Anti-pinch method and device for automobile seat and storage medium

Abstract

The invention discloses an anti-pinch method and device for an automobile seat and a storage medium, the method comprises a sensing step, a decision step and an execution step, and the method comprises the following steps: S1, sensing: collecting current data when a motor in a seat system moves, and processing the current data to obtain current data In; converting the processed current data into a current change rate delta I; hall sensor data in a seat system are collected, Hall pulse counting is obtained, integration is converted into an absolute position P, and then the speed change rate delta V is obtained; s2, decision making: setting a current change threshold value delta It, setting a speed change threshold value delta Vt, and judging that the seat system needs to enter an anti-pinch state only when delta I is greater than delta It and delta V is greater than delta Vt; after it is judged that anti-pinch needs to be triggered, the execution module controls the corresponding motor to operate reversely till the reverse operation distance reaches a set value, and then the seat system exits from the anti-pinch state. According to the invention, the stability problem of an anti-pinch algorithm is solved, and the error reversal rate in the movement process is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile seats, and in particular relates to an anti-pinch method, device and storage medium for automobile seats. Background Art

[0002] At present, the automotive industry is developing rapidly. With the increasing requirements of users for car riding space, comfort and life functions, car seats, as the largest component in the car, are becoming increasingly diverse in terms of functions, shapes, adjustable directions and combination modes of multiple seats. With the increase in car seat functions and adjustment directions, the anti-pinch function of seats is becoming more and more important, which plays a role in preventing damage to items in the car or personal injury to passengers during seat adjustment.

[0003] In the existing anti-pinch solutions of various automobile companies and parts companies, motor current value, motor Hall number or a combination of the two is widely used as the input of seat anti-pinch, and then the current threshold and / or Hall technology threshold / Hall number change rate threshold / Hall pulse width threshold, etc. are compared to finally determine whether the anti-pinch function is triggered. The existing solutions can only basically meet the requirements of the seat anti-pinch function, but there are still problems such as difficulty in threshold selection and fluctuations in current and Hall values ​​causing the counter to falsely trigger the anti-pinch function.

[0004] For example, patent CN201811243305X is a car electric seat anti-pinch control method and controller based on motor current ripple. It collects the current ripple signal of the seat motor and determines whether to trigger the anti-pinch function after calculation and processing. Patent CN2020102179134 is a car memory seat anti-pinch control circuit and method, which also determines whether to trigger the anti-pinch function based on the motor current.

[0005] When the current threshold is used alone to determine whether to trigger the anti-pinch function, it is possible that the motor will be falsely triggered due to current overshoot when starting, or falsely triggered due to the large current of the whole machine caused by low ambient temperature; when the Hall count threshold, Hall number change rate threshold, Hall pulse width threshold, etc. are used alone, false triggering is likely to occur during the soft start or soft stop phase of the PWM speed regulating motor; even if the two are combined, false triggering is likely to occur in the face of ambient temperature changes and input voltage fluctuations. Therefore, it is necessary to propose a new anti-pinch method for car seats to reduce false triggering during movement. Summary of the invention

[0006] In order to solve the above technical problems, the purpose of the present invention is to provide a method, device and storage medium for preventing automobile seat from being pinched, so as to solve the stability problem of the anti-pinch algorithm and reduce the false reversal rate during movement.

[0007] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is as follows:

[0008] In a first aspect of the present invention, the present invention proposes a method for preventing automobile seat pinching, comprising a sensing step, a decision step and an execution step, as follows:

[0009] S1, sensing step: collect the current data of the motor in the seat system when it moves, process the current data, filter out abnormal values ​​and high-frequency component data caused by abnormal factors in the seat system, and obtain the current data I n ;

[0010] The processed current data is converted into the current change rate ΔI = (I n+1 -I n ) / I n ;

[0011] Collect the Hall sensor data in the seat system, obtain the Hall pulse count, and convert the Hall pulse count integral into the absolute position P, that is, Among them, H n It refers to the distance the seat moves each time;

[0012] According to the absolute position data, it is converted into the speed change rate ΔV = (V n+1 -V n ) / V n , where V n =(H n -H n-1 ) / (T n -T n-1 ), T n -T n-1 It refers to the time difference between two detected absolute positions;

[0013] S2. Decision step: Setting the current change threshold ΔI t , set the speed change threshold ΔV t , only when ΔI>ΔI t And ΔV>ΔV t When the seat system enters the anti-pinch state;

[0014] S3, execution step: after determining that the anti-pinch function needs to be triggered, the execution module controls the corresponding motor to run in the reverse direction until the reverse running distance reaches the set value, and then the seat system exits the anti-pinch state;

[0015] Repeat steps S1-S3 to continuously detect the seat system status and determine whether the anti-pinch function needs to be activated.

[0016] Preferably, in the sensing step S1, the collected current data is processed by median filtering and mean filtering. n The calculation method is I n =1(Imid +I mid+1 +I mid+2 +…) / N, where I mid , I mid+1 , I mid+2 , …refers to the current data values ​​available after processing in one data collection.

[0017] Preferably, in the sensing step S1, according to the standard current I of the motor at each position when it is operating normally c , forming standard data. After collecting and processing the current data, the actual current data I n The standard current I under the corresponding conditions in the standard data c Compare;

[0018] When the current data I n When the limit is exceeded, the actual current data I n With the corresponding standard current I c Make a difference and get the compensation value I0, that is, I0 = I n -I c , the current data collected this time and in the future are processed to obtain the current data I n The compensation value I0 is added, that is, I n '=I n +I0;

[0019] When the current data I n When the limit is not exceeded, the actual current data I n Calculate the current change rate.

[0020] Preferably, in step S1, according to the standard Hall pulse count H of each position motor when it is operating normally, c , forming standard data. After collecting and processing the Hall sensor data, first count the actual Hall pulse H n The standard Hall pulse count H under the corresponding conditions in the standard data c Compare;

[0021] When the Hall pulse count H n When the limit is exceeded, the actual Hall pulse count H n The corresponding standard Hall pulse count H c Make a difference and get the compensation value H0, that is, H0 = H n -H c The Hall pulse count data collected this time and in the future are processed to obtain the Hall pulse count H n The compensation value H0 is added, that is, H n '=H n +H0;

[0022] When the Hall pulse count H n When the limit is not exceeded, the actual Hall pulse count H n Calculate the rate of change of speed.

[0023] Preferably, the current change threshold and the speed change threshold are fixed values.

[0024] Preferably, in step S2, a plurality of current change thresholds are obtained according to the current change rate of the motor at the corresponding maximum safety anti-pinch force obtained when the motor at each position operates normally, as the current change threshold of the corresponding temperature and voltage conditions.

[0025] Preferably, in step S2, a plurality of speed change thresholds are obtained according to the speed change rate at the corresponding maximum safety anti-pinch force obtained when the motors at each position are operating normally, as the speed change threshold for the corresponding temperature and voltage conditions.

[0026] Preferably, in step S3, the execution process includes five states: waiting, observing, anti-pinch triggering, reverse control and exiting anti-pinch;

[0027] When the motor is stationary, the seat system stays in a waiting state;

[0028] When the motor starts to move, the seat system enters the observation state and continues to run steps S1-S3;

[0029] When the seat system determines that the anti-pinch conditions are met, it enters reversal control and returns to the waiting state after the reversal is completed; if the anti-pinch is not triggered until the motor stops, the seat system directly returns to the waiting state.

[0030] In the second aspect of the present invention, a device for preventing automobile seats from being pinched is proposed, comprising a unit for executing the above-mentioned method for preventing automobile seats from being pinched, comprising a seat system, as well as a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the above-mentioned method for preventing automobile seats from being pinched is implemented when the processor executes the computer program.

[0031] In a third aspect of the present invention, the present invention proposes a storage medium for preventing automobile seat from being pinched, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned method for preventing automobile seat from being pinched is implemented.

[0032] Beneficial effects:

[0033] The present invention solves the stability problem of the seat anti-pinch system, can effectively identify the anti-pinch triggering conditions while reducing the probability of false triggering of the anti-pinch. The present invention has the following advantages: it is not affected by the motor soft start and stop strategy; it is not affected by ambient temperature and power supply voltage fluctuations; it is less affected by the aging of mechanical structures and electronic appliances. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Shown is a logical schematic diagram of the present invention;

[0035] Figure 2 The figure shows a schematic diagram of the anti-pinch test, wherein the upper part is a schematic diagram of the change of current data and Hall sensor data, and the lower part is a schematic diagram of the speed change rate and the current change rate.

[0036] Figure 3 A schematic diagram showing the status of each stage in the execution step. DETAILED DESCRIPTION

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0038] like Figure 1-3 As shown, the present invention proposes a method for preventing automobile seats from being pinched, which determines whether to enter an anti-pinch state based on the seat movement distance and the change in motor current. The method for preventing automobile seats from being pinched is based on a perception module, a decision module, and an execution module, and includes a perception step, a decision step, and an execution step, as follows:

[0039] S1. Sensing step: The sensing module is used to collect motor current data and Hall sensor data and process the data. It is easy to understand that the motor current data and Hall sensor data are collected once every specific time interval, and the following n refers to the number of times the data is collected.

[0040] The current data of the motor in the seat system when it moves is collected, and the current data is processed to filter out abnormal values ​​and high-frequency component data caused by abnormal factors in the seat system (high-frequency component data refers to the current fluctuation data caused by the relative movement of the carbon brush and the commutator, and the current fluctuation data caused by the force on the motor due to the mechanical structure when the screw and the gear box move), and the current data I is obtained. n ;

[0041] The processed current data is converted into the current change rate ΔI = (I n+1 -I n ) / I n .

[0042] Collect the Hall sensor data in the seat system, obtain the Hall pulse count, and convert the Hall pulse count integral into the absolute position P, that is, Among them, H n It refers to the distance the seat moves each time.

[0043] According to the absolute position data, it is converted into the speed change rate ΔV = (V n+1 -V n ) / V n , where the speed V n The calculation method is the ratio of position difference to time difference, that is, V n =(H n -H n-1 ) / (T n -T n-1 ), where T n -T n-1 It refers to the time difference between two detected absolute positions, which can be understood as one or more detection cycles, in ms.

[0044] One or more motors can be set in the seat system according to needs. It is easy to understand that the sensing module collects the current data and Hall sensor data corresponding to each motor.

[0045] Preferably, factors such as sensor error, rail friction, screw friction, and gearbox gear in the seat system may lead to abnormal data and high-frequency component data in the current data collected by the detection. The present invention processes the collected current data by median filtering and mean filtering. The current data I n The calculation method is I n =1(I mid +I mid+1 +I mid+2 +…) / N, where I mid , I mid+1 , I mid+2 , …refers to the current data value after processing in one data collection.

[0046] Preferably, the present invention also takes into account the aging of the motor and mechanical structure in the seat system, and compensates and corrects the data collected and processed by the sensing module to avoid inaccurate data after long-term use, which may easily trigger the anti-pinch function by mistake. Specifically, based on the standard current I of the motors in each position when the new seats are in different temperatures and different voltages, and when simulating different usage conditions, c and standard Hall pulse count H c , forming standard data. After collecting and processing the current data and Hall sensor data, the actual current data I n and the actual Hall pulse count H n Respectively with the standard current I under the corresponding conditions in the standard data c And standard Hall pulse count H c Compare.

[0047] When the current data I nWhen the limit is exceeded, the actual current data I n With the corresponding standard current I c Make a difference and get the compensation value I0, that is, I0 = I n -I c The current data collected this time and in the future are processed to obtain the current data I n The compensation value I0 is added, that is, I n '=I n +I0. When the current data I n When the limit is not exceeded, the actual current data I n Calculate the current change rate. It is easy to understand that after obtaining the standard current data, the range value formed based on the data is a reasonable fluctuation range. When the actual current data I n If the current data I n It is reasonable data, otherwise it is considered as exceeding the limit.

[0048] When the Hall pulse count H n When the limit is exceeded, the actual Hall pulse count H n The corresponding standard Hall pulse count H c Make a difference and get the compensation value H0, that is, H0 = H n -H c The Hall pulse count data collected this time and in the future are processed to obtain the Hall pulse count H n The compensation value H0 is added, that is, H n '=H n +H0. When the Hall pulse count H n When the limit is not exceeded, the actual Hall pulse count H n Calculate the speed change rate. It is easy to understand that after obtaining the standard Hall pulse count, the range value formed based on this data is a reasonable fluctuation range. When the actual Hall pulse count H n If the Hall pulse count is within this range, n It is reasonable data, otherwise it is considered as exceeding the limit.

[0049] S2, decision-making step: The decision module compares the current change rate ΔI and speed change rate ΔV obtained by the perception module with the corresponding thresholds. When the current change rate and speed change rate are both greater than the corresponding thresholds, the corresponding motor triggers the anti-pinch state and the seat system enters the anti-pinch state. Specifically, the decision module sets the current change threshold ΔI t , set the speed change threshold ΔV t , only when ΔI>ΔI t And ΔV>ΔV t , the seat system enters the anti-pinch state.

[0050] It is easy to understand that when the seat system contains multiple motors, whether each motor needs to trigger the anti-pinch state is determined based on whether its own current change rate and speed change rate are greater than the threshold.

[0051] Preferably, the current change threshold and the speed change threshold are related to the safety anti-pinch force, that is, the current change threshold and the speed change threshold are based on the current change rate and speed change rate of the motor at the maximum safety anti-pinch force. Generally, a fixed current change threshold and speed change threshold can be set.

[0052] Furthermore, based on the current change rate and speed change rate of the motor at the corresponding maximum safety anti-pinch force obtained when the new seat is at different temperatures and different voltages, and when simulating different usage conditions, the current change threshold and speed change threshold under the corresponding temperature and voltage conditions are used.

[0053] S3, execution steps: The function of the execution module is to drive the corresponding motor to perform the reversal action. After the decision module determines that the anti-pinch function needs to be triggered, the execution module controls the corresponding motor to run in the reverse direction until the reverse running distance reaches the set value, and then the seat system exits the anti-pinch state.

[0054] Repeat steps S1 to S3 to continuously detect the seat system status and determine whether the anti-pinch function needs to be activated.

[0055] like Figure 2 As shown in FIG. 1 , when the motor movement in the seat system is blocked, the rate of change of the motor current increase and the motor speed decrease reaches a calibrated threshold, the anti-pinch function is triggered. Figure 2 It can be seen that the seat system will enter the anti-pinch state only when the current change rate and speed change rate exceed the corresponding thresholds at the same time.

[0056] From the perspective of system status, the state transition of the anti-pinch function and the execution process of the execution module include the following stages:

[0057] Wait, observe, anti-pinch trigger, reverse control, exit anti-pinch.

[0058] When the motor is stationary, the execution module stays in the waiting state. When the motor starts to move, the execution module enters the observation state, and the perception module and decision module continue to run the anti-pinch algorithm. When the decision module determines that the anti-pinch condition is met, the execution module enters the reverse control and returns to the waiting state after the reversal is completed; if the anti-pinch is not triggered until the motor stops, the execution module directly returns to the waiting state, such as Figure 3 shown.

[0059] In the present invention, the seat system refers to an existing conventional seat structure, including a seat and one or more motors. The present invention does not impose any specific restrictions on the seat system.

[0060] The present invention also proposes a device for preventing automobile seats from being pinched, comprising a unit for executing the above-mentioned method for preventing automobile seats from being pinched, including a seat system, as well as a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the above-mentioned method for preventing automobile seats from being pinched is implemented when the processor executes the computer program.

[0061] The present invention also proposes a storage medium for preventing automobile seat from being pinched, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned method for preventing automobile seat from being pinched is implemented.

[0062] The embodiments provided by the present invention are described in detail above. Specific examples are used herein to describe the principles and implementation methods of the present invention, and the description of the above embodiments is only used to help understand the core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A method for preventing automobile seats from being pinched. It is characterized in that It includes perception steps, decision steps and execution steps, as follows: S1, sensing step: collect the current data of the motor in the seat system when it moves, process the current data, filter out abnormal values ​​and high-frequency component data caused by abnormal factors in the seat system, and obtain the current data I n ; The processed current data is converted into the current change rate ΔI = (I n+1 -I n ) / I n ; Collect the Hall sensor data in the seat system, obtain the Hall pulse count, and convert the Hall pulse count integral into the absolute position P, that is, Among them, H n It refers to the distance the seat moves each time; According to the absolute position data, it is converted into the speed change rate ΔV = (V n+1 -V n ) / V n , where V n =(H n -H n-1 ) / (T n -T n-1 ), T n -T n-1 It refers to the time difference between two detected absolute positions; S2. Decision step: Setting the current change threshold ΔI t , set the speed change threshold ΔV t , only when ΔI>ΔI t And ΔV>ΔV t When the seat system enters the anti-pinch state; S3, execution step: after determining that the anti-pinch function needs to be triggered, the execution module controls the corresponding motor to run in the reverse direction until the reverse running distance reaches the set value, and then the seat system exits the anti-pinch state; Repeat steps S1-S3 to continuously detect the seat system status and determine whether the anti-pinch function needs to be activated.

2. The anti-pinch method for automobile seats according to claim 1, It is characterized in that In step S1, the collected current data is processed by median filtering and mean filtering. n The calculation method is I n =1(I mid +I mid+1 +I mid+2 +…) / N, where I mid , I mid+1 , I mid+2 , …refers to the current data value after processing in one data collection.

3. The anti-pinch method for automobile seats according to claim 1, It is characterized in that In step S1, according to the standard current I of each position motor when it is operating normally c , forming standard data. After collecting and processing the current data, the actual current data I n The standard current I under the corresponding conditions in the standard data c Compare; When the current data I n When the limit is exceeded, the actual current data I n With the corresponding standard current I c Make a difference and get the compensation value I 0 , I 0 =I n -I c The current data collected this time and in the future are processed to obtain the current data I n Add the compensation value I 0 , that is I n '=I n +I 0 ; When the current data I n When the limit is not exceeded, the actual current data I n Calculate the current change rate.

4. The anti-pinch method for automobile seats according to claim 2, It is characterized in that In step S1, according to the standard Hall pulse count H of each position motor when it is operating normally c , forming standard data. After collecting and processing the Hall sensor data, first count the actual Hall pulse H n The standard Hall pulse count H under the corresponding conditions in the standard data c Compare; When the Hall pulse count H n When the limit is exceeded, the actual Hall pulse count H n The corresponding standard Hall pulse count H c Make a difference and get the compensation value H 0 , H 0 =H n -H c The Hall pulse count data collected this time and in the future are processed to obtain the Hall pulse count H n Add the compensation value H 0 , that is, H n '=H n +H 0 ; When the Hall pulse count H n When the limit is not exceeded, the actual Hall pulse count H n Calculate the rate of change of speed.

5. The anti-pinch method for automobile seats according to claim 1, It is characterized in that The current change threshold and speed change threshold are fixed values.

6. The anti-pinch method for automobile seats according to any one of claims 1 to 4, It is characterized in that In step S2, a plurality of current change thresholds are obtained according to the current change rate of the motor at the corresponding maximum safety anti-pinch force obtained when the motor at each position operates normally, as the current change threshold of the corresponding temperature and voltage conditions.

7. The anti-pinch method for automobile seats according to any one of claims 1 to 4, It is characterized in that In step S2, a plurality of speed change thresholds are obtained according to the corresponding speed change rate at the maximum safety anti-pinch force obtained when the motors at each position are operating normally, as the speed change thresholds of the corresponding temperature and voltage conditions.

8. The method for preventing automobile seat from being pinched according to claim 1, It is characterized in that In step S3, the execution process includes five states: waiting, observing, anti-pinch triggering, reverse control, and exiting anti-pinch; When the motor is stationary, the seat system stays in a waiting state; When the motor starts to move, the seat system enters the observation state and continues to run steps S1-S3; When the seat system determines that the anti-pinch conditions are met, it enters reversal control and returns to the waiting state after the reversal is completed; if the anti-pinch is not triggered until the motor stops, the seat system directly returns to the waiting state. 9.An anti-pinch device for car seats, It is characterized in that A unit for executing the anti-pinch method for a car seat as described in any one of claims 1 to 8, comprising a seat system, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the anti-pinch method for a car seat as described in any one of claims 1 to 8 is implemented when the processor executes the computer program.

10. A storage medium for preventing car seats from being pinched. It is characterized in that The storage medium stores a computer program, and when the computer program is executed by a processor, the anti-pinch method for a car seat according to any one of claims 1 to 8 is implemented.

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