Seat self-adaptive adjustment method, storage medium and electronic device

Abstract

The application discloses a seat self-adaptive adjustment method, a storage medium and an electronic device, and comprises the following steps: establishing a checking plane coordinate system; determining a checking point target line equation according to the driver's field of view requirement; determining the sitting posture correlation data between the checking point and the seat hard point according to the driver's sitting posture requirement; determining the seat hard point target coordinate range and the corresponding seat backrest angle range according to the riding comfort requirement, the driver's body size data, the checking point target line equation and the sitting posture correlation data, so as to adjust the seat. The application firstly determines the checking point target line equation and the sitting posture correlation data between the checking point and the seat hard point, and then combines the riding comfort requirement and the driver's body size data to determine the seat hard point target coordinate range and the corresponding seat backrest angle range by using the equation solving method, so that the correlation between the seat part adjustments can be considered, and the best seat adjustment strategy can be obtained by comprehensively considering the requirements of the field of view, the riding comfort and the safety.

Description

Technical Field

[0001] This application relates to the field of seat adjustment technology, and in particular to a seat adaptive adjustment method, storage medium, and electronic device. Background Technology

[0002] When a driver first gets into a vehicle, they need to adjust the seat position to meet their driving needs. To improve the driving experience, most vehicles nowadays are equipped with automatic or semi-automatic seat adjustment systems. Because vehicle seats have many adjustable parts, these parts affect each other. For example, adjusting the seat position will affect the backrest position, which in turn affects the driver's eye position and alters their field of vision.

[0003] Current automatic seat adjustment methods generally adjust the seat's up-and-down position, fore-and-aft position, and backrest angle separately according to preset rules. This does not take into account that adjusting each part will affect the position of other parts, resulting in the seat not being able to be adjusted to meet the requirements of driver comfort, safety, and good visibility. Summary of the Invention

[0004] The purpose of this application is to overcome the shortcomings of existing seat adjustment strategies that are not comprehensive enough, and to provide a seat adaptive adjustment method, storage medium and electronic device that can simultaneously take into account driver comfort, safety and ensure good visibility.

[0005] The technical solution of this application provides a seat adaptive adjustment method, including:

[0006] Establish a verification plane coordinate system, which is located on the seat cross-section based on the vehicle length direction and the vehicle height direction;

[0007] The equation of the target line of the verification point is determined on the verification plane coordinate system according to the driver's field of vision requirements, and the verification point is located at the driver's head;

[0008] Based on the driver's seating posture requirements, determine the seating posture correlation data between the verification point and the seat hard point on the verification plane coordinate system. The seat hard point is a point on the seat that does not move with seat adjustment.

[0009] The range of target coordinates for seat hard points and the corresponding range of seat back angles are determined based on ride comfort requirements, driver anthropometric data, the equation of the target line of the verification point, and the posture correlation data.

[0010] Adjust the seat according to the target coordinate range of the seat hard point and the seat back angle range.

[0011] Furthermore, the verification point is the position of the human eye, and the determination of the target line equation of the verification point on the verification plane coordinate system according to the driver's field of vision requirements specifically includes:

[0012] Determine the coordinates of the upper endpoint of the field of view, the lower endpoint of the field of view, and the ground projection point coordinates of the front end of the vehicle on the verification plane coordinate system.

[0013] Based on the coordinates of the ground projection point at the front of the vehicle, the coordinates of the upper field of vision requirement point and the lower field of vision requirement point are determined according to the driver's field of vision requirements.

[0014] The equation of the upper field of view line is determined based on the coordinates of the upper end point of the field of view and the coordinates of the upper field of view requirement point; the equation of the lower field of view line is determined based on the coordinates of the lower end point of the field of view and the lower field of view requirement point.

[0015] The target line equation for the verification point is determined based on the upper field of view equation and the lower field of view equation.

[0016] Furthermore, the posture-related data includes the length of the verification point and the hard point of the seat;

[0017] The step of determining the posture correlation data between the verification point and the seat hard point on the verification plane coordinate system according to the driver's posture requirements specifically includes:

[0018] Determine the coordinates of the current verification point and the current seat hard point on the verification plane coordinate system;

[0019] The length between the verification point and the seat hard point is determined based on the current verification point coordinates and the current seat hard point coordinates.

[0020] Furthermore, the posture-related data also includes the angle between the line connecting the calibration point and the hard point of the seat and the backrest;

[0021] The step of determining the posture correlation data between the verification point and the seat hard point on the verification plane coordinate system according to the driver's posture requirements also includes:

[0022] Get the current seat back angle;

[0023] The angle between the line connecting the current verification point and the seat hard point, determined by the current verification point coordinates, the current seat hard point coordinates, and the current seat back angle, and the backrest.

[0024] Further, determining the coordinates of the current verification point on the verification plane coordinate system specifically includes:

[0025] Determine the coordinates of the current seat back vertex on the verification plane coordinate system;

[0026] The x-coordinate of the current verification point is determined based on the x-coordinate of the current seat back apex coordinate and the current estimated head length.

[0027] Obtain the installation parameters of the face recognition camera and the imaging height of the current verification point in the imaging area of ​​the face recognition camera;

[0028] The ordinate of the current verification point is determined based on the installation parameters of the face recognition camera, the imaging height of the verification point, and the x-coordinate of the verification point.

[0029] Furthermore, determining the coordinates of the current verification point on the verification plane coordinate system further includes:

[0030] Obtain the imaging height of the current first reference point in the imaging area of ​​the face recognition camera. The first reference point is the head position point on the same vertical line as the verification point. The horizontal coordinate of the current verification point is used as the horizontal coordinate of the current first reference point.

[0031] The ordinate of the current first reference point is determined based on the installation parameters of the face recognition camera, the imaging height of the reference point, and the x-coordinate of the current first reference point.

[0032] The driver's height is determined based on the ordinate of the current first reference point, the ordinate of the current verification point, and the standard relationship of human body dimensions.

[0033] The latest estimated head length is determined based on the relationship between the driver's height and standard human body dimensions;

[0034] If the difference between the latest estimated head length and the current estimated head length is greater than a preset difference, then the latest estimated head length is taken as the current estimated head length, and the step of determining the horizontal coordinate of the verification point based on the horizontal coordinate of the current seat back vertex and the current estimated head length is returned.

[0035] Further, determining the coordinates of the current verification point on the verification plane coordinate system specifically includes:

[0036] Obtain the straight-line distance between the verification point and the face recognition camera, and the verification point tilt angle between the straight line between the verification point and the center point of the camera and the center line of the face recognition camera;

[0037] The coordinates of the current verification point are determined based on the installation parameters of the face recognition camera, the straight-line distance of the verification point, and the tilt angle of the verification point.

[0038] Furthermore, the posture-related data includes the length between the verification point and the seat hard point, and the angle between the line connecting the verification point and the seat hard point and the backrest;

[0039] The process of determining the target coordinate range of the seat hard point and the corresponding seat back angle range based on ride comfort requirements, driver anthropometric data, the target line equation of the verification point, and the posture correlation data specifically includes:

[0040] Determine the coordinates of the driver's ankle point and the equation of the straight line on the sole of the foot in the aforementioned verification plane coordinate system;

[0041] The set of driver's knee coordinates is determined based on the driver's ankle coordinates, the equation of the straight line of the foot, the length of the driver's lower leg, and the comfortable range of the angle between the foot line and the lower leg line.

[0042] The driver's hip coordinate set is determined based on the driver's knee point coordinate set, driver's thigh length, and the comfortable range of the angle between the lower leg line and the thigh line.

[0043] The set of coordinates of the seat hard points is determined based on the set of coordinates of the driver's hip point and the thickness of the driver's thigh.

[0044] Based on the set of seat hard point coordinates, the comfortable range of the angle between the thigh line and the body, the equation of the target line of the verification point, the length between the verification point and the seat hard point, and the angle between the line connecting the verification point and the seat hard point and the backrest, the target coordinate range of the seat hard point and the corresponding seat back angle range are determined. Each target coordinate of the seat hard point in the target coordinate range corresponds to a seat back angle range.

[0045] Furthermore, determining the target coordinate range of the seat hard point and the corresponding seat back angle range based on ride comfort requirements and driver anthropometric data, combined with the verification point target line equation and the posture correlation data, includes:

[0046] Determine the coordinates of the current verification point and the coordinates of the current second reference point on the verification plane coordinate system. The second reference point is located at the driver's head and does not coincide with the verification point.

[0047] The driver's height is determined based on the coordinates of the current verification point, the coordinates of the current second reference point, and the relationship between human body size standards.

[0048] Based on the relationship between driver's height and standard human body dimensions, driver's body dimensions data, including at least the driver's lower leg length, driver's thigh length, and driver's thigh thickness, are determined.

[0049] The technical solution of this application also provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform the seat adaptive adjustment method as described above.

[0050] The technical solution of this application also provides an electronic device, including at least one processor; and,

[0051] A memory communicatively connected to the at least one processor; wherein,

[0052] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the seat adaptive adjustment method as described above.

[0053] The above technical solution has the following beneficial effects:

[0054] This application establishes a calibration plane coordinate system, determines the target line equation of the calibration point and the posture correlation data between the calibration point and the seat hard point according to the driver's vision requirements and the driver's sitting posture requirements, and then combines the riding comfort requirements and the driver's human body size data to determine the target coordinate range of the seat hard point and the corresponding seat back angle range by solving a system of equations. It can take into account the correlation between seat part adjustments and obtain the best seat adjustment strategy by comprehensively considering the requirements of vision, riding comfort and safety. Attached Figure Description

[0055] The disclosure of this application will become more readily understood with reference to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. In the drawings:

[0056] Figure 1 This is a flowchart of a seat adaptive adjustment method in one embodiment of this application;

[0057] Figure 2 This is one of the schematic diagrams showing the positional relationship of the verification plane coordinate system in one embodiment of this application;

[0058] Figure 3 This is a diagram illustrating the driver's required field of vision;

[0059] Figure 4 This is the second schematic diagram of the positional relationship of the verification plane coordinate system in one embodiment of this application;

[0060] Figure 5 This is the third schematic diagram of the positional relationship of the verification plane coordinate system in one embodiment of this application;

[0061] Figure 6 This is the fourth schematic diagram of the positional relationship of the verification plane coordinate system in one embodiment of this application;

[0062] Figure 7 This is a schematic diagram of the hardware structure of an electronic device in one embodiment of this application. Detailed Implementation

[0063] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0064] It is readily understood that, based on the technical solution of this application, various structural and implementation methods can be interchanged by those skilled in the art without altering the essential spirit of this application. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this application and should not be considered as the entirety of this application or as limitations or restrictions on the technical solution of the application.

[0065] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0066] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meanings of the above in this application according to the specific circumstances.

[0067] The seat adaptive adjustment method in the embodiments of this application is as follows: Figure 1 As shown, it includes the following steps:

[0068] Step S101: Establish a verification plane coordinate system, which is located on the seat section based on the vehicle length direction and the vehicle height direction.

[0069] like Figure 2 As shown, the calibration plane coordinate system is set along the length and height of the vehicle, and the plane containing the calibration plane coordinate system is the cross-section of the target seat. On this plane, the origin can be set according to actual needs. In this embodiment, the center point of the lens of the face capture camera is used as the origin, the horizontal coordinate X is set along the length of the vehicle, and the vertical coordinate Z is set along the height of the vehicle.

[0070] Step S102: Determine the target line equation of the verification point on the verification plane coordinate system according to the driver's field of vision requirements. The verification point is located at the driver's head.

[0071] Preferably, the driver's eye position is selected as the verification point. Based on the driver's field of vision requirements, the target line equation of the verification point is determined on the verification plane coordinates. When the verification point of the driver's head lies on the target line equation, the driver has a better field of vision. Since the positional relationships between various points on the driver's head are fixed, other points on the driver's head can also be selected as verification points. The corresponding target line equation can then be obtained based on the positional relationship between the verification point and the eye position.

[0072] Step S103: Determine the posture correlation data between the verification point and the seat hard point on the verification plane coordinate system according to the driver's posture requirements. The seat hard point is a point on the seat that does not move with seat adjustment.

[0073] Preferably, the seat hard point is set at the connection point between the seat cushion and the seat back, i.e., point P shown in the attached diagram. Specifically, when driving the vehicle, the driver must sit in the driver's seat according to the required posture, such as... Figure 2 As shown, the driver's thighs are pressed against the seat cushion, his back is against the seat back, and the back of his head is against the headrest surface. When the driver is sitting in the seat according to the required posture, even if the seat is adjusted, some positional relationships between the verification point A and the seat hard point P remain unchanged. For example, the distance between the verification point A and the seat hard point P, and the angle α between the line connecting the verification point and the seat hard point and the backrest.

[0074] Step S104: Based on the requirements for ride comfort and the driver's body size data, combined with the target line equation of the verification point and the posture correlation data, determine the target coordinate range of the seat hard point and the corresponding seat back angle range.

[0075] Ergonomic research defines ride comfort requirements, which include the comfortable angle range between various joints of the human body. Drivers meeting these requirements ensure both riding and driving comfort. Based on ride comfort requirements, driver anthropometric data, and the verification point target line equations and posture correlation data obtained in steps S102 and S103, several equations are derived. Solving these equations yields the target coordinate range of the seat hard points and the corresponding seat back angle range. Each target coordinate of a seat hard point corresponds to a seat back angle range.

[0076] Step S105: Adjust the seat according to the target coordinate range of the seat hard point and the seat back angle range.

[0077] First, the target coordinates of the seat hard point and the seat back angle can be determined within the range of the target coordinates of the seat hard point and the range of the seat back angle according to user customization requirements or system settings. Then, the target coordinates of the seat hard point and the seat back angle are converted into the actual seat position and the actual seat back angle. Next, the seat adjustment strategy is determined based on the current seat position and back angle, and the seat adjustment strategy is sent to the seat control module for execution.

[0078] This application embodiment establishes a calibration plane coordinate system, determines the target line equation of the calibration point and the posture correlation data between the calibration point and the hard point of the seat according to the driver's vision requirements and the driver's sitting posture requirements, and then combines the riding comfort requirements and the driver's human body size data to determine the target coordinate range of the hard point of the seat and the corresponding seat back angle range by solving a system of equations. It can take into account the correlation between seat part adjustments and obtain the best seat adjustment strategy by comprehensively considering the requirements of vision, riding comfort and safety.

[0079] In one embodiment, the verification point is the location of the human eye. The equation of the target line of the verification point is determined on the verification plane coordinate system according to the driver's field of vision requirements, specifically including:

[0080] Determine the coordinates of the upper end point of the field of view, the lower end point of the field of view, and the ground projection point coordinates of the front of the vehicle on the verification plane coordinate system;

[0081] Based on the coordinates of the ground projection point at the front of the vehicle, determine the coordinates of the upper field of vision requirement point and the lower field of vision requirement point according to the driver's field of vision requirements;

[0082] The equation of the upper field of view line is determined based on the coordinates of the upper endpoint of the field of view and the coordinates of the required upper field of view point; the equation of the lower field of view line is determined based on the coordinates of the lower endpoint of the field of view and the required lower field of view point.

[0083] The equations of the target lines for the verification points are determined based on the equations of the upper and lower fields of view.

[0084] like Figure 3 As shown, the driver's field of vision is limited by the upper and lower edges of the windshield. To calculate the boundary line equation of the driver's field of vision, the coordinates of the upper limit point W_up1 and the lower limit point W_down1 of the field of vision are obtained. Simultaneously, the coordinates of the ground projection point W_0 at the front of the vehicle are obtained for subsequent determination of the required upper field of vision points W_up2 and W_down2. The ground projection point at the front of the vehicle is the intersection of a perpendicular line drawn from the front end of the protruding part of the front bumper beam and the ground.

[0085] According to national standards, the requirements for driver visibility verification specify the required points for the driver's upper field of vision (UAV) and the verification methods for these points, as well as the required points for the lower field of vision (DAV) and DAV. Based on these requirements and verification methods, the coordinates of the UAV requirement point W_up2 can be determined as (X_exteriorview-D_(up_visual), Z_exteriorview+H_(up_visual)) and the coordinates of the lower field of vision requirement point W_down2 can be determined as (X_exteriorview-D_(down_visual), Z_exteriorview+H_(up_visual)) based on the coordinates of the ground projection point W_0 at the front of the vehicle (X_exteriorview, Z_exteriorview), the height H_(up_visual) of the UAV target point, the distance D_(up_visual) of the UAV target point, and the distance D_(down_visual) of the DAV target point.

[0086] Then, the equation of the upper field of vision line can be determined based on the coordinates of the upper endpoint of the field of vision and the coordinates of the upper field of vision requirement point. Similarly, the equation of the lower field of vision line can be determined based on the coordinates of the lower endpoint of the field of vision and the coordinates of the lower field of vision requirement point. When the driver's eye is located between the equations of the upper and lower field of vision lines, the driver's field of vision requirements as required by national standards are met. To ensure the balance of the driver's vertical visual field, and considering that the driver will move during driving, the angle bisector between the upper and lower field of vision lines can be selected as the target line L_eye of the check point. The equation of the target line of the check point can be obtained based on the equations of the upper and lower field of vision lines.

[0087] It should be noted that for some vehicles with high hoods, the driver's field of vision may be limited to the upper edge of the windshield and the highest point of the hood. Therefore, the coordinates of the lower limit of the field of vision in the embodiments of this application can be replaced with the coordinates of the highest point of the hood, depending on the vehicle structure.

[0088] In one embodiment, the posture-related data includes the length of the check point and the hard point of the seat;

[0089] Based on the driver's seating posture requirements, determine the posture correlation data between the verification point and the seat hard point on the verification plane coordinate system, specifically including:

[0090] Determine the coordinates of the current verification point and the current seat hard point on the verification plane coordinate system;

[0091] The length between the verification point and the seat hard point is determined based on the current coordinates of the verification point and the current coordinates of the seat hard point.

[0092] like Figure 2As shown, when the driver sits in the seat according to the required posture, the lengths of the verification point A and the seat hard point P remain unchanged even if the seat's fore-aft, up-down position and backrest angle are adjusted. Therefore, the coordinates of the current verification point and the current seat hard point are determined on the verification plane coordinate system. The coordinates of the current verification point can be determined from the image captured by the facial recognition camera, while the coordinates of the current seat hard point can be derived by obtaining the current seat position and combining it with the current seat status and seat size information. For two known coordinate points, the lengths of the verification point and the seat hard point can be directly calculated from these coordinates.

[0093] In one embodiment, the posture association data also includes the angle between the line connecting the hard points of the seat and the backrest;

[0094] Based on the driver's seating posture requirements, the method for determining the posture correlation data between the verification point and the seat hard point on the verification plane coordinate system also includes:

[0095] Get the current seat back angle;

[0096] The angle between the line connecting the current verification point and the seat hard point, determined by the current verification point coordinates, the current seat hard point coordinates, and the current seat back angle, and the backrest.

[0097] like Figure 2 As shown, when the driver sits in the seat according to the required posture, as the seat position and backrest angle are adjusted, the relative position between the driver and the seat does not change. Therefore, the angle α between the line connecting the hard points of the seat and the backrest remains unchanged.

[0098] In this embodiment, the current seat back angle b is obtained from the seat control module, and the slope of the line connecting the current verification point and the current seat hard point is calculated based on the current verification point coordinates and the current seat hard point coordinates. The angle c between the line connecting the current verification point and the seat hard point and the horizontal coordinate line is calculated based on the trigonometric function relationship. The angle c is then subtracted from the current seat back angle b to obtain the angle a between the line connecting the verification point and the seat back.

[0099] In one embodiment, determining the coordinates of the current verification point on the verification plane coordinate system specifically includes:

[0100] Determine the coordinates of the current seat back vertex on the verification plane coordinate system;

[0101] The x-coordinate of the current check point is determined based on the x-coordinate of the current seat back apex coordinate and the current estimated head length.

[0102] Obtain the installation parameters of the face recognition camera and the imaging height of the current verification point within the imaging area of ​​the face recognition camera;

[0103] The vertical coordinate of the current verification point is determined based on the installation parameters of the face recognition camera, the imaging height of the verification point, and the horizontal coordinate of the verification point.

[0104] In this embodiment, the coordinates of the current verification point are determined by a face recognition camera. For face recognition cameras that do not have ranging capabilities, the coordinates of the current verification point are determined by combining the image captured by the face recognition camera and the camera installation parameters.

[0105] like Figure 4 As shown, the current seat position information is obtained from the seat control module, and the current seat back vertex Q coordinate is determined by combining it with the seat size information. Then, the x-coordinate of the current seat back vertex is added to the current estimated head length L_head to obtain the x-coordinate of the current verification point. The current estimated head length L_head can be determined based on the ergonomic dimensions of various parts of an adult, such as selecting the median of head length data.

[0106] Then, based on the approximate triangular relationship of the face recognition camera image, the ordinate of the current verification point is determined according to the face recognition camera installation parameters, the image height of the verification point, and the x-coordinate of the verification point.

[0107] like Figure 4 As shown, line CB is the center line of the camera, line segment CD is the imaging height of the verification point, and line segment OC is the focal length of the camera. The angle of ∠COD can be calculated. The angle of ∠OAB is equal to the angle of ∠COD. Adding the camera elevation angle e to ∠COD gives the angle between line OA and the horizontal coordinate. Using trigonometric functions, the vertical coordinate of the verification point can be determined based on the horizontal coordinate of the verification point and the angle between line OA and the horizontal coordinate.

[0108] Furthermore, determining the coordinates of the current verification point on the verification plane coordinate system also includes:

[0109] Obtain the imaging height of the current first reference point in the imaging area of ​​the face recognition camera. The first reference point is the head position point on the same vertical line as the verification point. The horizontal coordinate of the current verification point is used as the horizontal coordinate of the current first reference point.

[0110] The ordinate of the current first reference point is determined based on the installation parameters of the face recognition camera, the imaging height of the reference point, and the x-coordinate of the current first reference point.

[0111] The driver's height is determined based on the current first reference point's ordinate, the current check point's ordinate, and the standard human body dimensions.

[0112] The latest estimated head length is determined based on the relationship between the driver's height and standard human body dimensions;

[0113] If the difference between the latest estimated head length and the current estimated head length is greater than the preset difference, the latest estimated head length will be used as the current estimated head length, and the process will return to the step of determining the x-coordinate of the check point based on the x-coordinate of the current seat back vertex and the current estimated head length.

[0114] Since the estimated head length used to determine the horizontal coordinate of the current verification point in this embodiment is an estimated value and deviates from the actual value, in order to correct the estimated head length and improve the accuracy of the current verification point coordinate, a first reference point E can be marked on the driver's head. For ease of calculation, the first reference point is selected as a point on the same vertical line as the verification point. As an example, the first reference point can be selected as the chin position point.

[0115] Since the first reference point and the verification point are on the same vertical line, the x-coordinate of the current verification point is the same as the x-coordinate of the current first reference point. Then, using the same method as determining the y-coordinate of the current verification point, combined with the camera's installation height, angle, and focal length information, the y-coordinate of the current first reference point can be calculated based on the principle of similar triangles. The length between the current verification point and the current first reference point can be calculated based on their coordinates; this length is the face length data. According to the correspondence between face length data and height in the "Chinese Adult Anthropometric Standards," the driver's height can be determined, and then the corresponding latest estimated head length can be determined based on the driver's height. If the difference between the latest estimated head length and the current estimated head length is greater than a preset difference, the current estimated head length is considered reasonable; otherwise, the latest estimated head length is used as the current estimated head length, and the process returns to the step of determining the x-coordinate of the verification point based on the x-coordinate of the current seat back apex and the current estimated head length, thereby correcting the estimated head length.

[0116] In one embodiment, determining the coordinates of the current verification point on the verification plane coordinate system specifically includes:

[0117] Obtain the straight-line distance between the verification point and the face recognition camera, and the angle between the straight line between the verification point and the center point of the camera and the center line of the face recognition camera.

[0118] The coordinates of the current verification point are determined based on the installation parameters of the face recognition camera, the straight-line distance of the verification point, and the tilt angle of the verification point.

[0119] This application embodiment determines the coordinates of the current verification point based on a face recognition camera with ranging capabilities, such as... Figure 6 As shown, the face recognition camera can directly obtain the straight-line distance OA of the verification point and the tilt angle d of the verification point. Combined with the camera elevation angle e, the horizontal and vertical coordinates of the current verification point can be determined according to trigonometric functions.

[0120] In one embodiment, the posture-related data includes the length of the check point and the hard point of the seat, and the angle between the line connecting the check point and the hard point of the seat and the backrest.

[0121] Based on ride comfort requirements and driver anthropometric data, combined with the verification point target line equation and posture correlation data, the target coordinate range of the seat hard points and the corresponding seat back angle range are determined, specifically including:

[0122] Determine the coordinates of the driver's ankle point and the equation of the straight line on the sole of the foot in the verification plane coordinate system;

[0123] The set of driver's knee coordinates is determined based on the driver's ankle coordinates, the equation of the straight line of the foot, the length of the driver's lower leg, and the comfortable range of the angle between the foot line and the lower leg line.

[0124] The driver's hip coordinate set is determined based on the driver's knee point coordinate set, the driver's thigh length, and the comfortable range of the angle between the lower leg line and the thigh line.

[0125] The set of coordinates of the seat hard points is determined based on the set of coordinates of the driver's hip point and the thickness of the driver's thigh.

[0126] Based on the set of seat hard point coordinates, the comfortable range of the angle between the thigh line and the body, the equation of the target line of the check point, the length between the check point and the seat hard point, and the angle between the line connecting the check point and the seat hard point and the backrest, the target coordinate range of the seat hard point and the corresponding seat back angle range are determined. Each target coordinate of the seat hard point in the target coordinate range corresponds to a seat back angle range.

[0127] This embodiment of the application performs comfort verification starting from the driver's feet. First, based on the pedal position, the coordinates of the driver's ankle and the equation of the straight line of the foot are determined. Then, combined with the driver's lower leg length and the comfortable range of the angle between the foot line and the lower leg line in the seating comfort requirements, the set of coordinates of the driver's knee is calculated. Next, based on the set of coordinates of the driver's knee, the driver's thigh length, and the comfortable range of the angle between the lower leg line and the thigh line in the seating comfort requirements, the set of coordinates of the driver's hip is determined. Based on the set of coordinates of the driver's hip and the driver's thigh thickness, the set of coordinates of the seat hard points is determined. Combining the set of coordinates of the seat hard points with the comfortable range of the angle between the thigh line and the body, the target line equation of the verification point determined in the previous steps, the length between the verification point and the seat hard point, and the angle between the line connecting the verification point and the seat hard point and the backrest, several relational equations about the seat hard points are obtained. The target coordinate range of the seat hard points and the angle range of the seat backrest are determined by solving a system of equations. This seat adjustment method considers both the driver's visibility requirements and seating comfort, as well as the correlation between the positional adjustments of various parts of the seat, thus enabling more intelligent adaptive adjustment of the seat.

[0128] Among them, the driver's body size data, such as the driver's lower leg length, driver's thigh length, and driver's thigh thickness, can be actively input by the user or determined through image recognition and other methods.

[0129] like Figure 6 As shown, the specific steps for determining the coordinates of the driver's ankle and the equation of the straight line on the sole of the foot include:

[0130] Let the equation of the straight line on the sole of the foot be Z = K_foot × X + B_foot;

[0131] The coordinates of the heel point F, the pedal protrusion point G, and the ankle mapping point I all satisfy the equation of the straight line of the foot. The heel point F is located on the floor line. The ordinate of the heel point F can be determined based on the vehicle size data, and three equations of foot relationship can be obtained.

[0132] To obtain the driver's foot length, we can approximate the ratio of the distance from the pedal protrusion point G to the heel point F to the calculated driver's foot length as K_(GF), and approximate the ratio of the distance from the ankle mapping point I to the heel point F to the calculated driver's foot length as K_(IF). This yields two equations relating the feet.

[0133] Based on the above five equations relating to the foot, the coordinates of the ankle mapping point I and the equation of the straight line on the foot can be obtained.

[0134] Draw a straight line L_ankle through the ankle point J, parallel to the straight line of the foot. Set the equation of the ankle line as Z = K_ankle × X + B_ankle, where K_ankle = K_foot;

[0135] The coordinates of ankle point J satisfy the ankle straight line equation, thus obtaining an ankle relationship equation;

[0136] The driver's ankle height is obtained by determining the distance between the straight line of the foot and the straight line of the ankle L_ankle, and the distance from the ankle point J to the ankle mapping point I, thus obtaining two ankle relationship equations.

[0137] Based on the above three ankle relationship equations, the coordinates of the ankle point can be obtained.

[0138] The steps for determining the driver's knee coordinate set based on the driver's ankle coordinates, the equation of the sole of the foot, the length of the driver's lower leg, and the comfortable range of the angle between the sole of the foot and the lower leg line specifically include:

[0139] Let the equation of the lower leg line be Z = K_calf × X + B_calf;

[0140] The coordinates of the knee point and the ankle point satisfy the equation of the straight line of the lower leg, thus obtaining the equation relating the two lower legs;

[0141] The angle between the straight line of the foot and the straight line of the lower leg satisfies the comfortable range of the angle between the bottom line of the foot and the lower leg, thus obtaining a lower leg relationship equation;

[0142] The distance between the knee point K and the ankle point J is the length of the driver's lower leg, thus yielding a lower leg relationship equation;

[0143] Based on the above four equations relating the lower leg, the equation of the lower leg line and the set of coordinates of the driver's knee can be obtained.

[0144] The steps for determining the driver's hip coordinate set based on the driver's knee coordinate set, driver's thigh length, and the comfortable range of the angle between the lower leg line and the thigh line specifically include:

[0145] Let the equation of the thigh line be Z = K_thigh × X + B_thigh;

[0146] The coordinates of the knee point and the hip point satisfy the equation of the thigh line, thus obtaining two equations relating the thighs.

[0147] The angle between the lower leg line and the thigh line satisfies the comfortable range of the angle between the lower leg line and the thigh line, thus obtaining a thigh relationship equation;

[0148] The distance between the knee point K and the hip point H is the length of the driver's thigh, thus yielding a thigh relationship equation;

[0149] Based on the above four thigh relationship equations, the equation of the thigh line and the set of coordinates of the driver's hip point can be obtained.

[0150] Furthermore, since the range of the driver's hip point coordinates is limited by the seat's fore-and-aft adjustment range, the allowable range of the driver's hip point coordinates can be determined based on the seat's fore-and-aft adjustment range, and coordinate points in the set of driver's hip point coordinates that are not within the allowable range can be removed.

[0151] The steps for determining the set of seat hard point coordinates based on the driver's hip point coordinates and the driver's thigh thickness are as follows:

[0152] The set of seat hard point coordinates can be obtained by subtracting the product of the driver's thigh thickness and the coefficients for calculating the horizontal and vertical coordinates of each driver's hip point coordinate in the set of driver's hip point coordinates.

[0153] The steps for determining the target coordinate range of the seat hard points and the corresponding seat back angle range based on the set of seat hard point coordinates, the comfortable range of the angle between the thigh line and the body, the equation of the target line of the check point, the length between the check point and the seat hard point, and the angle between the line connecting the check point and the seat hard point and the backrest include:

[0154] Set the target coordinates of the verification point, the target coordinates of the seat hard point, and the target angle of the seat back;

[0155] The target coordinates of the verification point satisfy the equation of the target line of the verification point, and the target coordinates of the hard point of the seat satisfy the set of coordinates of the hard point of the seat, thus obtaining two verification relationship equations;

[0156] The distance between the target coordinates of the verification point and the target coordinates of the seat hard point is the length between the verification point and the seat hard point, thus obtaining a verification relationship equation;

[0157] The angle between the line connecting the target coordinates of the verification point and the target coordinates of the seat hard point and the backrest is equal to the angle between the line connecting the verification point and the seat hard point and the backrest, thus obtaining a verification relationship equation;

[0158] The angle between the thigh and the body can be simplified to the angle between the thigh and the seat back. The angle between the thigh and the seat back satisfies the comfortable range of the angle between the thigh line and the body, thus obtaining a verification relationship equation.

[0159] Based on the above five verification relationship equations, the target coordinate range of the seat hard point and the corresponding seat back angle range can be solved.

[0160] In this embodiment, after solving for the target coordinate range of the seat hard points and the corresponding seat back angle range, it is necessary to transform the coordinate system based on the relationship between the verification plane coordinate system and the actual vehicle coordinate system to obtain the seat's vertical position range, front-back position range, and backrest angle range. Then, based on user-preset requirements or rules, the target vertical position, front-back position, and backrest angle are determined from these ranges. For example, the set of data with the highest vertical position can be selected, or the set of data with the latest front-back position can be selected.

[0161] In one embodiment, the method of determining the target coordinate range of the seat hard point and the corresponding seat back angle range based on ride comfort requirements and driver anthropometric data, combined with the verification point target line equation and posture correlation data, further includes:

[0162] Determine the coordinates of the current verification point and the current second reference point on the verification plane coordinate system. The second reference point is located at the driver's head and does not coincide with the verification point.

[0163] The driver's height is determined based on the current coordinates of the checkpoint and the current coordinates of the second reference point, combined with the standard human body dimensions.

[0164] Based on the relationship between driver's height and standard human body dimensions, driver's body dimensions data, including at least the driver's lower leg length, driver's thigh length, and driver's thigh thickness, are determined.

[0165] In this embodiment, the driver's body size data is determined based on the face length data collected by the face recognition camera and the standard relationship of body size, eliminating the need for the user to actively input size data and improving the driver's user experience.

[0166] Specifically, the second reference point can be the first reference point E in the aforementioned embodiments. The method for obtaining the coordinates of the second reference point can be referred to the aforementioned embodiments, and will not be repeated here. Similarly, the length between the current verification point and the current second reference point can be calculated based on the coordinates of the current verification point and the current second reference point. This length value is the face length data. According to the correspondence between face length data and height in the "Chinese Adult Anthropometric Standards", the driver's height can be determined. Then, based on the driver's height, the corresponding driver's lower leg length, driver's thigh length, and driver's thigh thickness, etc., can be determined.

[0167] The seat adaptive adjustment method in a preferred embodiment of this application specifically includes:

[0168] Step S801: Establish a verification plane coordinate system, which is located on the seat section based on the vehicle length direction and the vehicle height direction.

[0169] Step S802: Determine the coordinates of the upper end point of the field of view, the lower end point of the field of view, and the ground projection point coordinates of the front end of the vehicle on the verification plane coordinate system.

[0170] Step S803: Using the ground projection point coordinates at the front of the vehicle as a reference, determine the coordinates of the upper field of view requirement point and the lower field of view requirement point according to the driver's field of view requirements.

[0171] Step S804: Determine the equation of the upper field of view line based on the coordinates of the upper endpoint of the field of view and the coordinates of the upper field of view requirement point; determine the equation of the lower field of view line based on the coordinates of the lower endpoint of the field of view and the coordinates of the lower field of view requirement point.

[0172] Step S805: Determine the target line equation of the verification point based on the equations of the upper and lower field of view. The verification point is the position of the human eye.

[0173] Step S806: Obtain the straight-line distance between the verification point and the face recognition camera, and the angle between the straight line between the verification point and the center point of the camera and the center line of the face recognition camera.

[0174] Step S807: Determine the coordinates of the current verification point based on the installation parameters of the face recognition camera, the straight-line distance of the verification point, and the tilt angle of the verification point.

[0175] Step S808: Determine the coordinates of the current seat hard point on the calibration plane coordinate system. The seat hard point is the connection point between the seat cushion and the seat back.

[0176] Step S809: Determine the length between the verification point and the seat hard point based on the current verification point coordinates and the current seat hard point coordinates.

[0177] Step S810: Obtain the current seat back angle.

[0178] Step S811: Determine the angle between the line connecting the current verification point and the hard point of the seat and the backrest, based on the current verification point coordinates, the current seat hard point coordinates, and the current seat backrest angle.

[0179] Step S812: Determine the coordinates of the current verification point and the current second reference point on the verification plane coordinate system. The second reference point is located at the driver's head and does not coincide with the verification point.

[0180] Step S813: Determine the driver's height based on the current checkpoint coordinates, the current second reference point coordinates, and the standard human body size relationship.

[0181] Step S814: Determine the driver's body dimensions data, including at least the driver's lower leg length, driver's thigh length, and driver's thigh thickness, based on the relationship between the driver's height and the standard human body dimensions.

[0182] Step S815: Determine the coordinates of the driver's ankle point and the equation of the straight line on the foot in the verification plane coordinate system.

[0183] Step S816: Determine the set of coordinates of the driver's knee points based on the coordinates of the driver's ankle, the equation of the straight line of the foot, the length of the driver's lower leg, and the comfortable range of the angle between the bottom line of the foot and the lower leg line.

[0184] Step S817: Determine the driver's hip coordinate set based on the driver's knee point coordinate set, driver's thigh length, and the comfortable range of the angle between the lower leg line and the thigh line.

[0185] Step S818: Determine the set of coordinates of the seat hard points based on the set of coordinates of the driver's hip point and the thickness of the driver's thigh.

[0186] Step S819: Based on the set of seat hard point coordinates, the comfortable range of the angle between the thigh line and the body, the equation of the target line of the check point, the length between the check point and the seat hard point, and the angle between the line connecting the check point and the seat hard point and the backrest, determine the target coordinate range of the seat hard point and the corresponding seat back angle range. Each target coordinate of the seat hard point in the target coordinate range corresponds to a seat back angle range.

[0187] Step S820: Adjust the seat according to the target coordinate range of the seat hard point and the seat back angle range.

[0188] Steps S806-S807 can be replaced by steps S821-S829.

[0189] Step S821: Determine the coordinates of the current seat back vertex on the verification plane coordinate system.

[0190] Step S822: Determine the x-coordinate of the current check point based on the x-coordinate of the current seat back vertex and the current estimated head length.

[0191] Step S823: Obtain the installation parameters of the face recognition camera and the imaging height of the current verification point in the imaging area of ​​the face recognition camera.

[0192] Step S824: Determine the ordinate of the current verification point based on the installation parameters of the face recognition camera, the imaging height of the verification point, and the horizontal coordinate of the verification point.

[0193] Step S825: Obtain the imaging height of the current first reference point in the imaging area of ​​the face recognition camera. The first reference point is the head position point on the same vertical line as the verification point. The horizontal coordinate of the current verification point is used as the horizontal coordinate of the current first reference point.

[0194] Step S826: Determine the ordinate of the current first reference point based on the installation parameters of the face recognition camera, the imaging height of the reference point, and the horizontal coordinate of the current first reference point.

[0195] Step S827: Determine the driver's height based on the current first reference point's ordinate, the current check point's ordinate, and the standard human body size relationship.

[0196] Step S828: Determine the latest estimated head length based on the relationship between the driver's height and human body size standards.

[0197] Step S829: If the difference between the latest estimated head length and the current estimated head length is greater than the preset difference, then the latest estimated head length is taken as the current estimated head length, and the process returns to step S822; otherwise, step S808 is executed.

[0198] The technical solution of this application also provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform the seat adaptive adjustment method in any of the foregoing embodiments.

[0199] Figure 7 An electronic device according to this application is shown, comprising:

[0200] At least one processor 701; and,

[0201] A memory 702 is communicatively connected to the at least one processor 701; wherein,

[0202] The memory 702 stores instructions that can be executed by the at least one processor 701, which, when executed by the at least one processor 701, enables the at least one processor 701 to perform all steps of the seat adaptive adjustment method in any of the foregoing method embodiments.

[0203] The electronic device is preferably an in-vehicle electronic control unit (ECU), and more specifically a microcontroller unit (MCU) within the in-vehicle electronic control unit.

[0204] Figure 7 Taking a processor 701 as an example:

[0205] The electronic device may also include an input device 703 and an output device 704.

[0206] The processor 701, memory 702, input device 703 and output device 704 can be connected by a bus or other means. The figure shows an example of connection by bus.

[0207] The memory 702, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the seat adaptive adjustment method in the embodiments of this application. Figure 1 The method flow is shown. The processor 701 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 702, thereby realizing the seat adaptive adjustment method in the above embodiments.

[0208] The memory 702 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the seat adaptive adjustment method, etc. Furthermore, the memory 702 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 702 may optionally include memory remotely located relative to the processor 701, and these remote memories may be connected via a network to the means of performing the seat adaptive adjustment method. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0209] The input device 703 can receive user clicks and generate signal inputs related to user settings and function control of the seat adaptive adjustment method. The output device 704 may include a display device such as a screen.

[0210] When one or more modules are stored in the memory 702, and are run by one or more processors 701, the seat adaptive adjustment method in any of the above method embodiments is executed.

[0211] The above description is merely the principle and preferred embodiment of this application. It should be noted that for those skilled in the art, implementation methods obtained by appropriately combining the technical solutions disclosed in different embodiments are also included within the technical scope of this invention. Based on the principle of this application, several other modifications can also be made, which should also be considered within the protection scope of this application.

Claims

1. A method for adaptive adjustment of a seat, characterized in that, include: Establish a verification plane coordinate system, which is located on the seat cross-section based on the vehicle length direction and the vehicle height direction; The equation of the target line of the verification point is determined on the verification plane coordinate system according to the driver's field of vision requirements, and the verification point is located at the driver's head; Based on the driver's seating posture requirements, determine the seating posture correlation data between the verification point and the seat hard point on the verification plane coordinate system. The seat hard point is a point on the seat that does not move with seat adjustment. Based on the requirements for ride comfort and the driver's anthropometric data, combined with the target line equation of the verification point and the posture correlation data, the target coordinate range of the seat hard point and the corresponding seat back angle range are determined. Adjust the seat according to the target coordinate range of the seat hard point and the seat back angle range.

2. The seat adaptive adjustment method according to claim 1, characterized in that, The verification point is the position of the human eye. The process of determining the target line equation of the verification point on the verification plane coordinate system according to the driver's field of vision requirements specifically includes: Determine the coordinates of the upper endpoint of the field of view, the lower endpoint of the field of view, and the ground projection point coordinates of the front end of the vehicle on the verification plane coordinate system. Based on the coordinates of the ground projection point at the front of the vehicle, the coordinates of the upper field of vision requirement point and the lower field of vision requirement point are determined according to the driver's field of vision requirements. The equation of the upper field of view line is determined based on the coordinates of the upper end point of the field of view and the coordinates of the upper field of view requirement point; the equation of the lower field of view line is determined based on the coordinates of the lower end point of the field of view and the lower field of view requirement point. The target line equation for the verification point is determined based on the upper field of view equation and the lower field of view equation.

3. The seat adaptive adjustment method according to claim 1, characterized in that, The posture-related data includes the verification point and the length of the seat hard point; The step of determining the posture correlation data between the verification point and the seat hard point on the verification plane coordinate system according to the driver's posture requirements specifically includes: Determine the coordinates of the current verification point and the current seat hard point on the verification plane coordinate system; The length between the verification point and the seat hard point is determined based on the current verification point coordinates and the current seat hard point coordinates.

4. The seat adaptive adjustment method according to claim 3, characterized in that, The posture-related data also includes the angle between the line connecting the calibration point and the hard point of the seat and the backrest. The step of determining the posture correlation data between the verification point and the seat hard point on the verification plane coordinate system according to the driver's posture requirements also includes: Get the current seat back angle; The angle between the line connecting the current verification point and the seat hard point, determined by the current verification point coordinates, the current seat hard point coordinates, and the current seat back angle, and the backrest.

5. The seat adaptive adjustment method according to claim 3, characterized in that, Determining the coordinates of the current verification point on the verification plane coordinate system specifically includes: Determine the coordinates of the current seat back vertex on the verification plane coordinate system; The x-coordinate of the current verification point is determined based on the x-coordinate of the current seat back apex coordinate and the current estimated head length. Obtain the installation parameters of the face recognition camera and the imaging height of the current verification point in the imaging area of ​​the face recognition camera; The ordinate of the current verification point is determined based on the installation parameters of the face recognition camera, the imaging height of the verification point, and the x-coordinate of the verification point.

6. The seat adaptive adjustment method according to claim 5, characterized in that, Determining the coordinates of the current verification point on the verification plane coordinate system further includes: Obtain the imaging height of the current first reference point in the imaging area of ​​the face recognition camera. The first reference point is the head position point on the same vertical line as the verification point. The horizontal coordinate of the current verification point is used as the horizontal coordinate of the current first reference point. The ordinate of the current first reference point is determined based on the installation parameters of the face recognition camera, the imaging height of the reference point, and the x-coordinate of the current first reference point. The driver's height is determined based on the ordinate of the current first reference point, the ordinate of the current verification point, and the standard relationship of human body dimensions. The latest estimated head length is determined based on the relationship between the driver's height and standard human body dimensions; If the difference between the latest estimated head length and the current estimated head length is greater than a preset difference, then the latest estimated head length is taken as the current estimated head length, and the step of determining the horizontal coordinate of the verification point based on the horizontal coordinate of the current seat back vertex and the current estimated head length is returned.

7. The seat adaptive adjustment method according to claim 3, characterized in that, Determining the coordinates of the current verification point on the verification plane coordinate system specifically includes: Obtain the straight-line distance between the verification point and the face recognition camera, and the verification point tilt angle between the straight line between the verification point and the center point of the camera and the center line of the face recognition camera; The coordinates of the current verification point are determined based on the installation parameters of the face recognition camera, the straight-line distance of the verification point, and the tilt angle of the verification point.

8. The seat adaptive adjustment method according to claim 1, characterized in that, The posture-related data includes the length of the verification point and the hard point of the seat, and the angle between the line connecting the verification point and the hard point of the seat and the backrest. The process of determining the target coordinate range of the seat hard point and the corresponding seat back angle range based on ride comfort requirements, driver anthropometric data, the target line equation of the verification point, and the posture correlation data specifically includes: Determine the coordinates of the driver's ankle point and the equation of the straight line on the sole of the foot in the aforementioned verification plane coordinate system; The set of driver's knee coordinates is determined based on the driver's ankle coordinates, the equation of the straight line of the foot, the length of the driver's lower leg, and the comfortable range of the angle between the foot line and the lower leg line. The driver's hip coordinate set is determined based on the driver's knee point coordinate set, driver's thigh length, and the comfortable range of the angle between the lower leg line and the thigh line. The set of coordinates of the seat hard points is determined based on the set of coordinates of the driver's hip point and the thickness of the driver's thigh. Based on the set of seat hard point coordinates, the comfortable range of the angle between the thigh line and the body, the equation of the target line of the verification point, the length between the verification point and the seat hard point, and the angle between the line connecting the verification point and the seat hard point and the backrest, the target coordinate range of the seat hard point and the corresponding seat back angle range are determined. Each target coordinate of the seat hard point in the target coordinate range corresponds to a seat back angle range.

9. The seat adaptive adjustment method according to claim 8, characterized in that, The process of determining the target coordinate range of the seat hard point and the corresponding seat back angle range based on ride comfort requirements, driver anthropometric data, the target line equation of the verification point, and the posture correlation data includes: Determine the coordinates of the current verification point and the coordinates of the current second reference point on the verification plane coordinate system. The second reference point is located at the driver's head and does not coincide with the verification point. The driver's height is determined based on the coordinates of the current verification point, the coordinates of the current second reference point, and the relationship between human body size standards. Based on the relationship between driver's height and standard human body dimensions, driver's body dimensions data, including at least the driver's lower leg length, driver's thigh length, and driver's thigh thickness, are determined.

10. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform the seat adaptive adjustment method as described in any one of claims 1-9.

11. An electronic device, characterized in that, Includes at least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the seat adaptive adjustment method as described in any one of claims 1-9.

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