Dynamic anti-collision adjusting method, system and product for vehicle seat

Abstract

The embodiment of the invention provides a dynamic anti-collision adjusting method, system and product for a vehicle seat, and the method comprises the steps: determining a relative position relation between a user on the seat and an obstacle in front of the seat in a target coordinate system according to a linear displacement parameter and a rotation angle parameter of the seat; according to the current driving data of the vehicle, determining a safe position relationship between the user and the obstacle; according to the relative position relation and the safe position relation, carrying out collision risk assessment on the user and the obstacle; and according to an evaluation result, determining and executing a corresponding control action. The invention aims to prevent a user from colliding with an obstacle in front of a seat in the seat adjusting and vehicle driving processes.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a method, system and product for dynamic anti-collision adjustment of vehicle seats. Background Art

[0002] Car seats are an important component of a car. Based on considerations of different user physiques, human-machine layout and car space, the adjustable range of car seats is generally set wider. For users with larger physiques, when the seat is adjusted to a position close to the seat's limit, there is often a certain possibility of interference with obstacles in front of the seat (such as the front sun visor), which puts the user at risk of colliding with obstacles in front of the seat, giving the user a bad driving experience. Summary of the invention

[0003] In view of this, the present application provides a vehicle seat dynamic anti-collision adjustment method, system and product, which are intended to prevent the user from colliding with obstacles in front of the seat during seat adjustment and vehicle driving.

[0004] A first aspect of the present application provides a vehicle seat dynamic anti-collision adjustment method, the method comprising:

[0005] A vehicle seat dynamic anti-collision adjustment method, characterized in that the method comprises:

[0006] Determine the relative position relationship between the user on the seat and the obstacle in front of the seat in the target coordinate system according to the linear displacement parameter and the rotation angle parameter of the seat;

[0007] Determine the safe position relationship between the user and the obstacle based on the vehicle's current driving data;

[0008] Performing a collision risk assessment between the user and the obstacle based on the relative position relationship and the safe position relationship;

[0009] Based on the evaluation results, the corresponding control actions are determined and executed.

[0010] Optionally, determining the relative position relationship between the user on the seat and the obstacle in front of the seat in the target coordinate system according to the linear displacement parameter and the rotation angle parameter of the seat includes:

[0011] Determine a first coordinate position of the top of the seat in the target coordinate system according to the linear displacement parameter and the rotation angle parameter of the seat;

[0012] Determine a second coordinate position of the user's head in the target coordinate system according to the first coordinate position and the vertical dimension information of the user;

[0013] A relative position relationship between the user and the obstacle in the target coordinate system is determined according to the second coordinate position and the third coordinate position of the obstacle in the target coordinate system.

[0014] Optionally, based on the current driving data of the vehicle, a safe position relationship between the user and the obstacle is determined, including:

[0015] Determine the vehicle's current driving data and driving scenario;

[0016] According to the driving scenario, determining an initial safe position relationship corresponding to the driving scenario;

[0017] The initial safe position relationship is corrected by using the driving data to obtain a safe position relationship between the user and the obstacle.

[0018] Optionally, performing a collision risk assessment between the user and the obstacle according to the relative position relationship and the safe position relationship includes:

[0019] If the lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the safe position relationship and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the safe position relationship, it is determined that there is a risk of collision between the user and the obstacle;

[0020] Determining and executing corresponding control actions according to the evaluation results includes:

[0021] In the event of a risk of collision, the user is warned and seat adjustment is disabled.

[0022] Optionally, based on the current driving data of the vehicle, a safe position relationship between the user and the obstacle is determined, including:

[0023] Determine the vehicle's current driving data and driving scenario;

[0024] Determining, according to the driving scenario, a first initial safe position relationship and a second initial safe position relationship corresponding to the driving scenario;

[0025] The first initial safety position relationship and the second initial safety position relationship are corrected by using the driving data to obtain a first safety position relationship and a second safety position relationship between the user and the obstacle.

[0026] Optionally, performing a collision risk assessment between the user and the obstacle according to the relative position relationship and the safe position relationship includes:

[0027] If the lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the first safe position relationship, and the lateral distance in the relative position relationship is greater than the lateral safety distance of the second safe position relationship, and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the first safe position relationship, and the longitudinal distance in the relative position relationship is greater than the longitudinal safety distance of the second safe position relationship, it is determined that there is a low risk of collision between the user and the obstacle;

[0028] The lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the second safety position relationship, and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the second safety position relationship, and it is determined that there is a high risk of collision between the user and the obstacle;

[0029] Determining and executing corresponding control actions according to the evaluation results includes:

[0030] In the event of a low risk of collision, the user is warned and the seat adjustment rate is reduced;

[0031] In situations where there is a high risk of a crash, the user is alerted and seat adjustments are disabled.

[0032] Optionally, in the case where the obstacle is controllable to be folded and / or contracted, the method further comprises:

[0033] Monitor the user's disabling and releasing control actions;

[0034] When it is determined that the user releases the seat adjustment disablement, the barrier is controlled to be folded and / or retracted, and the low-speed adjustment of the seat is restored.

[0035] Optionally, the method further includes:

[0036] Determine the location of obstacles in the vehicle interior;

[0037] By using a multi-objective optimization function and a kinematic decoupling model of the seat, an obstacle avoidance path is optimized and solved for the location of the obstacle to obtain a target obstacle avoidance path;

[0038] The stability of the seat during movement along the target obstacle avoidance path is controlled by a stability algorithm.

[0039] A second aspect of the present application provides a vehicle seat dynamic anti-collision adjustment system, the system comprising:

[0040] A relative position relationship determination module, used to determine the relative position relationship between the user on the seat and the obstacle in front of the seat in the target coordinate system according to the linear displacement parameter and the rotation angle parameter of the seat;

[0041] A safety position relationship determination module is used to determine the safety position relationship between the user and the obstacle based on the current driving data of the vehicle;

[0042] A collision risk assessment module, used to perform a collision risk assessment between the user and the obstacle based on the relative position relationship and the safe position relationship;

[0043] The control module is used to determine and execute corresponding control actions according to the evaluation results.

[0044] The third aspect of the present application provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and running on the processor, wherein when the computer program is executed by the processor, the steps in the method for dynamic anti-collision adjustment of a vehicle seat as described in the first aspect of the present application are implemented.

[0045] The fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the dynamic anti-collision adjustment method for a vehicle seat as described in the first aspect of the present application are implemented.

[0046] The present invention provides a method for adjusting a vehicle seat in a dynamic anti-collision manner, which has the following advantages:

[0047] The embodiment of the present application provides a method for dynamic anti-collision adjustment of a vehicle seat. First, the relative position relationship between the user on the seat and the obstacle in front of the seat in the target coordinate system is determined based on the linear displacement parameters and rotation angle parameters of the seat; the safe position relationship between the user and the obstacle is determined based on the current driving data of the vehicle; the collision risk between the user and the obstacle is evaluated based on the relative position relationship and the safe position relationship; and the corresponding control action is determined and executed based on the evaluation result. Therefore, the present application first determines whether there is a collision risk between the user and the obstacle based on the relative position relationship and the safe position relationship between the user on the seat and the obstacle in front of the seat, and executes the corresponding control action (such as issuing an alarm and / or disabling seat adjustment) when there is a collision risk, so as to avoid the collision between the user and the obstacle during seat adjustment and vehicle driving. At the same time, the present application dynamically determines the safe position relationship that matches the driving data based on the current driving data, which can effectively improve the environmental adaptability of collision avoidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application 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 creative labor.

[0049] Figure 1 A flow chart of a vehicle seat dynamic anti-collision adjustment method shown in one embodiment of the present application;

[0050] Figure 2 A schematic diagram of a seat structure in a method for dynamic anti-collision adjustment of a vehicle seat is shown in one embodiment of the present application;

[0051] Figure 3 A control logic diagram of a vehicle seat dynamic anti-collision adjustment method shown in one embodiment of the present application;

[0052] Figure 4 A schematic diagram of a vehicle seat dynamic anti-collision adjustment system is shown as an embodiment of the present application. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] refer to Figure 1 , Figure 1 The following is a flow chart of a method for dynamic anti-collision adjustment of a vehicle seat according to an embodiment of the present application. Figure 1 As shown, the method includes:

[0055] Step S1: Determine the relative position relationship between the user on the seat and the obstacle in front of the seat in the target coordinate system according to the linear displacement parameter and the rotation angle parameter of the seat.

[0056] In this embodiment, if Figure 2 As shown in the figure, s1 is an obstacle in front of the seat, s2 is the seat back, and s3 is the seat cushion. The target coordinate system in this application is preferably a coordinate system established with the position where the seat can be adjusted forward and upward at the full stroke as the initial position, and the coordinate system takes the rotation center of the seat back s2 at the initial position as the origin o(0,0) (as shown in FIG. Figure 2The xoy coordinate system in the target coordinate system is fixed during the seat adjustment process. When the seat is adjusted for linear displacement forward and backward and up and down, and for rotational displacement around the rotation center of the seat back, the coordinate position of the user's head on the seat will change. Accordingly, based on the adjustment of the linear displacement parameters and the rotation angle parameters of the seat, the relative position relationship between the user on the seat and the obstacle in front of the seat is determined in the target coordinate system. The relative position relationship includes the lateral distance and the longitudinal distance. Among them, an optional implementation of the obstacle is a front sun visor. When the front sun visor is opened for sun protection or makeup needs, the front sun visor is an obstacle that may cause a risk of collision with the user on the seat.

[0057] Step S2: Determine the safe position relationship between the user and the obstacle based on the current driving data of the vehicle.

[0058] In this embodiment, while determining the relative position relationship between the user on the seat and the obstacle in front of the seat in the target coordinate system according to the linear displacement parameter and the rotation angle parameter of the seat, the current driving data of the vehicle is monitored by the sensor configured by the vehicle. According to the current driving data obtained by monitoring, the safe position relationship between the user on the seat and the obstacle in front of the seat that matches the current driving data is determined. The safe position relationship includes a safe distance in the lateral direction and a safe distance in the longitudinal direction.

[0059] Step S3: performing a collision risk assessment between the user and the obstacle based on the relative position relationship and the safe position relationship.

[0060] In this embodiment, based on the relative position relationship between the user on the seat and the obstacle in front of the seat and the safe position relationship between the user and the obstacle in the target coordinate system obtained in step S1, a collision risk assessment is performed on the user and the obstacle to determine whether there is a collision risk between the two.

[0061] Step S4: Determine and execute corresponding control actions according to the evaluation results.

[0062] In this embodiment, after the collision risk assessment result between the user and the obstacle is obtained in step S3, the control action to be executed is determined and executed based on the assessment result. For example, if the assessment result shows that there is a collision risk, the user is warned to prompt the user to stop adjusting the seat. If the assessment result shows that there is no collision risk, no warning is issued.

[0063] The embodiment of the present application provides a method for dynamic anti-collision adjustment of a vehicle seat. First, the relative position relationship between the user on the seat and the obstacle in front of the seat in the target coordinate system is determined according to the linear displacement parameters and rotation angle parameters of the seat; the safe position relationship between the user and the obstacle is determined according to the current driving data of the vehicle; the collision risk between the user and the obstacle is evaluated according to the relative position relationship and the safe position relationship; and the corresponding control action is determined and executed according to the evaluation result. Therefore, the present application first determines whether there is a collision risk between the user and the obstacle based on the relative position relationship and the safe position relationship between the user on the seat and the obstacle in front of the seat, and executes the corresponding control action (such as issuing an alarm and / or disabling seat adjustment) in the case of a collision risk, so as to avoid the collision between the user and the obstacle during seat adjustment and vehicle driving (such as reserving a certain safety distance to avoid the user's head from colliding with the obstacle in front of the user's seat in scenarios such as emergency braking and / or bumpy roads). At the same time, the present application dynamically determines a safe position relationship that matches the driving data based on the current driving data, which can effectively improve the environmental adaptability of collision avoidance. For example, the longitudinal safety distance in the safe position relationship can be increased on bumpy roads, and emergency braking may occur in congested urban roads, and the lateral safety distance in the safe position relationship can be increased accordingly.

[0064] In combination with the above embodiments, in one implementation, the present application embodiment further provides a vehicle seat dynamic anti-collision adjustment method. In the vehicle seat dynamic anti-collision adjustment method, step S1 may include steps S11 to S13:

[0065] Step S11: Determine the first coordinate position of the top of the seat in the target coordinate system according to the linear displacement parameter and the rotation angle parameter of the seat.

[0066] In this embodiment, the linear displacement parameters of the seat include the front-back linear displacement parameters and the up-down linear displacement parameters, and the rotation angle parameters of the seat are the rotation angle parameters of the seat back around the rotation center. By calculating the values ​​of the front-back linear displacement parameters, the values ​​of the up-down linear displacement parameters and the values ​​of the rotation angle parameters of the seat, the first coordinate position of the top of the seat in the target coordinate system is determined, and the expression of the first coordinate position is (m+rcosα, n+rsinα). Among them, m represents the value of the front-back linear displacement parameter, which refers to the distance the seat moves forward from the initial position; n represents the value of the up-down linear displacement parameter, which refers to the distance the seat moves upward from the initial position; α represents the value of the rotation angle parameter, which is the angle between the seat back and the seat cushion; r represents the radius of the top of the seat rotating around the origin.

[0067] Step S12: Determine a second coordinate position of the user's head in the target coordinate system according to the first coordinate position and the vertical dimension information of the user.

[0068] In this embodiment, since the relative position relationship between the user's head and the top of the seat is affected by the user's physique, in order to more accurately determine the coordinate position of the user's head in the target coordinate system, after obtaining the first coordinate position of the top of the seat through step S11, the present application determines the second coordinate position of the user's head in the target coordinate system based on the first coordinate position of the top of the seat and the vertical dimension information of the user on the seat. The vertical dimension information can be the height of the user or the height of the upper body of the user. Furthermore, since the relative position relationship between the user's head and the top of the seat in the target coordinate system will be significantly affected by the relative position relationship between the user's head and the top of the seat in the vertical direction. Therefore, the present application provides an optional implementation method: according to the vertical dimension information of the user, determine the target coefficient matching the vertical dimension information, multiply the target coefficient by the target setting value to obtain the longitudinal correction amount, add the longitudinal correction amount to the longitudinal coordinate of the first coordinate position of the top of the seat, and add the transverse correction amount to the transverse coordinate of the first coordinate position of the top of the seat, and obtain the second coordinate position of the user's head on the seat in the target coordinate system, wherein the transverse correction amount is preferably 20cm, which is only the preferred value of the transverse correction amount, and the transverse correction amount can also be set to other values, and the target setting value is preferably 10cm, which is only the preferred value of the target setting value, and the target setting value can also be set to other values. For example, the first coordinate of the top of the seat is (x1, y1), the target coefficient matching the vertical dimension information of the user is determined to be a0, the target setting value is b0, and the transverse correction amount is c0, and the second coordinate position of the user's head is correspondingly determined to be (x1+a0×b0, y1+c0).

[0069] Step S13: determining a relative position relationship between the user and the obstacle in the target coordinate system according to the second coordinate position and the third coordinate position of the obstacle in the target coordinate system.

[0070] In this embodiment, after obtaining the second coordinate position of the user's head on the seat in the target coordinate system through steps S11 to S12, the relative position relationship between the user and the obstacle in the target coordinate system is determined based on the second coordinate position and the third coordinate position of the obstacle in front of the seat in the target coordinate system, that is, the horizontal and vertical distances between the second coordinate position of the user's head and the third coordinate position of the obstacle in the target coordinate system. Since the target coordinate system is fixed, the third coordinate position of the obstacle in the target coordinate system can be obtained in advance through calibration, and is a known quantity that can be obtained in advance through calibration.

[0071] In combination with the above embodiments, in one implementation, the present application embodiment further provides a vehicle seat dynamic anti-collision adjustment method. In the vehicle seat dynamic anti-collision adjustment method, step S2 may include steps S21 to S23:

[0072] Step S21: Determine the current driving data and driving scenario of the vehicle.

[0073] In this embodiment, the vehicle's driving data and driving scene data are collected by various sensors configured on the vehicle, and the driving scene the vehicle is currently in is determined by analyzing the collected driving scene data. Among them, the driving scene includes but is not limited to the driving scene on a highway, the driving scene on a congested road section in a city, and the driving scene on a bumpy road section; the driving data includes but is not limited to the driving speed, driving acceleration, degree of bumpiness, etc. The vehicle's driving data and driving scene together constitute the vehicle's driving data.

[0074] Step S22: According to the driving scene, determine an initial safe position relationship corresponding to the driving scene.

[0075] In this embodiment, the present application sets corresponding initial safety position relationships for different driving scenarios, and the initial safety position relationship includes a lateral safety distance and a longitudinal safety distance. Based on the current driving scene of the vehicle determined by step S21, the initial safety position relationship matching the driving scene is determined.

[0076] Step S23: Correcting the initial safe position relationship using the driving data to obtain a safe position relationship between the user and the obstacle.

[0077] In this embodiment, the present application finds that ensuring the safety between the user on the seat and the obstacle in front of the seat during seat adjustment and vehicle driving is not only related to the driving scenario, but also related to the driver's driving behavior. For example, if the driver is currently in a state of extreme acceleration and / or high-speed driving, if an emergency braking situation occurs at this time, the risk of a collision between the user on the seat and the obstacle in front of the seat will increase. Accordingly, the present application appropriately increases the lateral safety distance of the safe position relationship to avoid a collision between the user on the seat and the obstacle in front of the seat in the event of an emergency braking situation in the above scenario. An optional implementation is: for different motion parameters related to speed (such as speed, acceleration, etc.), various motion parameter value combinations related to speed and driving scenes are pre-set to form a mapping relationship table of corresponding lateral corrections and longitudinal corrections, and then based on the current driving data of the vehicle determined in step S21, the lateral correction corresponding to the specific speed-related motion parameter value combination in the current driving data of the vehicle is extracted from the mapping relationship table. At the same time, when the driving scene is a bumpy road section, the current driving data of the vehicle also records the bumpiness value, and the longitudinal correction corresponding to the bumpiness value in the current driving data of the vehicle is extracted from the mapping relationship table. Finally, the lateral correction is added to the lateral safety distance of the initial safety position relationship, and the longitudinal correction is added to the longitudinal safety distance of the initial safety position relationship to obtain the final safety position relationship between the user on the seat and the obstacle in front of the seat. For example, the current driving data of the vehicle is determined to have a speed value of v1, an acceleration value of a1, and a bumpiness value of c1. The initial safe position relationship between the user on the seat and the obstacle in front of the seat is a lateral safety distance of s1 and a longitudinal safety distance of s2. By querying a pre-constructed mapping relationship table, it is determined that the lateral correction amount corresponding to the speed value v1 and the acceleration value a1 is h1. At the same time, the pre-constructed mapping relationship table is queried to determine that the longitudinal correction amount corresponding to the bumpiness value c1 is d1. Accordingly, the final safe position relationship between the user and the obstacle is determined to be a lateral safety distance of s1+h1, and a longitudinal safety distance of s2+d1.

[0078] In combination with the above embodiments, in one implementation, the embodiment of the present application further provides a method for dynamic anti-collision adjustment of a vehicle seat. In the method for dynamic anti-collision adjustment of a vehicle seat, step S3 may include: if the lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the safe position relationship and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the safe position relationship, it is determined that there is a risk of collision between the user and the obstacle. Step S4 may include: if there is a risk of collision, alerting the user and disabling adjustment of the seat.

[0079] In this embodiment, if Figure 3 As shown, based on the relative position relationship between the user on the seat and the obstacle above and in front of the seat in the target coordinate system obtained in step S1 or steps S11 to S13, and based on the safe position relationship between the user and the obstacle obtained in steps S2 or steps S21 to S23, it is determined whether the distance between the user and the obstacle in the lateral direction is less than or equal to the lateral safe distance in the safe position relationship, and it is determined whether the distance between the user and the obstacle in the longitudinal direction is less than or equal to the longitudinal safe distance in the safe position relationship. In the case where it is determined that the distance between the user and the obstacle in the lateral direction is less than or equal to the lateral safe distance in the safe position relationship, and / or it is determined that the distance between the user and the obstacle in the longitudinal direction is less than or equal to the longitudinal safe distance in the safe position relationship, it is determined that there is a collision risk between the user and the obstacle, that is, as long as either the distance in the lateral direction or the longitudinal direction is less than the corresponding safe distance, it is determined that there is a collision risk, and when both are greater than the corresponding safe distance, it is determined that there is no collision risk.

[0080] In this embodiment, when the collision risk assessment result between the user on the seat and the obstacle in front of the seat in the target coordinate system obtained through step S3 is that there is no collision risk, the seat continues to be responded to by the user's adjustment of the seat; when there is a collision risk, the user is warned and / or the adjustment control of the seat is disabled.

[0081] In this embodiment, the warning may include one or more of a variety of warning methods, including but not limited to: visual warnings through warning lights, such as outputting warning information through front windshield HUD projection, displaying warnings through dynamic icons on the instrument panel; auditory warnings through voice, such as warning users through the vehicle's voice broadcast function, such as a voice prompt "The front passenger user is at risk of colliding with an obstacle in front of the seat, please stop adjusting the seat."

[0082] In combination with the above embodiments, in one implementation, the present application embodiment further provides a vehicle seat dynamic anti-collision adjustment method. In the vehicle seat dynamic anti-collision adjustment method, step S2 may include steps S201 to S203:

[0083] Step S201: Determine the current driving data and driving scenario of the vehicle.

[0084] In this embodiment, in order to meet the user's adjustment needs as much as possible while ensuring security, the present application divides the multi-layer security position relationship, and then performs corresponding multi-level alarm control based on the multi-layer security position relationship, thereby improving the user experience.

[0085] Specifically: the vehicle's driving data and driving scene data are collected through various sensors configured on the vehicle, and the vehicle's current driving scene is determined by analyzing the collected driving scene data. Among them, driving scenes include but are not limited to driving scenes on highways, driving scenes on congested urban roads, and driving scenes on bumpy roads; driving data include but are not limited to driving speed, driving acceleration, degree of bumpiness, etc. The vehicle's driving data and driving scenes together constitute the vehicle's driving data.

[0086] Step S202: According to the driving scene, determine a first initial safety position relationship and a second initial safety position relationship corresponding to the driving scene.

[0087] In this embodiment, the present application sets corresponding first initial safety position relationship and second initial safety position relationship for different driving scenes, wherein the two initial safety position relationships both include respective safety distances in the lateral direction and respective safety distances in the longitudinal direction, and based on the driving scene currently located by the vehicle determined by step S201, the first initial safety position relationship and the second initial safety position relationship matching the driving scene are determined. The relationship between the first initial safety position relationship and the second initial safety position relationship in the same driving scene is: the safety distance in the lateral direction of the first initial safety position relationship is greater than the safety distance in the lateral direction of the second initial safety position relationship, and the safety distance in the longitudinal direction of the first initial safety position relationship is greater than the safety distance in the longitudinal direction of the second initial safety position relationship.

[0088] Step S203: Correcting the first initial safety position relationship and the second initial safety position relationship according to the driving data to obtain a first safety position relationship and a second safety position relationship between the user and the obstacle.

[0089] In this embodiment, for different motion parameters related to speed (such as speed, acceleration, etc.), various motion parameter value combinations related to speed and driving scenes are pre-set to form a first mapping relationship table and a second mapping relationship table. The first mapping relationship table is used to determine the first lateral correction value to correct the lateral safety distance in the first safe position relationship and to determine the first longitudinal correction value to correct the longitudinal safety distance in the first safe position relationship. The second mapping relationship table is used to determine the second lateral correction value to correct the lateral safety distance in the second safe position relationship and to determine the second longitudinal correction value to correct the longitudinal safety distance in the second safe position relationship. Then, based on the current driving data of the vehicle determined by step S201, the first lateral correction value corresponding to the specific speed-related motion parameter value combination in the current driving data of the vehicle is extracted from the first mapping relationship table. At the same time, when the driving scene is a bumpy road section, the current driving data of the vehicle also records the bumpiness value. At this time, the first longitudinal correction value corresponding to the bumpiness value in the current driving data of the vehicle will be extracted from the first mapping relationship table. And, based on the current driving data of the vehicle determined in step S201, the second lateral correction value corresponding to the combination of motion parameter values ​​related to the specific speed in the current driving data of the vehicle is extracted from the second mapping relationship table. At the same time, when the driving scene is a bumpy road section, the current driving data of the vehicle also records the bumpiness value. At this time, the second longitudinal correction value corresponding to the bumpiness value in the current driving data of the vehicle is extracted from the second mapping relationship table. Finally, the first lateral correction value is added to the lateral safety distance of the first initial safety position relationship, and the first longitudinal correction value is added to the longitudinal safety distance of the first initial safety position relationship to obtain the final first safety position relationship between the user on the seat and the obstacle in front of the seat. And, the second lateral correction value is added to the lateral safety distance of the second initial safety position relationship, and the second longitudinal correction value is added to the longitudinal safety distance of the second initial safety position relationship to obtain the final second safety position relationship between the user on the seat and the obstacle in front of the seat.

[0090] For example, in the current driving data of the determined vehicle, the speed value is v2, the acceleration value is a2, the bumpiness value is c2, the first initial safety position relationship between the user on the seat and the obstacle in front of the seat is a lateral safety distance of s3 and a longitudinal safety distance of s4, and the second initial safety position relationship between the user on the seat and the obstacle in front of the seat is a lateral safety distance of s5 and a longitudinal safety distance of s6. By querying the pre-constructed first mapping relationship table, it is determined that the first lateral correction value corresponding to both the speed value v2 and the acceleration value a2 is h2, and at the same time, the pre-constructed first mapping relationship table is queried to determine that the first longitudinal correction value corresponding to the bumpiness value c2 is d2. And, by querying the pre-constructed second mapping relationship table, it is determined that the first lateral correction value corresponding to both the speed value v2 and the acceleration value a2 is h3, and at the same time, the pre-constructed second mapping relationship table is queried to determine that the first longitudinal correction value corresponding to the bumpiness value c2 is d3. Correspondingly, the final first safe position relationship between the user and the obstacle is determined to be the lateral safety distance s3+h2, and the longitudinal safety distance is s4+d2, and the final second safe position relationship between the user and the obstacle is determined to be the lateral safety distance s5+h3, and the longitudinal safety distance is s6+d3.

[0091] In combination with the above embodiments, in one implementation, the present application embodiment further provides a vehicle seat dynamic anti-collision adjustment method. In the vehicle seat dynamic anti-collision adjustment method, step S3 may include steps S31 to S32:

[0092] Step S31: The lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the first safe position relationship, and the lateral distance in the relative position relationship is greater than the lateral safety distance of the second safe position relationship, and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the first safe position relationship, and the longitudinal distance in the relative position relationship is greater than the longitudinal safety distance of the second safe position relationship, determining that there is a low collision risk between the user and the obstacle.

[0093] In this embodiment, when the lateral distance in the relative position relationship between the determined user on the seat and the obstacle above and in front of the seat is less than or equal to the lateral safety distance of the first safe position relationship determined based on the current driving data of the vehicle, and the lateral distance in the relative position relationship is greater than the lateral safety distance of the second safe position relationship determined based on the current driving data of the vehicle, it is determined that the user and the obstacle have a low collision risk. When the longitudinal distance in the relative position relationship between the determined user on the seat and the obstacle above and in front of the seat is less than or equal to the longitudinal safety distance of the first safe position relationship determined based on the current driving data of the vehicle, and the longitudinal distance in the relative position relationship is greater than the longitudinal safety distance of the second safe position relationship determined based on the current driving data of the vehicle, it is determined that the user and the obstacle have a low collision risk. If the lateral distance in the relative position relationship between the user on the determined seat and the obstacle in front of the seat is less than or equal to the lateral safety distance of the first safe position relationship determined based on the current driving data of the vehicle, and the lateral distance in the relative position relationship is greater than the lateral safety distance of the second safe position relationship determined based on the current driving data of the vehicle, and if the longitudinal distance in the relative position relationship between the user on the determined seat and the obstacle in front of the seat is less than or equal to the longitudinal safety distance of the first safe position relationship determined based on the current driving data of the vehicle, and the longitudinal distance in the relative position relationship is greater than the longitudinal safety distance of the second safe position relationship determined based on the current driving data of the vehicle, then it is determined that the user has a low collision risk with the obstacle.

[0094] Step S32: The lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the second safe position relationship, and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the second safe position relationship, determining that there is a high risk of collision between the user and the obstacle.

[0095] In this embodiment, when the lateral distance in the relative position relationship between the determined user on the seat and the obstacle above the front of the seat is less than or equal to the lateral safety distance of the second safe position relationship determined based on the current driving data of the vehicle, it is determined that the user and the obstacle have a high collision risk. When the longitudinal distance in the relative position relationship between the determined user on the seat and the obstacle above the front of the seat is less than or equal to the longitudinal safety distance of the second safe position relationship determined based on the current driving data of the vehicle, it is determined that the user and the obstacle have a high collision risk. When the lateral distance in the relative position relationship between the determined user on the seat and the obstacle above the front of the seat is less than or equal to the lateral safety distance of the second safe position relationship determined based on the current driving data of the vehicle, and when the longitudinal distance in the relative position relationship between the determined user on the seat and the obstacle above the front of the seat is less than or equal to the longitudinal safety distance of the second safe position relationship determined based on the current driving data of the vehicle, it is determined that the user and the obstacle have a high collision risk.

[0096] In the present application, when step S3 includes steps S31 to S32, step S4 may include: in the case of a low collision risk, warning the user and reducing the adjustment rate of the seat; in the case of a high collision risk, warning the user and disabling the adjustment of the seat.

[0097] In this embodiment, when it is determined that there is a low risk of collision between the user on the seat and the obstacle in front of the seat, the user is warned that the current seat position adjusted to by the user causes a certain risk of collision between the user and the obstacle in front of the seat, and the user is informed to avoid further adjusting the seat in the direction close to the obstacle. At this time, the risk of collision is low. If the user still wants to adjust the seat in the direction close to the obstacle based on his own needs, the user is still allowed to adjust the seat in the direction close to the obstacle. However, in order to ensure safety, the adjustment rate of the seat adjustment by the user will be reduced at this time. At the same time, the reduced adjustment rate is for the target adjustment action, while the original rate is maintained for other adjustment actions (such as the action of controlling the seat to adjust in the direction away from the obstacle). The target adjustment action refers to the action of the user controlling the seat to adjust in the direction close to the obstacle. When it is determined that there is a high risk of collision between the user on the seat and the obstacle in front of the seat, for safety reasons, the user is warned and the target adjustment action performed by the user on the seat is disabled, that is, the user is prohibited from controlling the seat to adjust in the direction close to the obstacle, but the user is still allowed to control the seat to adjust in the direction away from the obstacle.

[0098] In combination with the above embodiments, in one implementation, the embodiment of the present application further provides a vehicle seat dynamic anti-collision adjustment method. In the vehicle seat dynamic anti-collision adjustment method, when the obstacle can be controlled to fold and / or shrink, the method further includes: monitoring the user's disable release control action; when it is determined that the user releases the seat adjustment disablement, controlling the obstacle to fold and / or shrink, and resuming the low-speed adjustment of the seat.

[0099] In this embodiment, when the obstacle above the seat can be folded and / or retracted by the vehicle's automatic control, when it is determined that there is a high risk of collision between the user on the seat and the obstacle in front of the seat and the target adjustment action performed by the user on the seat is disabled, it is monitored in real time whether the user performs a corresponding control action to release the disablement of the target adjustment action. When it is determined that the user performs the corresponding control action to release the disablement of the target adjustment action of the seat, the seat adjustment controller in the vehicle outputs a corresponding instruction to control the obstacle to be folded and / or retracted, so as to provide a larger adjustment space for the adjustment of the seat, and at the same time, the target adjustment action of the seat is restored. At the same time, in order to ensure safety in this case, the target adjustment action will be performed at a low speed at this time.

[0100] In combination with the above embodiments, in one implementation, the embodiment of the present application further provides a method for dynamic anti-collision adjustment of a vehicle seat. In the method for dynamic anti-collision adjustment of a vehicle seat, the method further includes: determining the location of an obstacle in the vehicle interior space; optimizing the obstacle avoidance path for the location of the obstacle through a multi-objective optimization function and a kinematic decoupling model of the seat to obtain a target obstacle avoidance path; and controlling the stability of the seat during movement along the target obstacle avoidance path through a stability algorithm.

[0101] In this embodiment, the vehicle is limited in size and the size of the space inside the vehicle is generally limited. Therefore, when an object is placed in the space inside the vehicle, it often affects the seat adjustment process. For example, the seat is a seat that can rotate 360 ​​degrees in situ along the central axis perpendicular to the ground. The seat has a high backrest tilt angle. When an object (that is, an obstacle) is hung above the seat belt, when the user adjusts the seat back to vertical, if the backrest is directly adjusted upward to vertical, the object will be hit. However, the seat can be rotated in the opposite direction of the object by a certain angle (such as 90 degrees) and then the tilt angle of the seat back is adjusted to vertical, and then rotated back to the original position to avoid hitting the object. In order to solve this problem, the present application proposes an implementation method to monitor new obstacles in the vehicle (such as objects placed by the user in the space inside the vehicle) through in-vehicle sensors, and perform corresponding path planning to prevent the object from affecting the seat adjustment to the specified position that the user wants to adjust to. The specified position can be a pre-set optimal seat adjustment position for a specific user.

[0102] Specifically: This application pre-establishes a kinematic decoupling model for the seat, which divides the movement of the seat into two subspaces. First, the seat state vector q = [x, y, z, θ pitch ,θ roll ] T , decompose the seat state vector into the motion q on the translation subspace trans =[x,y,z] T , and the motion q on the rotation subspace rot =[θ pitch ,θ roll ] T Wherein, x, y, z represent that the seat can move along the x-axis, y-axis and z-axis respectively, the x-axis is preferably toward the front of the vehicle, the y-axis is toward the left side of the vehicle, the z-axis is preferably perpendicular to the ground and upward, θ pitch Indicates the deflection angle of the seat back, θ roll Represents the rotation angle of the seat along the z-axis. A kinematic decoupling model is established based on the divided subspace, and the expression is: Wherein, v represents the speed of the seat end effector, which indicates the actual movement speed of the seat end in Cartesian space and is the synthesis result of the translation and rotation subspace speeds; J t Represents the Jacobian matrix (3*3 matrix) of the translation subspace, which converts the speed of the translation subspace The linear relationship matrix mapped to the terminal velocity v; represents the translation subspace velocity vector Describes the instantaneous velocity of the seat in the front-back (x), left-right (y), and up-down (z) directions; J rRepresents the Jacobian matrix of the rotation subspace (3*2 matrix), and converts the rotation subspace

[0103] The angle change rate The rotation relationship matrix mapped to the terminal velocity v; represents the angular velocity vector of the rotating subspace Describes the instantaneous rate of change of the seat back pitch angle (pitch) and roll angle (roll). At the same time, this application pre-establishes a multi-objective optimization function for the seat obstacle avoidance process, and the expression is: The constraint condition ∑w i =1,w i ≥0.1, i=1,2 represents two subspaces; w represents the weight vector of the subspace, which controls the priority weight of the translation subspace and the rotation subspace. The larger the weight, the higher the priority of the corresponding subspace in the planning, that is, in the process of obstacle avoidance, the obstacle avoidance path is planned in the subspace with a larger weight; β represents the planning time weight coefficient, which adjusts the planning time t plan The importance in the overall goal. A larger value indicates more emphasis on reducing latency. plan represents the time consumption of path planning, which refers to the time from triggering obstacle avoidance to generating a safe path; γ represents the collision risk weight coefficient, which controls the risk coefficient C risk The optimization weight of C, the larger the value, the more attention is paid to security; risk Indicates the collision risk safety factor (0 means no risk, 1 means high risk), which is dynamically calculated through sensor data. where d safe is the safety distance threshold, d obs Indicates the shortest straight-line distance between the obstacle and the seat. At the same time, the present application pre-establishes a Lyapunov function for controlling the stability of the seat during movement along the planned optimal obstacle avoidance path during obstacle avoidance, and the expression is:

[0104] Wherein, V(e) represents the Lyapunov function (energy function), which measures the energy of the system tracking error and controls it to decrease over time to ensure the stability of path tracking; e represents the state error vector (the difference between the expected state and the actual state), which reflects the deviation between the current position and angle of the seat and the specified position that the user wants to adjust to; P represents the positive definite weight matrix, such as diag(p1,p2,p3,p4,p5), p1 to p5 represent the five parameters for seat adjustment. When p1 corresponds to the x-axis direction, increasing p1 can make the x-direction error converge faster; K p Represents the proportional gain matrix, which controls the feedback strength of the error e. The larger the value, the faster the convergence. K d Represents the differential gain matrix, suppressing the error change rate Enhance system damping to prevent oscillation; Represents the control output vector, which is ultimately sent to the motor as a speed command to drive the seat along the planned path. Ensure that the derivative of the Lyapunov function Achieve stable trajectory tracking.

[0105] Based on the same inventive concept, an embodiment of the present application provides a vehicle seat dynamic anti-collision adjustment system, such as Figure 4 As shown, the system 400 includes:

[0106] A relative position relationship determination module 401 is used to determine the relative position relationship between the user on the seat and the obstacle in front of the seat in the target coordinate system according to the linear displacement parameter and the rotation angle parameter of the seat;

[0107] The safety position relationship determination module 402 is used to determine the safety position relationship between the user and the obstacle based on the current driving data of the vehicle;

[0108] A collision risk assessment module 403, configured to perform a collision risk assessment between the user and the obstacle based on the relative position relationship and the safe position relationship;

[0109] The control module 404 is used to determine and execute corresponding control actions according to the evaluation results.

[0110] Optionally, the relative position relationship determination module 401 includes:

[0111] A first coordinate position determination module, used to determine a first coordinate position of the top of the seat in a target coordinate system according to a linear displacement parameter and a rotation angle parameter of the seat;

[0112] A second coordinate position determining module, used to determine a second coordinate position of the user's head in a target coordinate system according to the first coordinate position and the user's vertical dimension information;

[0113] The relative position relationship determination submodule is used to determine the relative position relationship between the user and the obstacle in the target coordinate system according to the second coordinate position and the third coordinate position of the obstacle in the target coordinate system.

[0114] Optionally, the safety position relationship determination module 402 includes:

[0115] A data determination module, used to determine the current driving data and driving scenario of the vehicle;

[0116] An initial safety position relationship determination module, used to determine an initial safety position relationship corresponding to the driving scenario according to the driving scenario;

[0117] The safety position relationship determination submodule is used to correct the initial safety position relationship through the driving data to obtain the safety position relationship between the user and the obstacle.

[0118] Optionally, a collision risk assessment module 403 is used to determine that there is a collision risk between the user and the obstacle when the lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the safe position relationship and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the safe position relationship;

[0119] The control module 404 is used to warn the user and disable the adjustment of the seat when there is a risk of collision.

[0120] Optionally, a data determination module is used to determine the current driving data and driving scenario of the vehicle;

[0121] A first initial safety position relationship determination module, configured to determine, according to the driving scene, a first initial safety position relationship and a second initial safety position relationship corresponding to the driving scene;

[0122] The first safety position relationship determination submodule is used to correct the first initial safety position relationship and the second initial safety position relationship according to the driving data to obtain the first safety position relationship and the second safety position relationship between the user and the obstacle.

[0123] Optionally, the collision risk assessment module 403 includes:

[0124] A first collision risk assessment module, configured to determine that there is a low collision risk between the user and the obstacle if the lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the first safe position relationship, and the lateral distance in the relative position relationship is greater than the lateral safety distance of the second safe position relationship, and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the first safe position relationship, and the longitudinal distance in the relative position relationship is greater than the longitudinal safety distance of the second safe position relationship;

[0125] A second collision risk assessment module, configured to determine that there is a high risk of collision between the user and the obstacle if the lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the second safe position relationship, and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the second safe position relationship;

[0126] The control module 404 is used to warn the user and reduce the seat adjustment rate when there is a low collision risk; and to warn the user and disable the seat adjustment when there is a high collision risk.

[0127] Optionally, a monitoring module is used to monitor the user's disabling release control action when the obstacle is controllable to be folded and / or retracted;

[0128] The first control module is used for controlling the obstacle to be folded and / or retracted and restoring the low-speed adjustment of the seat when it is determined that the user releases the seat adjustment disablement.

[0129] Optionally, the system further includes:

[0130] A location determination module, used to determine the location of obstacles in the vehicle interior space;

[0131] A path planning module, used to optimize and solve the obstacle avoidance path at the location of the obstacle through a multi-objective optimization function and a kinematic decoupling model of the seat, and obtain a target obstacle avoidance path;

[0132] The stability control module is used to control the stability of the seat during the movement along the target obstacle avoidance path through a stability algorithm.

[0133] Based on the same inventive concept, an embodiment of the present application provides an electronic device, comprising: a processor, a memory, and a computer program stored on the memory and running on the processor. When the computer program is executed by the processor, it implements the steps in a vehicle seat dynamic anti-collision adjustment method as described in the first aspect of the present application.

[0134] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in a vehicle seat dynamic anti-collision adjustment method as described in the first aspect of the present application are implemented.

[0135] As for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0136] It should be noted that, for the method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0137] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0138] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the embodiments of the present application may adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0139] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0140] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0141] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0142] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0143] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0144] The above is a detailed introduction to the dynamic anti-collision adjustment method, system and product for a vehicle seat provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for dynamic anti-collision adjustment of a vehicle seat, characterized in that: The method comprises: Determine the relative position relationship between the user on the seat and the obstacle in front of the seat in the target coordinate system according to the linear displacement parameter and the rotation angle parameter of the seat; Determine the safe position relationship between the user and the obstacle based on the vehicle's current driving data; Performing a collision risk assessment between the user and the obstacle based on the relative position relationship and the safe position relationship; Based on the evaluation results, the corresponding control actions are determined and executed.

2. A vehicle seat dynamic anti-collision adjustment method according to claim 1, characterized in that: According to the linear displacement parameters and rotation angle parameters of the seat, the relative position relationship between the user on the seat and the obstacle in front of the seat in the target coordinate system is determined, including: Determine a first coordinate position of the top of the seat in the target coordinate system according to the linear displacement parameter and the rotation angle parameter of the seat; Determine a second coordinate position of the user's head in the target coordinate system according to the first coordinate position and the vertical dimension information of the user; A relative position relationship between the user and the obstacle in the target coordinate system is determined according to the second coordinate position and the third coordinate position of the obstacle in the target coordinate system.

3. A vehicle seat dynamic anti-collision adjustment method according to claim 1, characterized in that: Based on the vehicle's current driving data, determine the safe position relationship between the user and the obstacle, including: Determine the vehicle's current driving data and driving scenario; According to the driving scenario, determining an initial safe position relationship corresponding to the driving scenario; The initial safe position relationship is corrected by using the driving data to obtain a safe position relationship between the user and the obstacle.

4. A vehicle seat dynamic anti-collision adjustment method according to claim 1, characterized in that: According to the relative position relationship and the safe position relationship, a collision risk assessment is performed between the user and the obstacle, including: If the lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the safe position relationship and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the safe position relationship, it is determined that there is a risk of collision between the user and the obstacle; Determining and executing corresponding control actions according to the evaluation results includes: In the event of a risk of collision, the user is warned and seat adjustment is disabled.

5. The method for dynamic anti-collision adjustment of a vehicle seat according to claim 1, characterized in that: Based on the vehicle's current driving data, determine the safe position relationship between the user and the obstacle, including: Determine the vehicle's current driving data and driving scenario; Determining, according to the driving scenario, a first initial safe position relationship and a second initial safe position relationship corresponding to the driving scenario; The first initial safety position relationship and the second initial safety position relationship are corrected by using the driving data to obtain a first safety position relationship and a second safety position relationship between the user and the obstacle.

6. A vehicle seat dynamic anti-collision adjustment method according to claim 5, characterized in that: According to the relative position relationship and the safe position relationship, a collision risk assessment is performed between the user and the obstacle, including: If the lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the first safe position relationship, and the lateral distance in the relative position relationship is greater than the lateral safety distance of the second safe position relationship, and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the first safe position relationship, and the longitudinal distance in the relative position relationship is greater than the longitudinal safety distance of the second safe position relationship, it is determined that there is a low risk of collision between the user and the obstacle; The lateral distance in the relative position relationship is less than or equal to the lateral safety distance of the second safety position relationship, and / or the longitudinal distance in the relative position relationship is less than or equal to the longitudinal safety distance of the second safety position relationship, and it is determined that there is a high risk of collision between the user and the obstacle; Determining and executing corresponding control actions according to the evaluation results includes: In the event of a low risk of collision, the user is warned and the seat adjustment rate is reduced; In situations where there is a high risk of a crash, the user is alerted and seat adjustments are disabled.

7. A vehicle seat dynamic anti-collision adjustment method according to claim 6, characterized in that: In the case where the obstacle is controllable to be folded and / or retracted, the method further comprises: Monitor the user's disabling and releasing control actions; When it is determined that the user releases the seat adjustment disablement, the barrier is controlled to be folded and / or retracted, and the low-speed adjustment of the seat is restored.

8. The method for dynamic anti-collision adjustment of a vehicle seat according to claim 1, characterized in that: The method further comprises: Determine the location of obstacles in the vehicle interior; By using a multi-objective optimization function and a kinematic decoupling model of the seat, an obstacle avoidance path is optimized and solved for the location of the obstacle to obtain a target obstacle avoidance path; The stability of the seat during movement along the target obstacle avoidance path is controlled by a stability algorithm.

9. A vehicle seat dynamic anti-collision adjustment system, characterized in that: The system comprises: A relative position relationship determination module, used to determine the relative position relationship between the user on the seat and the obstacle in front of the seat in the target coordinate system according to the linear displacement parameter and the rotation angle parameter of the seat; A safety position relationship determination module is used to determine the safety position relationship between the user and the obstacle based on the current driving data of the vehicle; A collision risk assessment module, used to perform a collision risk assessment between the user and the obstacle based on the relative position relationship and the safe position relationship; The control module is used to determine and execute corresponding control actions according to the evaluation results.

10. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and running on the processor, wherein when the computer program is executed by the processor, the steps in the method for dynamic anti-collision adjustment of a vehicle seat as described in claims 1 to 8 are implemented.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the method for dynamic anti-collision adjustment of a vehicle seat as claimed in claims 1 to 8 are implemented.

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