Automobile seat anti-pinch method and device and storage medium

Abstract

The application discloses a kind of automobile seat anti-pinch method, device and storage medium, method includes perception step, decision step and execution step, as follows: S1 perception: the current data of motor movement in seat system is collected, current data is processed, and current data I n It is obtained;The current data obtained after processing is converted into current rate of change ΔI;Collect the hall sensor data in seat system, obtain hall pulse count, integral conversion is absolute position P, and then obtain speed rate of change ΔV;S2 decision: set current change threshold ΔI t , set speed change threshold ΔV t Only when ΔI> ΔI t And ΔV> ΔV t , it is judged that seat system needs to enter anti-pinch state;S3 execution: after judging that anti-pinch needs to be triggered, execution module controls corresponding motor reverse operation, until reverse operation distance reaches the set value, then seat system exits anti-pinch state.The application solves the stability problem of anti-pinch algorithm, and reduces the false reverse rate in motion process.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automobile seats, and particularly relates to an automobile seat anti-pinch method, device and storage medium. BACKGROUND

[0002] At present, the automobile field is developing rapidly, and with the increasing requirements of users on the automobile seating space, comfort and life functions, the automobile seat as the largest component occupying the space in the vehicle is increasingly diversified in function, shape, adjustable direction and combination mode of multiple seats. With the increase of the functions of the automobile seat and the increase of the adjustment direction, the seat anti-pinch function is becoming more and more important, which plays a role in preventing damage to the articles in the vehicle or personal injury to the passengers in the vehicle during the adjustment of the seat.

[0003] In the anti-pinch solutions of various automobile enterprises and component enterprises, the motor current value, motor hall number or the combination of the two are widely used as the input of the seat anti-pinch, and then the current threshold and / or hall technology threshold / hall number change rate threshold / hall pulse width threshold and the like are compared, and finally it is judged whether the anti-pinch function is triggered. The existing solution can only basically meet the requirements of the seat anti-pinch function, but there are still problems such as difficulty in selecting the threshold, current and hall value fluctuation causing the counter to trigger the anti-pinch function by mistake, etc.

[0004] For example, the patent CN201811243305X based on the motor current ripple of the automobile electric seat anti-pinch control method and controller collects the current ripple signal of the seat motor, judges whether the anti-pinch function is triggered after calculation and processing, and the patent CN2020102179134 an automobile memory seat anti-pinch control circuit and method also judges whether the anti-pinch function is triggered according to the motor current.

[0005] When simply using the current threshold to judge whether the anti-pinch is triggered, it is possible that the anti-pinch is triggered by mistake due to current overshoot when the motor starts, or the anti-pinch is triggered by mistake due to large motor current caused by low ambient temperature; when simply using the hall count threshold, hall number change rate threshold, hall pulse width threshold and the like, it is easy to produce the anti-pinch by mistake in the soft start or soft stop stage of the PWM speed regulation motor; even if the two are combined, it is also easy to produce the anti-pinch by mistake in the face of environmental temperature change and input voltage fluctuation. Therefore, it is necessary to propose a new automobile seat anti-pinch method to reduce the anti-pinch by mistake in the movement process. SUMMARY

[0006] To solve the above technical problems, the purpose of the present application is to provide an automobile seat anti-pinch method, device and storage medium, which solves the stability problem of the anti-pinch algorithm and reduces the anti-reversing rate in the movement process.

[0007] To achieve the above-mentioned application purpose, the technical solutions adopted by the present application are as follows:

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

[0009] S1, sensing step: collecting current data when the motor moves in the seat system, processing the current data, filtering abnormal values and high-frequency component data caused by abnormal factors in the seat system, and obtaining current data I n ;

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

[0011] Collecting Hall sensor data in the seat system, obtaining Hall pulse count, and converting Hall pulse count integration into absolute position P, i.e. Wherein, H n refers to the distance moved by the seat each time;

[0012] Converting the absolute position data into speed change rate ΔV=(V n+1 -V n ) / V n , wherein V n =(H n -H n-1 ) / (T n -T n-1 ), T n -T n-1 refers to the time difference corresponding to the two detected absolute positions;

[0013] S2, decision step: setting current change threshold ΔI t , setting speed change threshold ΔV t , only when ΔI>ΔI t and ΔV>ΔV t , 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 reverse 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 state and determine whether the anti-pinch function needs to be started.

[0016] Preferably, in the sensing step S1, the processing method of the collected current data is median filtering and mean filtering, and the calculation method of the current data I n 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, first convert 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 Do the difference and get the compensation value I0, that is, I0=I n -I c The current data collected this time and subsequently 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 when the motor at each position 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 and the corresponding standard Hall pulse count H c Do the difference and get the compensation value H0, that is, H0=H n -H c The Hall pulse count data collected this time and subsequently 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 Hall pulse count H n The speed change rate is calculated.

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

[0024] Preferably, in step S2, the current change threshold under the corresponding temperature and voltage condition is obtained according to the current change rate of the motor when the corresponding maximum safe anti-pinch force is obtained under normal operation of the motor at each position.

[0025] Preferably, in step S2, the speed change threshold under the corresponding temperature and voltage condition is obtained according to the speed change rate of the motor when the corresponding maximum safe anti-pinch force is obtained under normal operation of the motor at each position.

[0026] Preferably, in step S3, the process includes five states of waiting, observation, anti-pinch triggering, reverse control and anti-pinch exit.

[0027] When the motor is stationary, the seat system stays in the 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 condition is met, the reverse control is entered, and the waiting state is restored after the reverse is completed; if the anti-pinch is not triggered until the motor stops, the seat system directly returns to the waiting state.

[0030] In a second aspect of the present application, the present application provides an anti-pinch device for a car seat, which comprises a unit for executing the anti-pinch method for a car seat as described above, a seat system, a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the anti-pinch method for a car seat as described above.

[0031] In a third aspect of the present application, the present application provides a storage medium for anti-pinch of a car seat, wherein the storage medium stores a computer program, and the computer program is executed by a processor to implement the anti-pinch method for a car seat as described above.

[0032] Advantages:

[0033] The present application solves the stability problem of the seat anti-pinch system, can effectively identify the anti-pinch triggering condition, and reduces the probability of false triggering of the anti-pinch, and has the following advantages: not affected by the motor soft start and stop strategy; not affected by environmental temperature and power supply voltage fluctuation; little affected by mechanical structure and electronic aging. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 A logical diagram of the present application is shown.

[0035] Figure 2 A schematic diagram in the anti-pinch test is shown, in which the upper part is a schematic diagram of current data and Hall sensor data change, and the lower part is a schematic diagram of speed change rate and current change rate.

[0036] Figure 3 A schematic diagram of the state of each stage in the execution step is shown. DETAILED DESCRIPTION

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the specific embodiments of the present application will be described below with reference to the drawings. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative labor, and other embodiments can also be obtained.

[0038] As Figures 1-3 shown, the present application proposes an anti-pinch method for a car seat, which is based on the combination of seat moving distance and motor current change to judge whether to enter the anti-pinch state. The anti-pinch method for the car seat of the present application 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, perception step: the perception module is used to collect motor current data and Hall sensor data and perform data processing. It is easy to understand that the motor current data and the Hall sensor data are collected once every certain time interval, and the following n refers to the number of data collection times.

[0040] The current data when the motor moves in the seat system is collected, the current data is processed, abnormal values and high-frequency component data caused by abnormal factors in the seat system (high-frequency component data refers to current fluctuation data caused by the relative motion of carbon brush and commutator, and current fluctuation data caused by mechanical structure when the lead screw and gear box move) are filtered, and the current data I n is obtained.

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

[0042] The Hall sensor data in the seat system is collected, the Hall pulse count is obtained, and the Hall pulse count is integrated to convert into absolute position P, i.e. wherein H n refers to the distance of each movement of the seat.

[0043] According to the absolute position data, the speed change rate ΔV = (V n+1 -V n ) / V n , wherein the speed V n is calculated as the ratio of the position difference to the time difference, i.e., V n = (H n -H n-1 ) / (T n -T n-1 ), wherein T n -T n-1 refers to the time difference corresponding to the detection of the absolute position, which can be understood as one or more detection periods, and the unit is ms.

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

[0045] Preferably, factors such as sensor errors, slide rail friction, screw friction, gearbox gears, etc. in the seat system will cause abnormal data and high-frequency component data in the detected and collected current data. The processing method of the collected current data in the present application is median filtering and mean filtering, and the calculation method of the current data I n is I n = 1 (I mid + I mid+1 + I mid+2 +…) / N, wherein I mid , I mid+1 , I mid+2 , … refer to the current data values after processing in one data collection.

[0046] Preferably, the present application 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, so as to prevent inaccurate data after long-term use and easy triggering of the anti-pinch. Specifically, based on the standard current I c and the standard Hall pulse count H c of each position motor under normal operation at different temperatures and different voltages, and under simulation of different use conditions, the standard data are formed. After the current data and the Hall sensor data are collected and processed, the actual current I n and the actual Hall pulse count H n are compared with the standard current I c and the standard Hall pulse count H c under the corresponding conditions in the standard data, respectively.

[0047] When the current data I nWhen the limit is exceeded, the actual current data I n With the corresponding standard current I c Do the difference and get the compensation value I0, that is, I0=I n -I c The current data collected this time and subsequently 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 must be reasonable data, otherwise it will be 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 and the corresponding standard Hall pulse count H c Do the difference and get the compensation value H0, that is, H0=H n -H c The Hall pulse count data collected this time and subsequently 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 it is within this range, the Hall pulse count H n It must be reasonable data, otherwise it will be considered as exceeding the limit.

[0049] S2, decision step: The decision module compares the current change rate ΔI and speed change rate ΔV obtained by the sensing 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 according to whether the current change rate and the speed change rate of the motor itself are greater than the threshold value.

[0051] Preferably, the current change threshold value and the speed change threshold value are related to the safe anti-pinch force, that is, the current change threshold value and the speed change threshold value are determined according to the current change rate and the speed change rate of the motor when the maximum safe anti-pinch force is reached. Generally, a fixed current change threshold value and a speed change threshold value can be set.

[0052] Further, based on the current change rate and the speed change rate of the motor when the maximum safe anti-pinch force is reached under different temperatures and different voltages of a new seat and under simulation of different use conditions, the current change threshold value and the speed change threshold value under the corresponding temperature and voltage conditions are obtained.

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

[0054] The operation of steps S1 to S3 is repeated to continuously detect the state of the seat system and determine whether the anti-pinch function needs to be started.

[0055] As shown in Figure 2 , when the motor movement in the seat system is blocked and the current of the motor rises and the change rate of the motor speed decreases to reach the threshold value, the anti-pinch is triggered. As can be seen from Figure 2 , as long as the current change rate and the speed change rate simultaneously exceed the corresponding threshold value, the seat system will enter the anti-pinch state.

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

[0057] Waiting, observation, anti-pinch triggering, reverse control, and anti-pinch exit.

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

[0059] In the present application, the seat system refers to the existing conventional seat structure, including a seat and one or more motors. The present application does not make specific limitations on the seat system.

[0060] The application further provides an automobile seat anti-pinch device, comprising a unit for executing the automobile seat anti-pinch method, a seat system, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the automobile seat anti-pinch method.

[0061] The application further provides an automobile seat anti-pinch storage medium, wherein the storage medium stores a computer program, and the computer program is executed by a processor to implement the automobile seat anti-pinch method.

[0062] The above describes the embodiments of the application in detail. The principles and implementation manners of the application are described by using specific examples, and the above description of the embodiments is only used to help understand the core idea of the application. It should be noted that, for those skilled in the art, without departing from the principles of the application, the application can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the claims of the application.

Claims

1. A method of preventing pinching of an automobile seat, characterized by, The method comprises a sensing step, a decision step and an execution step, as follows: S1, sensing step: collecting current data when the motor in the seat system moves, processing the current data, filtering abnormal values and high-frequency component data caused by abnormal factors in the seat system, obtaining current data I n ; The current data obtained after processing is converted into a current rate of change ΔI = (I n+1 - I n ) / I n ; Collecting the Hall sensor data in the seat system, obtaining the Hall pulse count, converting the Hall pulse count integral into an absolute position P, i.e. where H n refers to the distance moved by the seat each time. According to the absolute position data, the speed change rate AV = (V n+1 -V n ) / V n is converted, wherein V n = (H n -H n-1 ) / (T n -T n-1 ), T n -T n-1 refers to the time difference corresponding to the two detected absolute positions; S2, decision step: set current change threshold ΔI t , set speed change threshold ΔV t Only when ΔI > ΔI t and ΔV > ΔV t , 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 reversely until the reverse running distance reaches a set value, and then the seat system exits the anti-pinch state; The operations of steps S1-S3 are repeated to continuously detect the seat system state and determine whether the anti-pinch function needs to be started.

2. The automobile seat anti-pinch method according to claim 1, characterized by, In step S1, the processing mode of the collected current data is median filtering and mean filtering, and the current data I n The calculation mode is I n =1(I mid +I mid+1 +I mid+2 +…) / N, wherein I mid , I mid+1 , I mid+2 , … refer to the current data values after processing in one data collection.

3. The automobile seat anti-pinch method according to claim 1, characterized by, In step S1, the standard current I of each position motor under normal operation is determined c , forming standard data. After collecting and processing the current data, the actual current data I n is compared with the standard current I c under the corresponding condition in the standard data; When the current data I n When the current data I n is greater than the corresponding standard current I c , the compensation value I0is obtained by making a difference, I0= I n - I c , and the current data I n collected this time and subsequently collected is added with the compensation value I0, that is, I n ' = I n + I0; When the current data I n is not over-limited, the current data I n is subjected to a current change rate calculation.

4. The automobile seat anti-pinch method according to claim 2, characterized by, In step S1, the standard Hall pulse count H c of each position when the motor is normally operating is determined. n After the Hall sensor data is collected and processed, the actual Hall pulse count H c is compared with the standard Hall pulse count H c under the corresponding condition in the standard data. When the Hall pulse count H n When the Hall pulse count H n is greater than the corresponding standard Hall pulse count H c , the difference is obtained, and a compensation value H0 is obtained, H0 = H n - H c , and the Hall pulse count data collected this time and subsequently collected are all added to the compensation value H0, that is, H n = H n + H0 n ; When the Hall pulse count H n is not over the limit, the actual Hall pulse count H n is used to perform the speed change rate calculation.

5. The automotive seat anti-pinch method according to claim 1, characterized by, The current change threshold and the speed change threshold are fixed values.

6. The method of claim 1-4, wherein, In step S2, the current change threshold is obtained by taking the current change rate of the motor when the corresponding maximum safe anti-pinch force is obtained during normal operation of the motor at each position as the current change threshold under the corresponding temperature and voltage conditions.

7. The method of claim 1-4, wherein, In step S2, the speed change threshold is obtained by taking the speed change rate of the motor when the corresponding maximum safe anti-pinch force is obtained during normal operation of the motor at each position as the speed change threshold under the corresponding temperature and voltage conditions.

8. The automotive seat anti-pinch method according to claim 1, characterized by, In step S3, the execution process includes five states: waiting, observation, anti-pinch triggering, reverse control and anti-pinch exiting. When the motor is stationary, the seat system stays in the waiting state. When the motor starts to move, the seat system enters the observation state and continuously runs steps S1-S3. When the seat system determines that the anti-pinch condition is met, the reverse control is entered, and the waiting state is restored after the reverse is completed; if the anti-pinch is not triggered until the motor stops, the seat system directly returns to the waiting state.

9. A device for preventing pinching of a car seat, characterized by, The unit for executing the anti-pinch method of the automobile seat according to any one of claims 1-8, comprising a seat system, a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the anti-pinch method of the automobile seat according to any one of claims 1-8.

10. A storage medium of an anti-pinch of an automobile seat, characterized by, The storage medium stores a computer program, and the computer program is executed by the processor to implement the anti-pinch method of the automobile seat according to any one of claims 1-8.

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