Seat calibration method, device and equipment and storage medium

Abstract

The invention discloses a seat calibration method, device and equipment and a storage medium, which are used for realizing automatic calibration of a seat. The method comprises the steps of establishing a virtual coordinate axis in response to a calibration starting instruction; controlling the seat to move in a first specified direction of the virtual coordinate axis until the movement is limited, and acquiring a corresponding first coordinate value when the movement of the seat in the first specified movement direction is limited; controlling the seat to move in a second specified direction of the virtual coordinate axis until the movement of the seat is limited, and acquiring a corresponding second coordinate value when the movement of the seat in the second specified movement direction is limited; and correcting the virtual coordinate axis by adopting the first coordinate value and the second coordinate value. According to the method and the device, the virtual coordinate axis is preset, and the seat is controlled to move on the virtual coordinate axis, so that correction of the virtual coordinate axis can be realized, automatic calibration of the seat is realized, manual calibration procedures of the production line coordinate axis can be reduced, and the calibration error risk caused by manual operation is reduced.

Description

Technical Field

[0001] The present invention relates to the field of control software technology, and in particular to a seat calibration method, device, equipment and storage medium. Background Art

[0002] With the development of intelligent cars, car seats are constantly upgraded in terms of function and comfort. Among them, seat memory has gradually become a standard configuration of car models. In order to improve the user experience, the seat control system needs to accurately calibrate the coordinate axis and identify the current position of the seat, so that it can be quickly and accurately adjusted to the position set by the user in subsequent use. However, the current seat system has the following problems: each seat needs to be manually calibrated for limit points before leaving the factory, which is time-consuming, inefficient, and easy to introduce human errors. Summary of the invention

[0003] In view of this, the present application provides a seat calibration method, device, equipment and storage medium to facilitate solving the above-mentioned technical problems.

[0004] In a first aspect, an embodiment of the present application provides a seat calibration method, the method comprising: In response to a calibration start instruction, a virtual coordinate axis is established; Controlling the seat to move in a first specified direction of the virtual coordinate axis until the movement of the seat in the first specified direction is restricted, and obtaining a first coordinate value corresponding to when the movement of the seat in the first specified direction is restricted; Controlling the seat to move in a second specified direction of the virtual coordinate axis until the movement of the seat in the second specified direction is restricted, and obtaining a second coordinate value corresponding to when the movement of the seat in the second specified direction is restricted; The virtual coordinate axis is corrected using the first coordinate value and the second coordinate value to obtain an actual coordinate axis.

[0005] In some possible embodiments, before the movement of the seat in the first designated direction is restricted, the method further includes: cyclically executing the first process according to a first preset period until the first coordinate value exceeds the upper limit value of the virtual coordinate axis, or until the movement of the seat in the first specified direction is restricted; The first process includes: obtaining a first coordinate value of the seat during movement in a first specified direction of the virtual coordinate axis.

[0006] In some possible embodiments, before the movement of the seat in the second designated direction is restricted, the method further includes: cyclically executing the second process according to a second preset period until the second coordinate value exceeds the lower limit value of the virtual coordinate axis, or until the movement of the seat in the second designated direction is restricted; The second process includes: obtaining a second coordinate value of the seat during movement in a second specified direction of the virtual coordinate axis.

[0007] In some possible embodiments, if the first coordinate value exceeds the upper limit value of the virtual coordinate axis, or the second coordinate value exceeds the lower limit value of the virtual coordinate axis, the method further includes: Get the number of historical limit exceeding times; Obtaining a new number of limit exceeding times based on the historical number of limit exceeding times; If it is determined that the new number of over-limit times exceeds the preset limit number, then a fault basis is determined; If it is determined that the new limit-exceeding times does not exceed the preset limit times, a calibration start instruction is generated.

[0008] In some possible embodiments, before correcting the virtual coordinate axis using the first coordinate value and the second coordinate value, the method further includes: Determine a first difference between the first coordinate value and an upper limit value of the virtual coordinate axis, and determine a second difference between the second coordinate value and a lower limit value of the virtual coordinate axis; Determining whether the first difference is less than a preset difference threshold, and determining whether the second difference is less than the preset difference threshold; The using the first coordinate value and the second coordinate value to correct the virtual coordinate axis includes: If it is determined that the first difference is smaller than the preset difference threshold, and if it is determined that the second difference is smaller than the preset difference threshold, the upper limit and the lower limit of the virtual coordinate axis are corrected using the first coordinate value and the second coordinate value.

[0009] In some possible embodiments, after the upper limit value and the lower limit value of the virtual coordinate axis are corrected by using the first coordinate value and the second coordinate value, the method further includes: If it is determined that there is a compensation point, then obtaining parameter information corresponding to the compensation point; Constructing an information set based on the parameter information corresponding to the compensation point; The virtual coordinate axis is compensated based on the information set.

[0010] In some possible embodiments, the performing compensation processing on the virtual coordinate axis based on the information set includes: Based on the torque value and the current value in the information set, obtaining a target torque value and a target current value corresponding to the information set; Obtaining a torque deviation value and a current deviation value based on the target torque value and the target current value; If the torque deviation value is greater than a preset torque deviation value, or the current deviation value is greater than a preset current deviation value, determining a first compensation value corresponding to the target torque value, and determining a second compensation value corresponding to the target current value; The first compensation value and the second compensation value are used to perform compensation processing on the virtual coordinate axis.

[0011] In a second aspect, an embodiment of the present application provides a seat calibration device, the device comprising: A response module, used for establishing a virtual coordinate axis in response to a calibration start instruction; a first control module, configured to control the seat to move in a first specified direction of the virtual coordinate axis until the movement of the seat in the first specified direction is restricted, and to obtain a first coordinate value corresponding to when the movement of the seat in the first specified direction is restricted; A second control module is used to control the seat to move in a second specified direction of the virtual coordinate axis until the movement of the seat in the second specified direction is restricted, and obtain a second coordinate value corresponding to when the movement of the seat in the second specified direction is restricted; The correction module is used to correct the virtual coordinate axis by using the first coordinate value and the second coordinate value to obtain the actual coordinate axis.

[0012] In some possible embodiments, the first control module is further configured to: cyclically executing the first process according to a first preset period until the first coordinate value exceeds the upper limit value of the virtual coordinate axis, or until the movement of the seat in the first specified direction is restricted; The first process includes: obtaining a first coordinate value of the seat during movement in a first specified direction of the virtual coordinate axis.

[0013] In some possible embodiments, the second control module is further configured to: cyclically executing the second process according to a second preset period until the second coordinate value exceeds the lower limit value of the virtual coordinate axis, or until the movement of the seat in the second designated direction is restricted; The second process includes: obtaining a second coordinate value of the seat during movement in a second specified direction of the virtual coordinate axis.

[0014] In some possible embodiments, if the first coordinate value exceeds the upper limit value of the virtual coordinate axis, or the second coordinate value exceeds the lower limit value of the virtual coordinate axis, the correction module is further used to: Get the number of historical limit exceeding times; Obtaining a new number of limit exceeding times based on the historical number of limit exceeding times; If it is determined that the new number of over-limit times exceeds the preset limit number, then a fault basis is determined; If it is determined that the new limit-exceeding times does not exceed the preset limit times, a calibration start instruction is generated.

[0015] In some possible embodiments, the correction module is further used to: Determine a first difference between the first coordinate value and an upper limit value of the virtual coordinate axis, and determine a second difference between the second coordinate value and a lower limit value of the virtual coordinate axis; Determining whether the first difference is less than a preset difference threshold, and determining whether the second difference is less than the preset difference threshold; The using the first coordinate value and the second coordinate value to correct the virtual coordinate axis includes: If it is determined that the first difference is smaller than the preset difference threshold, and if it is determined that the second difference is smaller than the preset difference threshold, the upper limit and the lower limit of the virtual coordinate axis are corrected using the first coordinate value and the second coordinate value.

[0016] In some possible embodiments, the correction module is further used to: If it is determined that there is a compensation point, then obtaining parameter information corresponding to the compensation point; Constructing an information set based on the parameter information corresponding to the compensation point; The virtual coordinate axis is compensated based on the information set.

[0017] In some possible embodiments, the correction module is specifically used to: Based on the torque value and the current value in the information set, obtaining a target torque value and a target current value corresponding to the information set; Obtaining a torque deviation value and a current deviation value based on the target torque value and the target current value; If the torque deviation value is greater than a preset torque deviation value, or the current deviation value is greater than a preset current deviation value, determining a first compensation value corresponding to the target torque value, and determining a second compensation value corresponding to the target current value; The first compensation value and the second compensation value are used to perform compensation processing on the virtual coordinate axis.

[0018] In the third aspect, another embodiment of the present application also provides an electronic device, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any method provided in the embodiment of the first aspect of the present application.

[0019] In a fourth aspect, another embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is used to enable a computer to execute any method provided in the embodiment of the first aspect of the present application.

[0020] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 A schematic diagram of an application scenario of a seat calibration method provided in an embodiment of the present application; Figure 2 A schematic diagram of the overall process of a seat calibration method provided in an embodiment of the present application; Figure 3 A schematic diagram of a seat moving in a first specified direction along a virtual coordinate axis in a seat calibration method provided by an embodiment of the present application; Figure 4 A schematic diagram of a seat calibration method provided in an embodiment of the present application moving along a virtual coordinate axis in a first specified direction; Figure 5 A schematic diagram of a flow chart of determining whether a seat calibration method has exceeded the limit multiple times provided in an embodiment of the present application; Figure 6 A schematic diagram of a process of determining whether a seat is stuck by a foreign object in a seat calibration method provided in an embodiment of the present application; Fig. 7A A schematic diagram of a seat being stuck by a foreign object in a seat calibration method provided in an embodiment of the present application; Figure 7BA schematic diagram of correcting a virtual coordinate axis in a seat calibration method provided in an embodiment of the present application; Figure 8 A schematic diagram of a flow chart of compensating a compensation point in a seat calibration method provided in an embodiment of the present application; Fig. 9 A schematic diagram of adjusting a seat in a seat calibration method provided in an embodiment of the present application; Fig.10 A schematic diagram of a flow chart of a seat calibration method according to an embodiment of the present application for compensating a compensation point based on an information set; Fig.11 A compensation schematic diagram of a seat calibration method provided in an embodiment of the present application; Fig.12 A schematic diagram of a storage area of ​​a seat calibration method provided in an embodiment of the present application; Fig.13 A schematic diagram of verification data of a seat calibration method provided in an embodiment of the present application; Fig.14 A schematic diagram of a seat calibration method provided in an embodiment of the present application; Fig.15 A schematic diagram of an electronic device for a seat calibration method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0024] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0025] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0026] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0027] The inventors have found that with the development of intelligent automobiles, automobile seats are constantly upgraded in terms of function and comfort. Among them, seat memory has gradually become a standard configuration for car models. In order to improve the user experience, the seat control system needs to accurately calibrate the coordinate axis and identify the current position of the seat, so that it can be quickly and accurately adjusted to the position set by the user in subsequent use. However, the current seat system has the following problems: each seat needs to be manually calibrated for limit points before leaving the factory, which is time-consuming, inefficient, and easy to introduce human errors.

[0028] In view of the above problems, the embodiments of the present application provide a seat calibration method, device, equipment and storage medium for solving the above problems. The inventive concept of the present application can be summarized as follows: in response to a calibration start instruction, a virtual coordinate axis is established; the seat is controlled to move in a first specified direction of the virtual coordinate axis until the movement of the seat in the first specified direction is restricted, and a first coordinate value corresponding to when the movement of the seat in the first specified direction is restricted is obtained; the seat is controlled to move in a second specified direction of the virtual coordinate axis until the movement of the seat in the second specified direction is restricted, and a second coordinate value corresponding to when the movement of the seat in the second specified direction is restricted is obtained; and the virtual coordinate axis is corrected using the first coordinate value and the second coordinate value.

[0029] In an embodiment of the present application, a virtual coordinate axis is pre-set, and the virtual coordinate axis can be corrected by controlling the seat to move on the virtual coordinate axis, thereby realizing automatic calibration of the seat. This can reduce the manual calibration process of the production line coordinate axis and reduce the risk of calibration errors caused by human operation.

[0030] For ease of understanding, a seat calibration method provided by an embodiment of the present application is described in detail below with reference to the accompanying drawings: like Figure 1 , which is an application scenario diagram of a seat calibration method in an embodiment of the present application. The diagram includes: a vehicle 10, a seat 20; wherein: The vehicle 10 establishes a virtual coordinate axis in response to the calibration start instruction; controls the seat 20 to move in a first specified direction of the virtual coordinate axis until the movement of the seat 20 in the first specified direction is restricted, and obtains a first coordinate value corresponding to when the movement of the seat 20 in the first specified direction is restricted; controls the seat 20 to move in a second specified direction of the virtual coordinate axis until the movement of the seat 20 in the second specified direction is restricted, and obtains a second coordinate value corresponding to when the movement of the seat 20 in the second specified direction is restricted; and corrects the virtual coordinate axis using the first coordinate value and the second coordinate value.

[0031] The description in this application only details a single vehicle 10 and a seat 20, but those skilled in the art should understand that the illustrated vehicle 10 and seat 20 are intended to represent the operation of the vehicle 10 and seat 20 involved in the technical solution of this application. It does not imply any limitation on the number, type or location of the vehicle 10 and seat 20. It should be noted that if additional modules are added to the illustrated environment or individual modules are removed therefrom, the underlying concept of the exemplary embodiment of this application will not be changed.

[0032] It should be noted that the seat calibration method proposed in this application is not only applicable to Figure 1 The application scenario shown is also applicable to any device that requires seat calibration.

[0033] like Figure 2 FIG. 1 is a schematic diagram of the overall process of a seat calibration method provided in an embodiment of the present application, wherein: In step 201: in response to a calibration start instruction, a virtual coordinate axis is established.

[0034] In an embodiment of the present application, before the seat leaves the factory, a virtual coordinate axis may first be established based on the range of forward and backward movement of the seat. After the virtual coordinate axis is established, the virtual coordinate axis is corrected based on the motion trajectory and motion state of the seat.

[0035] In step 202: the seat is controlled to move in a first specified direction of the virtual coordinate axis until the movement of the seat in the first specified direction is restricted, and a first coordinate value corresponding to when the movement of the seat in the first specified direction is restricted is obtained.

[0036] In the embodiment of the present application, in order to achieve the coincidence of the virtual coordinate axis and the actual coordinate axis, it is necessary to control the seat to move on the actual coordinate axis toward the first specified direction of the virtual coordinate axis. The seat is restricted when moving in the first specified direction, which means that the seat has moved to the extreme position in the first specified direction. Therefore, the first coordinate value of the seat at this time should be the upper limit value of the virtual coordinate axis.

[0037] In some possible embodiments, the seat movement may be restricted due to the presence of foreign matter in the seat's movement track (actual coordinate axis), which prevents the seat from moving to the extreme position. In order to accurately determine whether a fault occurs during the seat calibration process, until the seat's movement in the first specified direction is restricted, the following can be implemented: cyclically executing the first process according to the first preset period until the first coordinate value exceeds the preset upper limit value, or until the seat's movement in the first specified direction is restricted; the first process includes: obtaining the first coordinate value of the seat during its movement in the first specified direction of the virtual coordinate axis.

[0038] That is, in an embodiment of the present application, when the seat moves in a first specified direction, the real-time coordinate value of the seat can be obtained by cyclically executing the first process. Since the upper limit value corresponding to the virtual coordinate axis is estimated by the technician based on the limit point to which the seat can move, if the coordinate value of the seat during the movement in the first specified direction exceeds the upper limit value of the virtual coordinate axis, it means that the motor state of the vehicle may be abnormal. Therefore, it is necessary to stop executing the first process and issue an indication of calibration failure to facilitate the technician to troubleshoot the abnormalities generated during the seat calibration process.

[0039] For example: Figure 3 As shown, the seat starts to move from point A to the first specified direction of the virtual coordinate axis. The first preset period is 1 second, and the coordinate value of the seat is obtained once per second. The first coordinate value of the seat obtained at the 1st second is 10 cm, the first coordinate value of the seat obtained at 2 seconds is 20 cm, the first coordinate value of the seat obtained at 3 seconds is 30 cm, the first coordinate value of the seat obtained at 4 seconds is 40 cm, and the first coordinate value of the seat obtained at 5 seconds is 50 cm. If it is determined that the movement of the seat in the first specified direction is restricted at this time, the execution of the first process is stopped.

[0040] Another example: Figure 3 As shown, the seat starts to move from point A to the first specified direction of the virtual coordinate axis. The first preset period is 1 second, and the coordinate value of the seat is obtained once per second. The upper limit value of the virtual coordinate axis is determined to be 55 cm. The first coordinate value of the seat obtained at the 1st second is 10 cm, the first coordinate value of the seat obtained at 2 seconds is 20 cm, the first coordinate value of the seat obtained at 3 seconds is 30 cm, the first coordinate value of the seat obtained at 4 seconds is 40 cm, the first coordinate value of the seat obtained at 5 seconds is 50 cm, and the first coordinate value of the seat obtained at 6 seconds is 60 cm. At this time, the movement of the seat in the first specified direction has not been restricted, and the first coordinate value has exceeded the upper limit value of the virtual coordinate axis, then the execution of the first process is stopped.

[0041] In an embodiment of the present application, the above method can be used to obtain the maximum coordinate value when the seat moves in the first specified direction, thereby facilitating the correction of the upper limit value of the virtual coordinate axis according to the maximum coordinate value.

[0042] In step 203: the seat is controlled to move in the second specified direction of the virtual coordinate axis until the movement of the seat in the second specified direction is restricted, and a second coordinate value corresponding to when the movement of the seat in the second specified direction is restricted is obtained.

[0043] In the embodiment of the present application, in order to achieve the coincidence of the virtual coordinate axis and the actual coordinate axis, it is necessary to control the seat to move on the actual coordinate axis toward the second specified direction of the virtual coordinate axis. The seat is restricted when moving in the second specified direction, which means that the seat has moved to the extreme position in the second specified direction. Therefore, the second coordinate value of the seat at this time should be the lower limit value of the virtual coordinate axis.

[0044] In some possible embodiments, the seat movement may be restricted due to the presence of foreign matter in the seat's movement track, which prevents the seat from moving to its limit. In order to accurately determine whether a fault occurs during the seat calibration process, until the seat's movement in the second specified direction is restricted, the following may be implemented: the second process may be cyclically executed according to a second preset period until the second coordinate value exceeds the lower limit value of the virtual coordinate axis, or until the seat's movement in the second specified direction is restricted; the second process includes: obtaining the second coordinate value of the seat during its movement in the second specified direction on the virtual coordinate axis.

[0045] That is, in an embodiment of the present application, when the seat moves in the second specified direction, the real-time coordinate value of the seat can be obtained by cyclically executing the second process. Since the lower limit value corresponding to the virtual coordinate axis is estimated by the technician based on the limit point that the seat can move to in the second specified direction, if the coordinate value of the seat during the movement in the second specified direction exceeds the lower limit value of the virtual coordinate axis, it means that the motor state of the vehicle may be abnormal. Therefore, it is necessary to stop executing the second process and issue an indication of calibration failure to facilitate the technician to troubleshoot the abnormalities generated during the seat calibration process.

[0046] For example: Figure 4 As shown, the seat starts to move from point A to the second specified direction of the virtual coordinate axis. The second preset period is 1 second, and the coordinate value of the seat is obtained once per second. The second coordinate value of the seat obtained at the 1st second is 10 cm, the second coordinate value of the seat obtained at 2 seconds is 20 cm, and the second coordinate value of the seat obtained at 3 seconds is 30 cm. When it is determined that the movement of the seat in the second specified direction is restricted at this time, the execution of the second process is stopped.

[0047] Another example: Figure 4 As shown, the seat starts to move from point A to the second specified direction of the virtual coordinate axis. The second preset period is 1 second, and the coordinate value of the seat is obtained once per second. The lower limit value of the virtual coordinate axis is determined to be 35 cm. The second coordinate value of the seat obtained at the 1st second is 10 cm, the second coordinate value of the seat obtained at 2 seconds is 20 cm, the second coordinate value of the seat obtained at 3 seconds is 30 cm, and the second coordinate value of the seat obtained at 4 seconds is 40 cm. At this time, the movement of the seat in the second specified direction has not been restricted, and the second coordinate value has exceeded the lower limit value of the virtual coordinate axis, then the execution of the second process is stopped.

[0048] In an embodiment of the present application, the above method can be used to obtain the maximum coordinate value when the seat moves in the second specified direction, thereby facilitating the correction of the lower limit value of the virtual coordinate axis according to the maximum coordinate value.

[0049] It can be understood that the first preset period and the second preset period can be the same or different, and the specific values ​​of the first preset period and the second preset period are not limited in the present application.

[0050] In some possible embodiments, when the seat moves in the first specified direction or the second specified direction, if the movement trajectory exceeds the upper limit or lower limit of the virtual coordinate axis, it may be caused by an occasional fault. Therefore, in order to determine whether the seat calibration failure is caused by a fault of the vehicle itself, when the first coordinate value exceeds the upper limit of the virtual coordinate axis, or the second coordinate value exceeds the lower limit of the virtual coordinate axis, the following method may be implemented. Figure 5 Follow the steps shown to troubleshoot the incidental situation, where: In step 501: obtain the historical number of limit exceeding times.

[0051] In the embodiment of the present application, the number of historical limit exceeding times refers to the number of times the first coordinate value exceeds the upper limit value of the virtual coordinate axis or the number of times the second coordinate value exceeds the lower limit value of the virtual coordinate axis before the current limit exceeding.

[0052] In step 502: a new number of limit exceeding times is obtained based on the historical number of limit exceeding times.

[0053] In the embodiment of the present application, when obtaining a new number of over-limit times based on the historical number of over-limit times, 1 is added to the historical number of over-limit times to obtain the new number of over-limit times.

[0054] In step 503: if it is determined that the new number of over-limit times exceeds the preset limit number, then a calibration fault is determined.

[0055] In the embodiment of the present application, when the number of new over-limit times exceeds the preset limit times, it means that the seat has failed many times during the calibration process, so there may be a problem with the motor of the vehicle. At this time, a technician needs to detect the motor status of the vehicle.

[0056] In step 504: if it is determined that the new number of exceeding limit times does not exceed the preset limit times, a calibration start instruction is generated.

[0057] In the embodiment of the present application, when the number of new over-limit times exceeds the preset limit times, it is an occasional situation and can be executed again. Figure 2 Follow the steps shown to calibrate the seat.

[0058] In step 204: the virtual coordinate axis is corrected using the first coordinate value and the second coordinate value to obtain the actual coordinate axis.

[0059] In some possible embodiments, the virtual coordinate axis is corrected using the first coordinate value and the second coordinate value. Specifically, the upper limit value of the virtual coordinate axis is corrected using the first coordinate value, and the lower limit value of the virtual coordinate axis is corrected using the second coordinate value.

[0060] That is, in the embodiment of the present application, the upper limit value of the virtual coordinate axis is replaced by the first coordinate value, and the lower limit value of the virtual coordinate axis is replaced by the second coordinate value. Through this method, the virtual coordinate axis can be made to coincide with the actual coordinate axis.

[0061] In some other possible embodiments, before the first coordinate value and the second coordinate value are used to correct the virtual coordinate axis, the following steps may be performed: Figure 6 The steps shown, where: In step 601 : a first difference between a first coordinate value and an upper limit value of a virtual coordinate axis is determined, and a second difference between a second coordinate value and a lower limit value of the virtual coordinate axis is determined.

[0062] In step 602: determine whether the first difference is less than a preset difference threshold, and determine whether the second difference is less than a preset difference threshold.

[0063] In step 603: if it is determined that the first difference is less than the preset difference threshold, and if it is determined that the second difference is less than the preset difference threshold, the upper limit and the lower limit of the virtual coordinate axis are corrected using the first coordinate value and the second coordinate value.

[0064] In the embodiment of the present application, since the upper limit value and the lower limit value of the virtual coordinate axis are set by the technician based on the estimated movement range of the seat, the difference between the first coordinate value and the upper limit value of the virtual coordinate axis, and the difference between the second coordinate value and the lower limit value of the virtual coordinate axis will not be very different when making corrections. If the difference is large, it may be that the seat is stuck by foreign objects in the track when moving in the first specified direction or the second specified direction, making it impossible for the seat to move to the limit point of the first specified direction or the limit point of the second specified direction.

[0065] For example: Fig. 7A As shown, the upper limit value of the virtual coordinate axis is 55 cm, and the lower limit value is 30 cm. The seat starts to move from point A in the first specified direction of the virtual coordinate axis. When it moves to 40 cm, the movement is restricted, and the first coordinate value is 40 cm. When it moves to the second specified direction of the virtual coordinate axis to 27 cm, the movement is restricted, and the second coordinate value is 27 cm. The preset difference threshold is 5 cm. It is determined that the first difference is 15 cm and the second difference is 3 cm. It can be determined that the first difference is greater than the preset difference threshold, and further it can be determined that there may be foreign matter in the first specified direction of the virtual coordinate axis, causing the seat to be stuck when it moves to 40 cm.

[0066] For example: Figure 7B As shown, the upper limit value of the virtual coordinate axis is 55 cm, and the lower limit value is 30 cm. The seat starts to move from point A in the first specified direction of the virtual coordinate axis. When it moves to 53 cm, the movement is restricted, and the first coordinate value is 53 cm. When it moves to the second specified direction of the virtual coordinate axis to 27 cm, the movement is restricted, and the second coordinate value is 27 cm. The preset difference threshold is 5 cm. It is determined that the first difference is 2 cm and the second difference is 3 cm. The upper limit value of the virtual coordinate axis is adjusted to 53 cm, and the lower limit value is adjusted to 27 cm to achieve the coincidence of the virtual axis and the actual coordinate axis.

[0067] In some possible embodiments, after the seat leaves the factory, the user may frequently adjust the seat position during use, and the cumulative error generated during the use of the seat will gradually increase. As the error accumulates, the accuracy of the seat calibration before leaving the factory will eventually decrease. To help customers eliminate the cumulative error generated during the use of the seat in daily use, the following can be implemented: Figure 8 The process shown, where: In step 801: if it is determined that a compensation point exists, parameter information corresponding to the compensation point is obtained.

[0068] In the embodiment of the present application, each time the user adjusts the seat, the vehicle will obtain the seat position after the seat adjustment. Considering that the impact on the seat adjustment is small when the cumulative error is small, the seat adjustment will not be performed every time the seat is adjusted. Figure 8 The process shown in the figure is executed only when it is determined that there is a compensation point. Figure 8 The process shown.

[0069] Among them, after the user adjusts the seat each time, the vehicle will obtain the parameter information after this adjustment, and the parameter information includes: coordinate value, and the torque and current corresponding to the coordinate value.

[0070] For example: Fig. 9 As shown, the original position of the seat is at point A. When the user adjusts the seat from point A to point B, the coordinate value, torque and current of point B are recorded. The coordinate value, torque and current of point B are the parameter information corresponding to this adjustment.

[0071] In some possible embodiments, when the number of parameter information with the same coordinate value exceeds a preset number, the coordinate value is determined as a compensation point.

[0072] For example, if the preset number of times is 10 and it is determined that there are 10 pieces of parameter information with a coordinate value of 35 cm, 35 cm is recorded as compensation point 1.

[0073] In some other possible embodiments, the user may adjust the seat to the same position multiple times, for example: Fig. 9As shown, the user adjusts the seat from point A to point B for multiple times, the preset number of times is 10 times, and when the user adjusts the seat from point A to point B for the 10th time, it is determined that the Figure 8 The execution condition of the process shown in FIG. 1 is that it is determined that there is a compensation point. After point B is corrected based on the corresponding parameter information of 10 times, if the user adjusts the seat from point A to point B for the 11th time, in order to reduce the amount of calculation, the corresponding parameter information when the seat is adjusted from point A to point B for the first time can be discarded, and the parameter information from the 2nd to the 11th time can be used to execute Figure 8 The process shown.

[0074] In step 802: construct an information set based on parameter information corresponding to the compensation point.

[0075] In the embodiment of the present application, the information set includes parameter information of the parameters corresponding to the compensation point after each adjustment, and the parameter information includes but is not limited to current and torque.

[0076] For example: according to the torque values ​​corresponding to the compensation point A are T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, and the current values ​​corresponding to the compensation point A are I1, I2, I3, I4, I5, I6, I7, I8, I9, I10, then the information set includes: T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, I1, I2, I3, I4, I5, I6, I7, I8, I9, I10.

[0077] In step 803: compensation processing is performed on the compensation point based on the information set.

[0078] In some possible embodiments, compensation processing is performed on the compensation point based on the information set, which can be specifically implemented as follows: Fig.10 The process, in which: In step 1001: based on the torque value and the current value in the information set, a target torque value and a target current value corresponding to the information set are obtained.

[0079] In the embodiment of the present application, the target torque value is the average of the torque values ​​in the information set, and the target current value is the average of the current values ​​in the information set.

[0080] For example, the torque values ​​in the information set are: T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, and the current values ​​are: I1, I2, I3, I4, I5, I6, I7, I8, I9, I10; The target torque value is ; The target current value is .

[0081] In step 1002 : a torque deviation value and a current deviation value are obtained based on the target torque value and the target current value.

[0082] In an embodiment of the present application, a corresponding standard torque value and a standard current value are pre-set for each position in the coordinate axis (the coordinate axis after the virtual coordinate axis is corrected), the torque deviation value is the difference between the target torque value and the standard torque value, and the current deviation value is the difference between the target current value and the standard current value.

[0083] For example: The target torque value is The target current value is , the standard torque value is T0, the standard current value is I0, then the torque deviation value is , the current deviation value is .

[0084] In step 1003 : if the torque deviation value is greater than the preset torque deviation value, or the current deviation value is greater than the preset current deviation value, a first compensation value corresponding to the target torque value is determined, and a second compensation value corresponding to the target current value is determined.

[0085] In an embodiment of the present application, when the torque deviation value and the current deviation value are both smaller than their corresponding preset deviation values, it means that the error caused by the cumulative error of the seat to the virtual coordinate axis is small, so no compensation is required. When the torque deviation is greater than the preset torque deviation value or the current deviation is greater than the preset current deviation value, it means that compensation for the virtual coordinate axis is required.

[0086] In some possible embodiments, determining the first compensation value corresponding to the target torque value can be specifically implemented as follows: determining the torque value to be matched corresponding to each point on the virtual coordinate axis, taking the torque value to be matched with the smallest difference from the target torque value as the target matching torque, taking the point corresponding to the target matching torque as the first target point, and taking the difference between the coordinate value of the first target point and the coordinate value of the compensation point as the first compensation value.

[0087] For example: Fig.11 As shown, the coordinate value corresponding to the compensation point A is 35 cm in the first specified direction. The point corresponding to the target matching torque is determined to be point B, and the coordinate value of point B is 34 cm. The first compensation value is -1 cm.

[0088] In some other possible embodiments, determining the second compensation value corresponding to the target current value can be specifically implemented as follows: determining the current value to be matched corresponding to each point on the virtual coordinate axis, taking the current value to be matched with the smallest difference from the target current value as the target matching current, taking the point corresponding to the target matching current as the second target point, and taking the difference between the coordinate value of the second target point and the coordinate value of the compensation point as the second compensation value.

[0089] For example: Fig.11 As shown, the coordinate value corresponding to the compensation point A is 35 cm in the first specified direction. The point corresponding to the target matching current is determined to be point C, and the coordinate value of point C is 34.5 cm. The second compensation value is -0.5 cm.

[0090] In step 1004: the first compensation value and the second compensation value are used to perform compensation processing on the virtual coordinate axis.

[0091] In the embodiment of the present application, after determining the first compensation value and the second compensation value and before compensating the virtual coordinate axis, it is first necessary to ensure that the difference between the first compensation value and the second compensation value is less than a preset compensation difference threshold.

[0092] When the virtual coordinate axis corresponding to the first compensation value and the second compensation value is used for compensation processing, it can be implemented as follows: the minimum value of the first compensation value and the second compensation value is used as the target compensation value, and the coordinate value on the virtual coordinate axis is corrected using the target compensation value.

[0093] For example: the coordinate value corresponding to the compensation point A is 35 cm in the first specified direction. The point corresponding to the target matching torque is determined to be point B, and the coordinate value of point B is 34 cm. The first compensation value is -1 cm. The point corresponding to the target matching current is determined to be point C, and the coordinate value of point C is 34.5 cm. The second compensation value is -0.5 cm. The target compensation value can be determined to be -0.5 cm. All coordinate values ​​on the virtual coordinate axis are summed with the target compensation value to obtain the corrected virtual coordinate axis. That is, the virtual coordinate axis is moved 0.5 cm in the second specified direction.

[0094] In some possible embodiments, if the difference between the first compensation value and the second compensation value is greater than or equal to the preset compensation difference threshold, or the number of compensations for the virtual coordinate axis is greater than the preset number of compensations, it indicates that the vehicle has a fault, and therefore a calibration start instruction needs to be generated, and the calibration start instruction is re-executed based on the calibration start instruction. Figure 2 The process shown.

[0095] In some possible embodiments, in order to avoid the loss of vehicle data (including but not limited to the above-mentioned parameter information), the above-mentioned data can be stored in a distributed manner, which can be specifically implemented as follows: for multiple pre-set storage areas, a target storage area is determined from the multiple storage areas, the vehicle data is stored in the target storage area, and the non-target storage area obtains new data from the target storage area and stores it.

[0096] In the embodiment of the present application, a polling storage method is adopted, that is, multiple storage areas store data in turn.

[0097] It should be noted that each time the vehicle is powered on, it needs to obtain data from the storage area and store the obtained data in the vehicle's memory, so as to determine the current position of the seat and the information of the coordinate axis based on the obtained data. Therefore, the interaction process between the vehicle and the storage area is as follows: the vehicle obtains data from the first storage area, stores the obtained data in the vehicle's memory, and executes the above according to the data in the memory. Figure 2-Figure 11 In any of the processes described in , before powering off, a data packet is generated based on the data generated this time, and the data packet generated this time is stored in the second storage area together with the data acquired last time. The first storage area is the storage area where data was stored before the vehicle was powered off last time, and the second storage area is the next storage area of ​​the first storage area.

[0098] For example: Fig.12 As shown, a total of 6 storage areas are set. When the target storage area is determined to be storage area 3 for the first time, the vehicle data generated during the current power-on process are integrated into data packet 1, and data packet 1 is stored in storage area 3; when the power is turned on for the second time, the target storage area is determined to be storage area 4, and data packet 1 stored last time is first read from storage area 3, and data packet 1 stored last time is placed in the vehicle's memory. The vehicle can determine the current position of the seat and the coordinate axis information based on data packet 1, and the vehicle data generated during the current power-on process are integrated into data packet 2, and data packet 1 and data packet 2 are stored in storage area 4; when the power is turned on for the third time, the target storage area is determined to be storage area 5, and data packet 1 and data packet 3 are first read from storage area 4, and data packet 1 and data packet 2 are placed in the vehicle's memory. The vehicle can determine the current position of the seat during this power-on and the coordinate axis information based on data packet 1 and data packet 2, and the vehicle data generated during this power-on process are integrated into data packet 3, and data packet 1, data packet 2, and data packet 3 are stored in storage area 5.

[0099] In some possible embodiments, anomalies may occur in the process of storing data packets in a storage area, resulting in anomalies in the data stored in the storage area. In order to avoid the situation where the seat position is inaccurately determined due to abnormal conditions, a verification code is set for each data packet. After the data packet is obtained, the data packet can be verified according to the verification code of the data packet. When the verification is passed, the obtained data packet is placed in the vehicle's memory.

[0100] When checking the check code of the data packet, a cyclic redundancy check code (CRC) may be used for checking, or other check codes may be used for checking, which is not limited in the present application.

[0101] In some possible embodiments, when the verification fails, it indicates that an abnormality has occurred in the data stored in the storage area. Therefore, the data stored in the previous storage area corresponding to the storage area can be obtained this time, and the data stored in the storage area can be cleared. Before the power is turned off this time, the data in the vehicle memory is stored in the storage area.

[0102] For example: Fig.13 As shown, this time data is obtained from storage area 3 and verified. If it is determined that the verification fails, data is obtained from the previous storage area of ​​storage area 3, namely storage area 2, and the obtained data is verified. If the verification is successful, the obtained data is stored in the vehicle's memory.

[0103] In the embodiment of the present application, distributed backup storage is used to avoid the loss of seat positions in the vehicle, reduce the vehicle's dependence on the storage module, and enhance the fault tolerance of the vehicle system.

[0104] Based on the same inventive concept, after introducing a seat calibration method provided by an embodiment of the present application, as shown in FIG. Fig.14 As shown, a seat calibration device 1400 provided in an embodiment of the present application is described below, and the device includes: A response module 14001 is used to establish a virtual coordinate axis in response to a calibration start instruction; The first control module 14002 is used to control the seat to move in a first specified direction on the virtual coordinate axis until the movement of the seat in the first specified direction is restricted, and obtain a first coordinate value corresponding to when the movement of the seat in the first specified direction is restricted; The second control module 14003 is used to control the seat to move in a second specified direction on the virtual coordinate axis until the movement of the seat in the second specified direction is restricted, and obtain a second coordinate value corresponding to when the movement of the seat in the second specified direction is restricted; The correction module 14004 is used to correct the virtual coordinate axis using the first coordinate value and the second coordinate value.

[0105] In some possible embodiments, the first control module 14002 is further used to: cyclically executing the first process according to a first preset period until the first coordinate value exceeds the upper limit value of the virtual coordinate axis, or until the movement of the seat in the first specified direction is restricted; The first process includes: obtaining a first coordinate value of the seat during movement in a first specified direction on the virtual coordinate axis.

[0106] In some possible embodiments, the second control module 14003 is further used to: cyclically executing the second process according to a second preset period until the second coordinate value exceeds the lower limit value of the virtual coordinate axis, or until the movement of the seat in the second designated direction is restricted; The second process includes: obtaining a second coordinate value of the seat during movement along the virtual coordinate axis in a second specified direction.

[0107] In some possible embodiments, if the first coordinate value exceeds the upper limit value of the virtual coordinate axis, or the second coordinate value exceeds the lower limit value of the virtual coordinate axis, the correction module 14004 is further used to: Get the number of historical limit exceeding times; Obtaining a new number of limit exceeding times based on the historical number of limit exceeding times; If it is determined that the new number of over-limit times exceeds the preset limit number, then a fault basis is determined; If it is determined that the new limit-exceeding times does not exceed the preset limit times, a calibration start instruction is generated.

[0108] In some possible embodiments, the correction module 14004 is further used to: Determine a first difference between the first coordinate value and an upper limit value of the virtual coordinate axis, and determine a second difference between the second coordinate value and a lower limit value of the virtual coordinate axis; Determining whether the first difference is less than a preset difference threshold, and determining whether the second difference is less than the preset difference threshold; The using the first coordinate value and the second coordinate value to correct the virtual coordinate axis includes: If it is determined that the first difference is smaller than the preset difference threshold, and if it is determined that the second difference is smaller than the preset difference threshold, the upper limit and the lower limit of the virtual coordinate axis are corrected using the first coordinate value and the second coordinate value.

[0109] In some possible embodiments, the correction module 14004 is further used to: If it is determined that there is a compensation point, then obtaining parameter information corresponding to the compensation point; Constructing an information set based on the parameter information corresponding to the compensation point; The virtual coordinate axis is compensated based on the information set.

[0110] In some possible embodiments, the correction module 14004 is specifically used to: Based on the torque value and the current value in the information set, obtaining a target torque value and a target current value corresponding to the information set; Obtaining a torque deviation value and a current deviation value based on the target torque value and the target current value; If the torque deviation value is greater than a preset torque deviation value, or the current deviation value is greater than a preset current deviation value, determining a first compensation value corresponding to the target torque value, and determining a second compensation value corresponding to the target current value; The first compensation value and the second compensation value are used to perform compensation processing on the virtual coordinate axis.

[0111] Corresponding to the above embodiments, the present application also provides an electronic device. Fig.15 A schematic diagram of the structure of an electronic device provided in an embodiment of the present invention, the electronic device 1500 may include: a processor 1501, a memory 1502 and a communication unit 1503. These components communicate through one or more buses, and those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiment of the present invention, it can be a bus structure or a star structure, and can also include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0112] The communication unit 1503 is used to establish a communication channel so that the electronic device can communicate with other devices, receive user data sent by other devices or send user data to other devices.

[0113] The processor 1501 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It runs or executes software programs and / or modules stored in the memory 1502, and calls data stored in the memory to perform various functions of the electronic device and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 1501 can only include a central processing unit (CPU). In an embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0114] The memory 1502 is used to store the execution instructions of the processor 1501. The memory 1502 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0115] When the execution instructions in the memory 1502 are executed by the processor 1501, the electronic device 1500 can execute Figure 2 Some or all of the steps in the illustrated embodiments.

[0116] In a specific implementation, the present invention further provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the seat calibration method provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0117] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution in the embodiments of the present invention can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention or certain parts of the embodiments.

[0118] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A seat calibration method, characterized in that: Applied to a vehicle, the method comprises: In response to a calibration start instruction, a virtual coordinate axis is established; Controlling the seat to move in a first specified direction of the virtual coordinate axis until the movement of the seat in the first specified direction is restricted, and obtaining a first coordinate value corresponding to when the movement of the seat in the first specified direction is restricted; Controlling the seat to move in a second specified direction of the virtual coordinate axis until the movement of the seat in the second specified direction is restricted, and obtaining a second coordinate value corresponding to when the movement of the seat in the second specified direction is restricted; The virtual coordinate axis is corrected using the first coordinate value and the second coordinate value to obtain an actual coordinate axis.

2. The method according to claim 1, characterized in that Before the movement of the seat in the first designated direction is restricted, the method further comprises: cyclically executing the first process according to a first preset period until the first coordinate value exceeds the upper limit value of the virtual coordinate axis, or until the movement of the seat in the first specified direction is restricted; The first process includes: obtaining a first coordinate value of the seat during movement in a first specified direction of the virtual coordinate axis.

3. The method according to claim 1, characterized in that Before the movement of the seat in the second designated direction is restricted, the method further comprises: cyclically executing the second process according to a second preset period until the second coordinate value exceeds the lower limit value of the virtual coordinate axis, or until the movement of the seat in the second designated direction is restricted; The second process includes: obtaining a second coordinate value of the seat during movement in a second specified direction of the virtual coordinate axis.

4. The method according to any one of claims 2 or 3, characterized in that: If the first coordinate value exceeds the upper limit of the virtual coordinate axis, or the second coordinate value exceeds the lower limit of the virtual coordinate axis, the method further includes: Get the number of historical limit exceeding times; Obtaining a new number of limit exceeding times based on the historical number of limit exceeding times; If it is determined that the new number of over-limit times exceeds the preset limit number, then a fault basis is determined; If it is determined that the new limit-exceeding times does not exceed the preset limit times, a calibration start instruction is generated.

5. The method according to claim 1, characterized in that Before correcting the virtual coordinate axis by using the first coordinate value and the second coordinate value, the method further includes: Determine a first difference between the first coordinate value and an upper limit value of the virtual coordinate axis, and determine a second difference between the second coordinate value and a lower limit value of the virtual coordinate axis; Determining whether the first difference is less than a preset difference threshold, and determining whether the second difference is less than the preset difference threshold; The using the first coordinate value and the second coordinate value to correct the virtual coordinate axis includes: If it is determined that the first difference is smaller than the preset difference threshold, and if it is determined that the second difference is smaller than the preset difference threshold, the upper limit and the lower limit of the virtual coordinate axis are corrected using the first coordinate value and the second coordinate value.

6. The method according to claim 1, characterized in that After the upper limit value and the lower limit value of the virtual coordinate axis are corrected by using the first coordinate value and the second coordinate value, the method further includes: If it is determined that there is a compensation point, then obtaining parameter information corresponding to the compensation point; Constructing an information set based on the parameter information corresponding to the compensation point; The virtual coordinate axis is compensated based on the information set.

7. The method according to claim 6, characterized in that The compensating the virtual coordinate axis based on the information set includes: Based on the torque value and the current value in the information set, obtaining a target torque value and a target current value corresponding to the information set; Obtaining a torque deviation value and a current deviation value based on the target torque value and the target current value; If the torque deviation value is greater than a preset torque deviation value, or the current deviation value is greater than a preset current deviation value, determining a first compensation value corresponding to the target torque value, and determining a second compensation value corresponding to the target current value; The first compensation value and the second compensation value are used to perform compensation processing on the virtual coordinate axis.

8. A seat calibration device, characterized in that: Applied to a vehicle, the device comprises: A response module, used for establishing a virtual coordinate axis in response to a calibration start instruction; a first control module, configured to control the seat to move in a first specified direction of the virtual coordinate axis until the movement of the seat in the first specified direction is restricted, and to obtain a first coordinate value corresponding to when the movement of the seat in the first specified direction is restricted; A second control module is used to control the seat to move in a second specified direction of the virtual coordinate axis until the movement of the seat in the second specified direction is restricted, and obtain a second coordinate value corresponding to when the movement of the seat in the second specified direction is restricted; The correction module is used to correct the virtual coordinate axis by using the first coordinate value and the second coordinate value to obtain the actual coordinate axis.

9. An electronic device, characterized in that: The device comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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