the memory 802, the various functions of the device and process data, the device can be monitored as a whole.
[0135] In one possible design, the processor 801 may include one or more processing units, and the processor 801 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the modem processor may not be integrated into the processor 801. In some embodiments, the processor 801 and the memory 802 may be implemented on the same chip, and in some embodiments, they may also be implemented separately on separate chips.
[0136] The processor 801 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the seat collision avoidance method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.
[0137] The memory 802 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 802 may include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (Random Access Memory, RAM), a static random access memory (Static Random Access Memory, SRAM), a programmable read-only memory (Programmable Read Only Memory, PROM), a read-only memory (Read Only Memory, ROM), an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a magnetic memory, a disk, an optical disk, etc. The memory 802 is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 802 in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.
[0138] By programming the processor 801, the code corresponding to the seat collision avoidance method described in the above embodiment can be fixed into the chip, so that the chip can execute the code when running. Figure 1 The steps of the seat collision avoidance method of the embodiment shown are as follows: How to design and program the processor 801 is a technique known to those skilled in the art and will not be described in detail here.
[0139] Based on the same inventive concept, an embodiment of the present application further provides a storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer executes the seat collision avoidance method discussed above.
[0140] In some possible implementations, various aspects of the seat collision avoidance method provided in the present application may also be implemented in the form of a program product, which includes a program code. When the program product is run on an apparatus, the program code is used to enable the control device to execute the steps of the seat collision avoidance method according to various exemplary embodiments of the present application described above in this specification.
[0141] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.
[0142] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0143] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0144] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.
[0145] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.
Claims
1. A seat collision avoidance method, characterized in that: The method comprises: Obtaining the minimum distance between the side vehicle and the vehicle and the lateral speed of the side vehicle; When the minimum distance is less than a first preset value and the lateral speed is greater than a second preset value, determining the movement duration of the vehicle seat according to the minimum distance and the lateral speed; According to the motion duration and the preset seat motion trajectory planning, the roll angle of the seat at each moment within the motion duration is obtained, wherein the preset seat motion trajectory planning is specifically: ， s(t) is the roll angle of the seat at time t, α s is the preset maximum roll angle, x w is the minimum distance, v w is the lateral velocity, k t is a time coefficient, the seat comprises a swing arc mechanism, the swing arc mechanism comprises a base plate, a support seat, a swing frame, a plurality of swing arms and a driving assembly, the support seat is mounted on the base plate, the swing frame is rollably arranged on the support seat through the plurality of swing arms, the driving assembly is mounted on the base plate and has a driving rod connected to the swing frame, wherein the plurality of swing arms, the upper side of the support seat and the swing frame form a four-bar linkage; Based on the roll angle at each moment and the kinematic equation of the four-bar linkage, the required length of the drive rod at each moment is determined; within the movement duration, the drive rod is telescopically adjusted according to the required length at each moment.
2. The method according to claim 1, characterized in that The obtaining of the minimum distance between the side vehicle and the vehicle and the lateral speed of the side vehicle includes: Based on multiple sensors on the side of the vehicle, the vertical distance between the side vehicle and the vehicle at the current moment is respectively obtained; Determine the minimum distance at the current moment from each vertical distance; The lateral speed is calculated according to the minimum distance at the current moment and the minimum distance at the previous moment.
3. The method according to claim 1, characterized in that The formula for determining the required length of the driving rod at each moment is specifically: Wherein, a is the length of the upper side of the support seat, b is the length of the plurality of swing arms, c is the length of the swing frame, θ1 is the angle between the first swing arm located on one side of the seat and the ground, θ2 is the angle between the second swing arm located on the other side of the seat and the ground, and α is the roll angle; in, , , ; Among them, l CF is the required length of the driving rod, x0 and y0 are respectively the horizontal and vertical coordinates of the rotation fulcrum in the coordinate system with the preset point as the origin.
4. A seat collision avoidance device, characterized in that: The device comprises: A data acquisition module, used to acquire the minimum distance between the side vehicle and the vehicle and the lateral speed of the side vehicle; a duration determination module, configured to determine the movement duration of the vehicle seat according to the minimum distance and the lateral speed when the minimum distance is less than a first preset value and the lateral speed is greater than a second preset value; The angle determination module is used to obtain the roll angle of the seat at each moment within the movement duration according to the movement duration and the preset seat movement trajectory planning, wherein the preset seat movement trajectory planning is specifically: ， s(t) is the roll angle of the seat at time t, α s is the preset maximum roll angle, x w is the minimum distance, v w is the lateral velocity, k t is a time coefficient, the seat comprises a swing arc mechanism, the swing arc mechanism comprises a base plate, a support seat, a swing frame, a plurality of swing arms and a driving assembly, the support seat is mounted on the base plate, the swing frame is rollably arranged on the support seat through the plurality of swing arms, the driving assembly is mounted on the base plate and has a driving rod connected to the swing frame, wherein the plurality of swing arms, the upper side of the support seat and the swing frame form a four-bar linkage; The seat adjustment module determines the required length of the drive rod at each moment based on the roll angle at each moment and the kinematic equation of the four-bar linkage; and telescopically adjusts the drive rod according to the required length at each moment within the movement duration.
5. The device according to claim 4, characterized in that The data acquisition module is specifically used for: Based on multiple sensors on the side of the vehicle, the vertical distance between the side vehicle and the vehicle at the current moment is respectively obtained; Determine the minimum distance at the current moment from each vertical distance; The lateral speed is calculated according to the minimum distance at the current moment and the minimum distance at the previous moment.
6. The device according to claim 4, characterized in that The formula for determining the required length of the driving rod at each moment is specifically: Wherein, a is the length of the upper side of the support seat, b is the length of the plurality of swing arms, c is the length of the swing frame, θ1 is the angle between the first swing arm located on one side of the seat and the ground, θ2 is the angle between the second swing arm located on the other side of the seat and the ground, and α is the roll angle; in, , , ; Among them, l CF is the required length of the driving rod, x0 and y0 are respectively the horizontal and vertical coordinates of the rotation fulcrum in the coordinate system with the preset point as the origin.
7. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to implement the method steps of any one of claims 1 to 3 when executing a computer program stored in the memory.
8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of claims 1 to 3 are implemented.