Seat driving motor control method and device, storage medium and vehicle

Abstract

The invention provides a seat driving motor control method and device, a storage medium and a vehicle, and relates to the technical field of vehicle seat control The seat driving motor control method comprises the steps that first output information of a Hall sensor in a first motor and second output information of a Hall sensor in a second motor are obtained, and controlling the first motor and the second motor to stop successively according to the first output information and the second output information. According to the seat driving motor control method, structural parts such as a sliding rail structure do not need to be changed, the stopping sequence of the motors is controlled according to the output information of the Hall sensor, ordered stopping of the motors can be achieved, after the first motor and the second motor are both stopped, the gap between the gearbox and the lead screw can be effectively eliminated, and the service life of the motors is prolonged. Therefore, in the running process of the vehicle, abnormal sound of the seat is effectively prevented, and the riding comfort is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle seat control, and in particular to a seat drive motor control method. The present invention also relates to a seat drive motor control device, a storage medium and a vehicle capable of implementing the seat drive motor control method. Background Art

[0002] With the increasing demand for automobile intelligence and comfort, the design and control of seat slide mechanisms have become a key direction for optimizing vehicle interiors. Existing automotive seat sliding systems are usually driven by dual motors, and seat displacement is achieved through a transmission combination of a gearbox and a lead screw.

[0003] In order to meet the travel adjustment requirements of the seat, the lead screw in the slide rail mechanism is relatively long. Due to the limitation of material stiffness, the long lead screw is prone to flexural deformation when bearing the seat load. For example, creep caused by temperature changes or long-term use will increase the fit clearance between the lead screw and the gear box.

[0004] The existing solutions in the industry mainly reduce abnormal noise by adding rubber damping pads or optimizing gearbox lubrication, but such passive noise reduction measures cannot fundamentally solve the mechanical vibration problem caused by screw deformation. Experiments show that after multiple consecutive adjustment cycles, the attenuation performance of the damping material drops sharply, resulting in the attenuation of abnormal noise control effect year by year. Summary of the invention

[0005] In view of this, the present invention aims to provide a seat drive motor control method to prevent abnormal seat impact noise.

[0006] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0007] A seat drive motor control method is used to control a first motor and a second motor that drive a seat to slide, the method comprising:

[0008] Acquire first output information of a Hall sensor in the first motor and second output information of a Hall sensor in the second motor;

[0009] The first motor and the second motor are controlled to stop successively according to the first output information and the second output information.

[0010] Furthermore, after controlling the first motor and the second motor to stop successively, the method further includes: controlling the second motor and the first motor to start successively.

[0011] Furthermore, the first motor and the second motor are controlled to stop successively based on the first output information and the second output information, including: determining the actual position of the first motor based on the first output information, and determining the actual position of the second motor based on the second output information; when the actual position of the first motor reaches a first target position, controlling the first motor to stop; after the first motor stops, when the actual position of the second motor reaches a second target position, controlling the second motor to stop; wherein the first target position is a first theoretical position of the seat, and the second target position is the sum or difference between the first theoretical position and a preset distance.

[0012] Furthermore, the controlling of starting the second motor and the first motor sequentially includes: controlling the second motor to start and move toward the first theoretical position; when the actual position of the second motor reaches the first theoretical position, controlling the first motor to start and move toward the second theoretical position of the seat, and controlling the second motor to move toward the second theoretical position at the same time.

[0013] Furthermore, the method for obtaining the preset distance is as follows: control the first motor to stop; when the first motor stops, control the rotor of the second motor to rotate in the first direction until it is initially stalled; when the second motor is stalled, control the rotor of the second motor to rotate in the second direction until it is stalled again, and calculate the actual distance moved by the second motor from the initial stall to the secondary stall; obtain the preset distance based on the actual distance calculation; wherein, one of the first direction and the second direction is a clockwise direction, and the other is a counterclockwise direction.

[0014] Furthermore, the method for obtaining the preset distance is executed in a loop for multiple times to obtain multiple preset distances; and an average value of the multiple preset distances is calculated as the final preset distance.

[0015] Further, the controlling of the rotor of the second motor to rotate in a first direction until it is initially stalled comprises: controlling the rotor of the second motor to rotate in a first direction at a preset first operating speed; during the rotation of the rotor of the second motor, obtaining theoretical working information of the second motor; when it is detected that the theoretical working information of the second motor exceeds a first preset information threshold, determining that the second motor is initially stalled; and / or, controlling the rotor of the second motor to rotate in a second direction until it is stalled again comprises: controlling the rotor of the second motor to rotate in a second direction at a preset second operating speed; during the rotation of the rotor of the second motor, obtaining theoretical working information of the second motor; when it is detected that the theoretical working information of the motor exceeds a second preset information threshold, determining that the second motor is stalled again.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] The seat drive motor control method described in the present invention does not require changing structural parts such as the slide rail structure. By controlling the stopping sequence of the motors based on the output information of the Hall sensor, the motors can be stopped in an orderly manner. After the first motor and the second motor are stopped, the gap between the gear box and the lead screw can be effectively eliminated, thereby effectively preventing abnormal seat noise during vehicle driving and improving riding comfort.

[0018] In addition, controlling the second motor and the first motor to start successively can make the mechanical structure of the seat gradually adapt to the motion state, reduce the impact and instability caused by suddenly starting multiple motors, and when they reach the first theoretical position together, control them to move to the same target position, namely the second theoretical position, which is beneficial to improve the smoothness of the seat's movement between different positions.

[0019] In addition, in the process of obtaining the preset distance, the control method of the seat in the actual working process can be accurately simulated. By measuring the actual distance from the first jam to the second jam and dividing it by two to calculate the preset distance, the accuracy and effectiveness of the preset distance can be ensured, thereby improving its performance in preventing abnormal noise from the seat and better ensuring the comfort of the seat.

[0020] Another object of the present invention is to provide a seat drive motor control device for controlling a first motor and a second motor that drive a seat to slide, the control device comprising:

[0021] An acquisition module, used for acquiring first output information of the Hall sensor in the first motor and second output information of the Hall sensor in the second motor;

[0022] The control module controls the first motor and the second motor to stop successively according to the first output information and the second output information.

[0023] The seat drive motor control device of the present invention can realize precise control of the seat drive motor by integrating Hall sensor information acquisition and motor control functions, effectively prevent abnormal seat noise, and help improve riding comfort. This control device can not only improve the intelligence level of the seat, but also bring users a more stable and precise seat control experience.

[0024] Meanwhile, another object of the present invention is a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, the seat drive motor control method as described above can be implemented.

[0025] The computer-readable storage medium of the present invention can provide powerful technical support for the automation and intelligence of the seat control device by storing a computer program for implementing the seat drive motor control method.

[0026] Yet another object of the present invention is a vehicle provided with a controller capable of executing the seat drive motor control method as described above.

[0027] The vehicle of the present invention, by being equipped with a controller capable of executing the seat drive motor control method, has the same beneficial effects as the aforementioned seat drive motor control method relative to the prior art, and also enables the vehicle to have a higher level of intelligence and a better user experience. This type of vehicle can improve the adjustment accuracy and stability of the seat, thereby providing the user with a more comfortable and convenient riding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0029] Figure 1 is an exemplary flow chart of a seat drive motor control method according to an embodiment of the present invention;

[0030] Figure 2 Another exemplary flow chart of the seat drive motor control method according to an embodiment of the present invention;

[0031] Figure 3 This is an exemplary flow chart of controlling the motor to stop in the seat drive motor control method according to an embodiment of the present invention;

[0032] Figure 4 This is an exemplary flow chart of controlling the start of a motor in the seat drive motor control method according to an embodiment of the present invention;

[0033] Figure 5 An exemplary flow chart of obtaining a preset distance in the seat drive motor control method according to an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of an exemplary structure of two slide rails of a seat according to an embodiment of the present invention;

[0035] Figure 7 is a principle block diagram of a seat drive motor control device according to an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of an exemplary structure of a control module according to an embodiment of the present invention.

[0037] Description of reference numerals:

[0038] 1. First motor; 2. First slide rail; 3. First lead screw; 4. Second motor; 5. Second slide rail; 6. Second lead screw; 7. Acquisition module; 8. Control module;

[0039] 201, first upper rail; 202, first lower rail;

[0040] 501, the second upper rail; 502, the second lower rail;

[0041] 801, processor; 802, memory; 803, communication interface. DETAILED DESCRIPTION

[0042] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0043] In the description of the present invention, it should be noted that the orientation or positional relationship shown in the drawings is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0044] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installation", "connection", "connection", and "connector" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in combination with specific circumstances.

[0045] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0046] Embodiment 1

[0047] With the increasing demand for automobile intelligence and comfort, the design and control of seat slide mechanisms have become a key direction for optimizing vehicle interiors. Existing automotive seat sliding systems are usually driven by dual motors, and seat displacement is achieved through a transmission combination of a gearbox and a lead screw.

[0048] In order to meet the travel adjustment requirements of the seat, the length of the lead screw in the slide rail mechanism is usually more than 300mm, and some models even reach 500mm. Due to the limitation of material stiffness, the long lead screw is prone to flexural deformation when bearing the seat load. For example, creep caused by temperature changes or long-term use will expand the matching clearance between the lead screw and the gear box. According to experimental data, when the lead screw deformation exceeds 0.3mm, the meshing error between the gear box and the lead screw will increase by more than 20%, resulting in high-frequency abnormal noise when the vehicle is driving on bumpy roads, with a frequency range of about 800Hz-1500Hz.

[0049] In traditional control strategies, the movement is usually stopped by simultaneously cutting off the power to both motors. However, due to the difference in inertia of the motor rotors and the nonlinear change in the friction coefficient of the screw transmission pair, a large impact acceleration will be generated when the seat stops. This type of impact will significantly reduce riding comfort.

[0050] The existing solutions in the industry mainly reduce abnormal noise by adding rubber damping pads or optimizing gearbox lubrication, but such passive noise reduction measures cannot fundamentally solve the mechanical vibration problem caused by screw deformation. Experiments show that after 5,000 consecutive adjustment cycles, the attenuation performance of the damping material decreases by more than 40%, resulting in the annual attenuation of the abnormal noise control effect.

[0051] In order to effectively prevent vehicle seats, the present embodiment relates to a seat drive motor control method, which does not require changing the structure of the structural parts and can effectively eliminate the gap between the gear box and the lead screw, thereby effectively preventing abnormal noise from the seat slide rail.

[0052] Based on the above design concept, an exemplary structure of the seat drive motor control method of this embodiment is as follows: Figure 1 As shown, in terms of overall structure, the seat drive motor control method of this embodiment is used to control the first motor 1 and the second motor 4 that drive the seat to slide. The control method includes the following steps S101 and S102.

[0053] Step S101 , obtaining first output information of a Hall sensor in the first motor 1 and second output information of a Hall sensor in the second motor 4 .

[0054] Step S102 , controlling the first motor 1 and the second motor 4 to stop successively according to the first output information and the second output information.

[0055] In order to better understand the seat drive motor control method of this embodiment, as shown in FIG. Figure 6 Two sets of slide rail assemblies required for the sliding of the seat are shown. The two sets of slide rail assemblies have the same structure, and each slide rail assembly includes a slide rail, a motor, a lead screw and a gear box. Each slide rail includes a lower rail and an upper rail slidably connected to the lower rail.

[0056] The lower rail is fixed on the vehicle body, the upper rail is fixed on the seat, the motor is fixed on the upper rail, the power output end of the motor is connected to the lead screw through a gear box, and the lead screw is rotatably arranged on the lower rail. The power driven by the motor drives the lead screw to rotate through the gear box, and under the driving of the reaction force, the upper rail, the motor and the seat move together along the length direction of the lead screw. For example, on a vehicle, the length direction of the lead screw is consistent with the front-rear direction of the vehicle.

[0057] At the same time, for the convenience of description, Figure 6 In the state shown, the upper slide rail assembly is referred to as the first slide rail assembly, and the lower slide rail assembly is referred to as the second slide rail assembly.

[0058] The upper rail in the slide rail in the first slide rail assembly is called the first upper rail 201, the lower rail in the slide rail in the first slide rail assembly is called the first lower rail 202, the motor in the first slide rail assembly is called the first motor 1, the lead screw in the first slide rail assembly is called the first lead screw 3, and the gear box in the first slide rail assembly is called the first gear box.

[0059] The upper rail in the slide rail in the second slide rail assembly is called the second upper rail 501, the lower rail in the slide rail in the second slide rail assembly is called the second lower rail 502, the motor in the second slide rail assembly is called the second motor 4, the lead screw in the second slide rail assembly is called the second lead screw 6, and the gear box in the second slide rail assembly is called the second gear box.

[0060] First of all, it should be noted that the first motor 1 and the second motor 4 in this embodiment both use existing motors with integrated Hall sensors, and the rotors of the motors can rotate clockwise or counterclockwise, such as existing brushless direct current motors (BLDC) with Hall sensors or permanent magnet synchronous motors with Hall sensors. The number and arrangement of the Hall sensors in each motor can refer to the structure in the prior art.

[0061] Next, refer to Figure 1 The seat drive motor control method of this embodiment is described in detail. In step S101, the first output information of the Hall sensor in the first motor 1 is obtained to monitor the state of the first motor 1. By analyzing and calculating these first output information with reference to existing methods, the speed, position and direction of the rotor can be obtained. Similarly, the second output information of the Hall sensor in the second motor 4 is obtained to monitor the motor state of the second motor and to obtain the speed, position and direction of its rotor.

[0062] It should be noted that the Hall sensor is a magnetic sensor based on the Hall effect, which can convert changes in the magnetic field into electrical signals. In a motor, the Hall sensor is usually used to detect the position and speed of the motor rotor. By obtaining the first output information of the Hall sensor in the first motor 1 and the second output information of the Hall sensor in the second motor 4, the operating status of these motors can be understood in real time, including whether the motor is rotating, the speed of rotation, and the direction of rotation.

[0063] The first output information and the second output information are important bases for the subsequent control of the first motor 1 and the second motor 4. The subsequent control method needs to make decisions based on the actual operating status of the motor, such as judging whether the first motor 1 has reached the target position, whether an abnormal situation has occurred, etc. Therefore, accurately obtaining the first output information and the second output information is crucial to achieving accurate control of the first motor 1 and the second motor 4.

[0064] Since the first output information and the second output information can provide accurate feedback information for the control of the first motor 1 and the second motor 4, the control device can make precise adjustments according to the actual operation of the first motor 1 and the second motor 4. For example, during the sliding process of the seat, if the seat needs to be moved to a specific position, the control device can accurately control the rotation of the first motor 1 according to the first output information, and accurately control the rotation of the second motor 4 according to the second output information, thereby achieving precise positioning of the seat.

[0065] In addition, by analyzing the first output information and the second output information, possible faults that may occur during the operation of the first motor 1 and the second motor 4 can be discovered in time. For example, if the first output signal is abnormal, it may indicate that the first motor 1 has a mechanical fault, an electrical fault, or a sensor fault itself. If the second output signal is abnormal, it may indicate that the second motor 4 has a mechanical fault, an electrical fault, or a sensor fault itself. It is convenient to discover these faults in time and take corresponding measures in the subsequent control process, which can avoid further damage to the first motor 1 and the second motor 4 and improve the reliability and safety of the seat drive system.

[0066] In step S102, the first motor 1 and the second motor 4 are controlled to stop successively according to the first output information and the second output information, and the main purpose is to control the first motor 1 and the second motor 4 to stop successively in an orderly manner. During the sliding process of the seat, in order to better eliminate the gap between the gear box and the lead screw, the first motor 1 and the second motor 4 are stopped successively, which is conducive to ensuring that the seat stops smoothly and can prevent the seat from shaking.

[0067] At the same time, by controlling the stopping order of the first motor 1 and the second motor 4 according to the first output information and the second output information, the first motor 1, the second motor 4 and the first slide rail 2 and the second slide rail 5 of the seat can be better protected. During the stopping process of the seat, if the first motor 1 and the second motor 4 stop at the same time, it may cause a large impact on the first motor 1, the second motor 4 and the seat mechanical transmission mechanism such as the first gear box, the second gear box, the first lead screw 3, the second lead screw 6, etc., affecting the service life of these motors and the seat mechanical transmission mechanism. By stopping the first motor 1 and the second motor 4 in sequence, this impact can be reduced, the damage to these motors and the seat mechanical transmission mechanism can be reduced, and their service life can be extended.

[0068] At the same time, stopping the first motor 1 and the second motor 4 successively can also help improve riding comfort. Orderly stopping the first motor 1 and the second motor 4 can make the seat stop sliding more smoothly, and can avoid shaking or jamming caused by stopping the two motors at the same time, thereby improving the riding comfort of passengers.

[0069] In addition, this orderly stopping method can not only reduce the impact on these motors and seat mechanical transmission mechanisms, reduce the wear and failure rate of these equipment, thereby extending the service life of these motors and seat mechanical transmission mechanisms, and thus reducing maintenance costs.

[0070] As a preferred embodiment, Figure 2 As shown, after the first motor 1 and the second motor 4 are controlled to stop successively in step S102, the control method of this embodiment further includes step S103, controlling the second motor 4 and the first motor 1 to start successively according to the first output information and the second output information.

[0071] The purpose of step S103 is to start the seat smoothly, and after the seat is started, it is conducive to the smooth movement of the seat to the target position. Specifically, after the seat stops, if the seat needs to be moved again, directly starting the two motors at the same time may cause a large impact force when the seat is started, which brings an uncomfortable experience to the passengers. By controlling the second motor 4 and the first motor 1 to start successively, so that the second motor 4 moves to the same theoretical position as the first motor 1 first, the starting process of the seat can be smoother, the vibration and shaking during startup can be reduced, and the seat can be smoothly moved in the subsequent process.

[0072] That is to say, starting the second motor 4 and the first motor 1 in sequence can better coordinate the power output of the two motors and avoid power conflicts caused by starting them at the same time. Starting the second motor 4 first can create better mechanical conditions for starting the first motor 1, making the power transmission of the entire seat drive system more efficient.

[0073] Specifically, the first motor 1 and the second motor 4 on both sides are located in appropriate positions so that they can work together to output power to control the forward and backward movement of the seat. Starting the second motor 4 and the first motor 1 in sequence can make the first motor 1 and the second motor 4 be located in the aforementioned first theoretical position together, allowing the seat mechanical transmission structure to smoothly enter the working state, thereby improving the stability of the seat movement.

[0074] The process of the second motor 4 and the first motor 1 starting smoothly in sequence can make the seat mechanical transmission system more stable and reliable, significantly improve the comfort of the passengers, reduce the discomfort caused by the starting impact, and reduce the failure and damage caused by abnormal conditions during the starting process. At the same time, the optimization of power transmission and the reduction of starting impact can reduce the wear of the motor and the seat mechanical transmission mechanism, extend the service life of these devices, and thus reduce the cost of maintenance and replacement.

[0075] As a preferred implementation, step S102 controls the first motor 1 and the second motor 4 to stop successively according to the first output information and the second output information, and specifically includes step S1021, step S1022 and step S1023.

[0076] Step S1021 , determining the actual position of the first motor 1 according to the first output information, and determining the actual position of the second motor 4 according to the second output information.

[0077] Step S1022: When the actual position of the first motor 1 reaches the first target position, the first motor 1 is controlled to stop.

[0078] Step S1023, after the first motor 1 stops, when the actual position of the second motor 4 reaches the second target position, the second motor 4 is controlled to stop.

[0079] It should be noted that, in the above description, the first target position is the first theoretical position of the seat, and the second target position is the sum or difference between the first theoretical position and the preset distance.

[0080] Step S1021, determining the actual position of the first motor 1 according to the first output information, and determining the actual position of the second motor 4 according to the second output information, which serves to provide appropriate basic data for the subsequent control process.

[0081] Since key data such as the position and motion state of the motor rotor can be determined based on the first output information and the second output information, the actual positions of the first motor 1 and the second motor 4 can be accurately calculated by analyzing and processing the first output information and the second output information. For details, please refer to the existing methods.

[0082] This is the basis for accurately controlling the stopping order of the first motor 1 and the second motor 4. Only by clarifying the actual positions of the first motor 1 and the second motor 4 can we determine whether they have reached the target position of the seat, which is convenient for providing an accurate basis for subsequent position comparison and control methods. Specifically, the control method needs to compare the actual position of each motor with the target position to decide whether to stop the operation of each motor.

[0083] The purpose of setting step S1021 is to achieve real-time monitoring and accurate control of the motor position, because in the process of seat sliding, knowing the specific positions of the first motor 1 and the second motor 4 at any time is conducive to ensuring that the target position of the seat movement meets the expectations. This step is conducive to improving the accuracy and reliability of control. Control based on accurate position information can avoid the motor stopping too early or too late due to inaccurate position judgment, thereby ensuring that the seat can stop accurately at the required position.

[0084] Step S1023, when the actual position of the first motor 1 reaches the first target position, the first motor 1 is controlled to stop. It should be noted that in this step, the first target position is the first theoretical position of the seat, which represents the position the seat should reach. When the actual position of the first motor 1 reaches the first target position, it means that the first motor 1 has completed its corresponding driving task. At this time, the first motor 1 is controlled to stop, which is conducive to coordination with subsequent steps and keeps the seat stable in this position.

[0085] In addition, this step can also provide time and space coordination for the subsequent control process of the second motor 4. Stopping the first motor 1 first can allow the seat to wait in a relatively stable state for the second motor 4 to complete the remaining movement task, thereby reducing the impact and noise that may be caused by stopping the two motors at the same time.

[0086] This step precisely controls the stopping of the first motor 1 so that the seat can stop at the target position as required, meeting the user's demand for the seat position, thereby laying the foundation for subsequent control operations and making the entire seat driving process more orderly and controllable.

[0087] Step S1023, after the first motor 1 stops, when the actual position of the second motor 4 reaches the second target position, the second motor 4 is controlled to stop.

[0088] It should be noted that the second target position is determined based on the first target position in combination with the preset distance. The preset distance can be set according to the specific functions and design requirements of the seat, and it is used to further adjust the final position of the seat. When the actual position of the second motor 4 reaches the second target position, it means that the seat has completed the entire moving process. At this time, controlling the second motor 4 to stop can make the seat stop accurately at the final target position.

[0089] By stopping the first motor 1 and the second motor 4 in succession and adjusting the preset distance, more precise control of the seat position can be achieved. This step-by-step control method is conducive to eliminating the gap between the mechanical transmission mechanisms of the seat, which can better prevent abnormal noise, reduce noise, and improve the comfort of the seat.

[0090] The main purpose of setting step S1023 is to achieve fine adjustment of the seat position. By setting the preset distance, the seat position can be fine-tuned based on the first theoretical position to meet the user's demand for seat comfort. In addition to improving the accuracy and stability of the seat stop, this step can reduce the impact force when the seat stops by stopping the first motor 1 and the second motor 4 in sequence, so that the seat stops more smoothly at the final position, which is convenient for improving the user's riding experience.

[0091] As a preferred embodiment, refer to Figure 2 and Figure 4 As shown, in step S103, the second motor 4 and the first motor 1 are controlled to start successively, which mainly includes step S1031 and step S1032.

[0092] Step S1031, controlling the second motor 4 to start and move toward the first theoretical position.

[0093] Step S1032, when the actual position of the second motor 4 reaches the first theoretical position, the first motor 1 is controlled to start and move toward the second theoretical position of the seat, and the second motor 4 is controlled to move toward the second theoretical position.

[0094] In step S1031, the second motor 4 is controlled to start and move to the first theoretical position, which can lay the foundation for the subsequent coordinated operation of the first motor 1 and the second motor 4. After the seat stops, the second motor 4 is started first and moved to the first theoretical position, which can allow the movement of the seat to have an initial stable stage. This can gradually adapt the mechanical structure of the seat to the motion state and reduce the impact and instability caused by suddenly starting multiple motors.

[0095] In step S1031, the initial power and direction guidance of the seat movement can be provided, and the second motor 4 can be controlled to move toward the first theoretical position, which is conducive to achieving a smooth start of the seat movement. Since only one motor is started, the power impact at the start moment can be reduced, so that the seat can start to move more smoothly, which is conducive to improving the comfort of the occupant.

[0096] In addition, since the aforementioned first motor 1 stops at the first theoretical position of the seat, when the second motor 4 reaches the first theoretical position, the first motor 1 and the second motor 4 are controlled to jointly drive the seat to move, so that the entire movement process of the seat can move more smoothly and smoothly on this basis.

[0097] In step S1032 as described above, when the actual position of the second motor 4 reaches the first theoretical position, the first motor 1 is controlled to start and move toward the second theoretical position of the seat, and the second motor 4 is controlled to move toward the second theoretical position.

[0098] The main function of step S1032 is to facilitate the coordinated work of the two motors. When the second motor 4 reaches the first theoretical position, the first motor 1 is started and the two motors are allowed to move to the second theoretical position at the same time. This can make the movement of the seat smoother, more efficient and more stable. The coordinated cooperation of the two motors can also provide greater power to ensure that the seat can accurately reach the second theoretical position.

[0099] Step S1032 is to complete the complete movement process of the seat from the first theoretical position to the second theoretical position by starting the second motor 4 and the first motor 1 successively. When they reach the first theoretical position together, they are controlled to move to the same target position, that is, the second theoretical position, which is beneficial to improve the smoothness of the movement of the seat between different positions.

[0100] This step S1032 is also helpful to improve the efficiency of the seat movement. The first motor 1 and the second motor 4 work simultaneously from the first theoretical position, which can speed up the movement speed of the seat. And because they move toward the second theoretical position in coordination, they can reach the target position more accurately, which helps to reduce errors.

[0101] In addition, starting the first motor 1 after the second motor 4 reaches the first theoretical position can avoid motion jamming or discontinuity that may be caused by mismatched starting positions of the two motors, making the movement of the seat smoother.

[0102] It should be noted that, in this embodiment, the second motor 4 and the first motor 1 are started successively as an example. In addition, of course, the first motor 1 and the second motor 4 can also be started successively, but in this case, the first motor 1 should be moved to the first target position by a preset distance first, and if the second target position of the second motor 4 is the sum of the first theoretical position and the preset distance, then the first target position is the sum of the first theoretical position and the preset distance, and if the second target position of the second motor 4 is the difference between the first theoretical position and the preset distance, then the first target position is the difference between the first theoretical position and the preset distance.

[0103] As a preferred embodiment, refer to Figure 5 As shown, the aforementioned method for obtaining the preset distance includes step S201, step S202, step S203 and step S204.

[0104] Step S201, controlling the first motor 1 to stop.

[0105] Step S202 , when the first motor 1 stops, controlling the rotor of the second motor 4 to rotate in a first direction until it is initially locked.

[0106] Step S203, when the second motor 4 is stalled, controlling the rotor of the second motor 4 to rotate in the second direction until it is stalled again, and calculating the actual distance moved by the second motor 4 during the process from the initial stalling to the second stalling.

[0107] Step S204, obtaining a preset distance based on the actual distance calculation.

[0108] It should be noted that, in step S201 to step S204, one of the first direction and the second direction is a clockwise direction, and the other is a counterclockwise direction.

[0109] In addition, it should be noted that the method for obtaining the preset distance executed in steps S201 to S204 is performed during a calibration or test process, and then the obtained preset distance is stored in the memory 802 described below.

[0110] The purpose of setting step S201 is to create stable conditions for the subsequent measurement of the motion range of the second motor 4. When measuring the actual distance from the first stall to the second stall, it is necessary to ensure that the first motor 1 is in a stationary state to avoid the movement of the first motor 1 interfering with the measurement result. In this way, the focus of the measurement can be focused on the second motor 4 to ensure the accuracy of the measurement.

[0111] This step S201 mainly simulates the working process of the two motors asynchronously starting and stopping in actual use of the seat, and obtains an accurate preset distance, which is conducive to the asynchronous start-stop control method not affecting the smooth switching of the seat between the two positions. In the exemplary control method provided in this embodiment, by controlling the first motor 1 to stop, it is closer to the actual scene, so that the measured preset distance has more practical application value.

[0112] Step S201 can provide a stable measurement environment for subsequent steps, reduce the impact of external factors on the measurement results, and improve the measurement accuracy, so that the subsequent measurement of the movement of the second motor 4 can better reflect the actual situation, laying the foundation for accurately calculating the preset distance.

[0113] Step S202, when the first motor 1 stops, the rotor of the second motor 4 is controlled to rotate in the first direction until the first stall, the main purpose of which is to determine a boundary point of the motion range of the second motor 4. The first stall means that the motion of the second motor 4 in the first direction is restricted, and this position can be used as the starting point for the subsequent calculation of the motion distance. By recording this point, the maximum motion limit of the second motor 4 in this direction can be clearly determined.

[0114] That is to say, step S202 is to simulate the boundary conditions encountered by the seat in actual use. In the mechanical structure of the seat, when one of the two motors stops, the movement of the other motor is usually restricted to a certain extent. When these restricted positions are reached, a stall phenomenon will occur. This position can accurately mark the movement boundary of the second motor 4 in the first direction, providing a clear starting point for the subsequent calculation of the actual distance.

[0115] Step S203, when the second motor 4 is stalled, the rotor of the second motor 4 is controlled to rotate in the second direction until it is stalled again, and the actual distance moved by the second motor 4 during the process from the first stall to the second stall is calculated. Its function is to measure the movement range of the second motor 4 between two boundary points.

[0116] By controlling the second motor 4 to rotate in the opposite direction from the initial blocking position to the second blocking position, the actual movement distance of the second motor 4 between the two extreme positions can be obtained. This distance can reflect the effective movement range of the seat driven by the motor and can provide key data for calculating the preset distance. The calculation of the preset distance needs to be based on the actual movement of the second motor 4, and this actual distance is an important basis for calculating the preset distance.

[0117] Step S204, based on the actual distance calculation, obtains the preset distance, which is used to calculate the appropriate preset distance based on the measured actual distance. The preset distance is used to fine-tune the final position of the seat when the first motor 1 and the second motor 4 are controlled to stop successively, so as to meet the user's precise requirements for seat comfort. The higher the accuracy of the preset distance, the higher the accuracy of the subsequent control method.

[0118] By measuring the actual distance and calculating the preset distance, the accuracy and effectiveness of the preset distance can be ensured. In this embodiment, the preset distance is half of the actual distance.

[0119] It should be understood that in the method for obtaining the preset distance, in addition to moving the second motor 4 between the initial stall position and the second stall position to obtain the actual distance and dividing it by two to obtain the preset distance, the second motor 4 and the first motor 1 can also be stopped at the same time to obtain the initial position of the second motor 4, and then the second motor 4 is controlled to move repeatedly between the initial position and the stall position for multiple times to obtain multiple actual positions, and it is also possible to calculate the average value of the multiple actual positions as the preset distance.

[0120] As a preferred implementation, the aforementioned method for obtaining the preset distance is executed repeatedly to obtain multiple preset distances, and the average value of the multiple preset distances is calculated as the final preset distance. The calculated preset distance is stored in the memory 802.

[0121] The purpose of such a setting is mainly to improve the accuracy of the measurement. In the actual measurement process, due to the influence of various factors, such as the manufacturing error of the motor, the assembly deviation of the mechanical structure, the interference in the measurement process, etc., the preset distance obtained by a single measurement may have a certain error. By cyclically executing the method of obtaining the preset distance multiple times, multiple measurement values ​​can be obtained, thereby more comprehensively reflecting the actual motion characteristics of the second motor 4 and reducing the influence of the single measurement error on the final result.

[0122] In addition, the reliability of the preset distance can be enhanced by executing the preset distance acquisition method multiple times in a cycle. Multiple measurements can avoid the misleading results caused by abnormal measurement values ​​due to accidental factors. If only one measurement is performed, once an abnormal situation occurs (such as instantaneous motor failure, sensor reading error, etc.), the preset distance obtained may deviate greatly from the actual situation. Multiple measurements can identify and exclude these abnormal values ​​through statistical analysis methods, thereby improving the reliability of the data.

[0123] After multiple measurements, since the final preset distance is more accurate, the seat position deviation caused by inaccurate preset distance can be reduced, thereby improving the user experience.

[0124] As a preferred implementation, step S202 controls the rotor of the second motor 4 to rotate in the first direction until it is initially locked, including step S2021, step S2022 and step S2023.

[0125] Step S2021, controlling the rotor of the second motor 4 to rotate in a first direction at a preset first operating speed.

[0126] Step S2022, during the rotation of the rotor of the second motor 4, theoretical working information of the second motor 4 is obtained.

[0127] Step S2023: when it is detected that the theoretical working information of the second motor 4 exceeds the first preset information threshold, it is determined that the second motor 4 is initially stalled.

[0128] Step S2021, the purpose of controlling the rotor of the second motor 4 to rotate in the first direction at a preset first operating speed is to provide a stable initial condition for the rotation of the second motor 4. The preset first operating speed can ensure that the second motor 4 maintains a relatively stable state during the rotation process, and avoids affecting the subsequent judgment of the stall situation due to excessive speed fluctuations.

[0129] This step S2021 also facilitates precise control and monitoring of the movement of the second motor 4. By setting a fixed operating speed, the movement position of the second motor 4 can be predicted more accurately, thereby improving the accuracy of the subsequent preset distance.

[0130] In the actual application of seat adjustment, a stable operating speed can reduce the impact on the mechanical structure of the seat and extend the service life of the seat. Therefore, the first preset operating speed helps to eliminate the interference of abnormal conditions caused by speed changes on the stall judgment, making the judgment result more reliable.

[0131] Step S2022, during the rotation of the rotor of the second motor 4, the theoretical working information of the second motor 4 is obtained in real time to provide a basis for the stall judgment. The theoretical working information may include parameters such as the current, speed, and torque of the motor, which can reflect the actual working state of the motor. By obtaining this information in real time, the change of the working state of the motor can be discovered in time, providing key data for stall judgment.

[0132] Step S2023, when it is detected that the theoretical working information of the second motor 4 exceeds the first preset information threshold, it is determined that the second motor 4 is initially stalled, and the stall judgment standard can be clarified. The first preset information threshold is set according to the normal working condition of the motor. When the theoretical working information exceeds this threshold, it can be considered that the working state of the motor has changed and the stall condition has been reached.

[0133] This step is conducive to timely stopping the rotation of the second motor 4, protecting the second motor 4 and the seat mechanical structure. Once it is determined that the second motor 4 is blocked, the control device can immediately stop the rotation of the second motor 4 to avoid overheating and damage of the second motor 4 due to long-term blocking, and also reduce damage to the seat mechanical structure.

[0134] This step S2023 is conducive to accurately judging the jam condition of the second motor 4. By setting a reasonable first preset information threshold, the accuracy of the jam judgment can be improved to ensure that when the second motor 4 is really jammed, a timely response can be made, such as stopping the power supply to the second motor 4, thereby protecting the second motor 4 and the seat equipment. Stopping the rotation of the second motor 4 in time can effectively avoid damage to the second motor 4 and the seat mechanical structure due to jamming, thereby extending the service life of the equipment and reducing maintenance costs.

[0135] As a preferred implementation, step S203, controlling the rotor of the second motor 4 to rotate in the second direction until it is blocked again, includes step S2031, step S2032 and step S2033.

[0136] Step S2031, controlling the rotor of the second motor 4 to rotate in a second direction at a preset second operating speed.

[0137] Step S2032, during the rotation of the rotor of the second motor 4, obtaining theoretical working information of the second motor 4.

[0138] Step S2033: when it is detected that the theoretical working information of the motor exceeds the second preset information threshold, it is determined that the second motor 4 is stalled again.

[0139] Step S2031, controlling the rotor of the second motor 4 to rotate in the second direction at a preset second operating speed, which is used to ensure the stability of the reverse motion of the second motor 4. The preset second operating speed provides a stable operating condition for the second motor 4 to rotate in the opposite direction. Similar to the reverse rotation, a stable speed can make the movement of the second motor 4 more predictable, reduce the uncertainty caused by speed fluctuations, and facilitate the subsequent monitoring of the working state of the second motor 4 and the determination of stalling.

[0140] This step S2031 is beneficial to protecting the second motor 4 and the seat mechanical transmission structure, because the appropriate speed can reduce the wear and impact of the second motor 4 and the seat mechanical transmission structure during reverse movement, thereby extending the service life of the equipment.

[0141] Step S2032, during the rotation of the rotor of the second motor 4, the theoretical working information of the second motor 4 is obtained in real time, which can continuously monitor the state of the second motor 4. Real-time acquisition of theoretical working information such as current, speed, torque, etc. can allow the control device to understand the working state of the second motor 4 during the reverse rotation at any time. By analyzing this information, it can be discovered in time whether the second motor 4 has any abnormality, such as load change, failure, etc.

[0142] As in the forward rotation, the theoretical working information is the key basis for judging whether the motor is stalled. During the reverse rotation, real-time monitoring of this information can ensure that it can be detected in time when the second motor 4 reaches the stalled state. If the second motor 4 has an abnormality during the reverse rotation, such as a sudden increase in current or a significant decrease in speed, it can be discovered in time and corresponding measures can be taken by obtaining the theoretical working information in real time to avoid damage to the second motor 4. Continuous information monitoring can improve the accuracy of stall judgment and ensure that a timely response can be made when the second motor 4 is really stalled.

[0143] Step S2033, when it is detected that the theoretical working information of the motor exceeds the second preset information threshold, it is determined that the second motor 4 is stalled again, which is used to clarify the judgment standard of reverse stalling. The second preset information threshold is set according to the characteristics of the motor reverse motion and the actual application scenario. When the theoretical working information exceeds this threshold, it means that the motor encounters a large resistance when rotating in the reverse direction and reaches the stalling condition.

[0144] Once it is determined that the motor is stalled again, the control device can immediately stop the rotation of the second motor 4 to prevent the second motor 4 from overheating and damage due to prolonged stalling. At the same time, it can also protect the mechanical structure of the seat from damage. For example, the rotation of the second motor 4 can be stopped in time, thereby effectively preventing the second motor 4 and the seat mechanical transmission structure from being damaged due to stalling, thereby improving the reliability and safety of the equipment.

[0145] It should be noted that the details of step S202 and step S203 may refer to the prior art.

[0146] This embodiment also relates to a seat drive motor control device, such as Figure 7 As shown, it mainly includes an acquisition module 7 and a control module 8 connected to the acquisition module 7 .

[0147] The acquisition module 7 is used to execute the aforementioned step S101 to acquire the first output information of the Hall sensor in the first motor 1 and the second output information of the Hall sensor in the second motor 4 .

[0148] The control module 8 is used to execute the aforementioned step S102, and control the first motor 1 and the second motor 4 to stop successively according to the first output information and the second output information.

[0149] It should be noted that the control device of this embodiment can also execute the aforementioned step S103, and each sub-step of step S102 and step S103. In addition, a method for obtaining a preset distance can also be executed, specifically as the aforementioned steps S201 to S204.

[0150] The seat drive motor control device achieves precise control of the seat drive motor by integrating Hall sensor information acquisition and motor control functions. This control device not only improves the intelligence level of the seat, but also brings users a more stable and precise seat control experience.

[0151] It should be noted that if Figure 8 As shown, the above memory 802 and processor 801 can be integrated into the same control module 8. As a preferred implementation, the control module 8 also includes a communication interface 803, which is used for communication between the memory 802 and the processor 801.

[0152] Specifically, the memory 802 in this embodiment can be used to store computer programs that can be run on the processor 801, and specifically adopts the following computer-readable storage medium. The memory 802 may include a high-speed RAM memory 802, and may also include a non-volatile memory 802 (non-volatile memory), such as at least one disk memory 802.

[0153] If the memory 802, the processor 801 and the communication interface 803 are implemented independently, the communication interface 803, the memory 802 and the processor 801 can be connected to each other through a bus and communicate with each other. The bus can be an Industrial Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0154] For ease of representation, Figure 6 In the preferred implementation, if the memory 802, the processor 801 and the communication interface 803 are integrated on a chip, the memory 802, the processor 801 and the communication interface 803 can communicate with each other through the internal interface.

[0155] The processor 801 may be a central processing unit 801 (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0156] At the same time, the present embodiment also relates to a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed, the above seat drive motor control method can be implemented.

[0157] The computer-readable storage medium provides powerful technical support for seat control devices and other automated and intelligent equipment that require high-precision motor control by storing a computer program that implements a seat drive motor control method.

[0158] For the purposes of this specification, a "computer-readable storage medium" may be any device that can contain, store, communicate, propagate or transport a program for use with or in conjunction with an instruction execution system, apparatus or device. More specific examples (a non-exhaustive list) of computer-readable storage media include the following: an electrical connection with one or N wirings (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM).

[0159] In addition, the computer-readable storage medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in another suitable manner if necessary, and then stored in a computer memory.

[0160] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in the memory 802 and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0161] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0162] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0163] In addition, the present embodiment also relates to a vehicle, on which a controller is provided, and the controller can execute the above seat drive motor control method.

[0164] The vehicle of this embodiment, by being equipped with a controller capable of executing the seat drive motor control method, has a higher level of intelligence and a better user experience. This type of vehicle can not only improve the adjustment accuracy and stability of the seat, but also bring a more comfortable and convenient riding experience to the user.

[0165] In the description of this specification, reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application.

[0166] In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without contradiction.

[0167] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0168] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or used in combination with these instruction execution systems, devices or apparatuses.

[0169] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A seat drive motor control method, used to control a first motor (1) and a second motor (4) for driving a seat to slide, characterized in that: The method comprises: Acquiring first output information of a Hall sensor in the first motor (1) and second output information of a Hall sensor in the second motor (4); According to the first output information and the second output information, the first motor (1) and the second motor (4) are controlled to stop successively.

2. The seat drive motor control method according to claim 1, characterized in that: After controlling the first motor (1) and the second motor (4) to stop successively, the method further comprises: According to the first output information and the second output information, the second motor (4) and the first motor (1) are controlled to start successively.

3. The seat drive motor control method according to claim 2, characterized in that: The method of controlling the first motor (1) and the second motor (4) to stop successively according to the first output information and the second output information comprises: Determining the actual position of the first motor (1) based on the first output information, and determining the actual position of the second motor (4) based on the second output information; When the actual position of the first motor (1) reaches a first target position, controlling the first motor (1) to stop; After the first motor (1) stops, when the actual position of the second motor (4) reaches a second target position, controlling the second motor (4) to stop; The first target position is a first theoretical position of the seat, and the second target position is a sum or difference between the first theoretical position and a preset distance.

4. The seat drive motor control method according to claim 3, characterized in that: The controlling the second motor (4) and the first motor (1) to start sequentially comprises: Controlling the second motor (4) to start and move toward the first theoretical position; When the actual position of the second motor (4) reaches the first theoretical position, the first motor (1) is controlled to start and move toward the second theoretical position of the seat, and the second motor (4) is controlled to move toward the second theoretical position.

5. The seat drive motor control method according to claim 3, characterized in that: The method for obtaining the preset distance is as follows: Controlling the first motor (1) to stop; When the first motor (1) stops, controlling the rotor of the second motor (4) to rotate in a first direction until it is initially locked; When the second motor (4) is stalled, controlling the rotor of the second motor (4) to rotate in a second direction until it is stalled again; Calculating the actual distance moved by the second motor (4) during the process from the first stall to the second stall, and calculating the preset distance based on the actual distance; One of the first direction and the second direction is a clockwise direction, and the other is a counterclockwise direction.

6. The seat drive motor control method according to claim 5, characterized in that: The method for obtaining the preset distance is executed repeatedly to obtain multiple preset distances; An average value of the plurality of preset distances is calculated as the final preset distance.

7. The seat drive motor control method according to claim 5, characterized in that: The controlling the rotor of the second motor (4) to rotate in a first direction until the first stall occurs, comprises: controlling the rotor of the second motor (4) to rotate in a first direction at a preset first operating speed; obtaining theoretical working information of the second motor (4) during the rotation of the rotor of the second motor (4); determining that the second motor (4) is first stalled when it is detected that the theoretical working information of the second motor (4) exceeds a first preset information threshold; and / or, The controlling of the rotor of the second motor (4) to rotate in a second direction until it is stalled again comprises: controlling the rotor of the second motor (4) to rotate in the second direction at a preset second operating speed; obtaining theoretical working information of the second motor (4) during the rotation of the rotor of the second motor (4); and determining that the second motor (4) is stalled again when it is detected that the theoretical working information of the motor exceeds a second preset information threshold.

8. A seat drive motor control device, used for controlling a first motor (1) and a second motor (4) for driving a seat to slide, characterized in that: The control device comprises: An acquisition module (7) for acquiring first output information of a Hall sensor in the first motor (1) and second output information of a Hall sensor in the second motor (4); A control module (8) controls the first motor (1) and the second motor (4) to stop successively according to the first output information and the second output information.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the seat drive motor control method according to any one of claims 1 to 7 can be implemented.

10. A vehicle, characterized in that: The vehicle is provided with a controller, and the controller is capable of executing the seat drive motor control method according to any one of claims 1-7.

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