Automobile seat shaking control method and device

Abstract

The invention discloses an automobile seat shaking control method and device. An automobile seat comprises a seat body and an X-axis motion control motor used for controlling the seat body to move front and back. The control method comprises the steps that S1, the acceleration value A of a vehicle is obtained, and a seat motion compensation model is established according to the acceleration value A; s2, calculating a motion compensation current according to the seat motion compensation model; and S3, the motion compensation current serves as the working current of an X-axis motion control motor, and the front-back motion speed of the automobile seat is controlled. According to the control method, the seat motion compensation model is established according to the acceleration of the vehicle, the motion of the seat is compensated, and then the working current of the X-axis motion control motor is calculated according to the seat motion compensation model, so that the forward and backward motion speed of the automobile seat is controlled, the pause feeling caused by acceleration and deceleration can be avoided, and the rocking comfort of the seat is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive seat control, and particularly to a method and device for controlling the rocking of an automotive seat. Background Art

[0002] Currently, automotive seats support multi-directional electric control. Generally, an X-axis motion control motor and a Z-axis motion control motor installed under the seat body are used to respectively control the motion state of the seat body in the X-axis or Z-axis direction.

[0003] Patent CN118790119 discloses a centrifugal force active compensation calculation method and a motion control method for a roll reduction mechanism. Specifically, the centrifugal force active compensation calculation method is applied to a seat centrifugal swing roll reduction mechanism, and includes: obtaining current vehicle attitude data, determining the driving scenario of the vehicle according to the vehicle attitude data, calculating the expected compensation angle and expected angular velocity of the centrifugal force according to the driving scenario and vehicle attitude data; calculating the angle between the first swing arm and the ground according to the expected compensation angle and the kinematic equation of the seat centrifugal swing roll reduction mechanism; calculating the expected length of the lead screw according to the angle between the first swing arm and the ground and the installation position of the lead screw; calculating the expected rotational speed of the motor according to the expected length of the lead screw, the angle between the first swing arm and the ground, and the expected angular velocity. The present invention can realize the recognition of various driving scenarios, calculate the expected compensation angle and expected angular velocity according to the recognition result, and then calculate the expected rotational speed of the motor. The seat movement process is smooth, improving the riding comfort. However, this patent compensates for the centrifugal force of the seat for the inertia during sharp turns, and calculates the expected rotational speed of the motor according to the expected compensation angle and expected angular velocity to improve the riding comfort; it cannot perform motion compensation on the seat according to the acceleration change of the vehicle to reduce the sense of jerk.

[0004] Therefore, in the face of the above existing problems, it is an urgent technical problem to be solved at present to develop an automotive seat rocking control method that can perform motion compensation on the seat according to the acceleration change of the vehicle. Summary of the Invention

[0005] The object of the present invention is to provide a method and device for controlling the rocking of an automotive seat to solve the problem that the existing automotive seat cannot perform motion compensation on the seat according to the acceleration change of the vehicle.

[0006] To solve the above technical problems, in the first aspect, the present invention provides a method for controlling the rocking of an automotive seat. The automotive seat includes a seat body and an X-axis motion control motor for controlling the forward and backward movement of the seat body; the control method includes:

[0007] S1: Obtain the acceleration value A of the vehicle, and establish a seat motion compensation model according to the acceleration value A;

[0008] S2: Calculate the motion compensation current according to the seat motion compensation model;

[0009] S3: Use the motion compensation current as the working current of the X-axis motion control motor to control the forward and backward movement speed of the vehicle seat.

[0010] Furthermore, the seat motion compensation model is:

[0011]

[0012] where m is the mass of the seat body, s1 is the moving distance of the seat body in the X direction, t is the moving time, K tx is the torque constant of the X-axis motion control motor, i x is the working current of the X-axis motion control motor, η x is the transmission efficiency of the X-axis motion control motor, and f(A) is the seat motion compensation function.

[0013] Furthermore, when the acceleration value A is greater than the first threshold A1 and the seat body moves backward, the seat motion compensation function f(A) is:

[0014] f(A) = 1 - ε·A

[0015] where ε is the compensation coefficient, A is the acceleration value of the vehicle, and A1 > 0.

[0016] Furthermore, the value range of the first threshold A1 is 0.15g to 0.6g.

[0017] Furthermore, when the acceleration value A is less than the second threshold A2 and the seat body moves forward, the seat motion compensation function f(A) is:

[0018] f(A) = 1 + ε·A

[0019] where ε is the compensation coefficient, A is the acceleration value of the vehicle, and A2 < 0.

[0020] Furthermore, the value range of the second threshold A2 is -0.6g to -0.15g.

[0021] Furthermore, the vehicle seat further includes a Z-axis motion control motor for controlling the up and down movement of the seat body; the X-axis motion control motor and the Z-axis motion control motor drive the seat body to perform local elliptical motion;

[0022] The local elliptical equation is:

[0023]

[0024] Wherein, a is the major axis length of the ellipse corresponding to the local ellipse, b is the minor axis length of the ellipse corresponding to the local ellipse, and p is the angle between a certain point on the local ellipse and the positive direction of the major axis.

[0025] Further, while adjusting the working current of the X-axis motion control motor according to the acceleration value A, the working current of the Z-axis motion control motor is adjusted according to the motion trajectory of the X-axis motion control motor.

[0026] Further, the control method further includes: detecting and determining whether there is a passenger on the seat body, and if so, performing step S1.

[0027] In a second aspect, the present invention provides an automobile seat rocking control device, including a processor and a memory; wherein, the memory is used to store computer execution instructions, and when the device runs, the processor executes the computer execution instructions stored in the memory so that the device executes the automobile seat rocking control method provided in the first aspect above.

[0028] The beneficial effects of the present invention are as follows:

[0029] 1. By establishing a seat motion compensation model based on the acceleration of the vehicle to compensate for the motion of the seat, and then calculating the working current of the X-axis motion control motor according to the seat motion compensation model, the forward and backward motion speed of the automobile seat can be controlled, thereby avoiding the sense of jerk caused by acceleration and deceleration, and improving the comfort of the seat rocking.

[0030] 2. Using the X-axis motion control motor and the Z-axis motion control motor to simultaneously control the seat body to perform local elliptical motion can not only be beneficial to controlling the rocking frequency of the seat body, but also avoid the discomfort caused by a large height difference; it can ensure that the seat body maintains a smooth pendulum rocking, especially suitable for soothing infants. Description of the Drawings

[0031] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The same reference numerals are used to represent the same or similar parts in these drawings. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0032] Figure 1 It is a schematic diagram of the motion trajectory of the seat body. Detailed Embodiments

[0033] In a first aspect, the present invention discloses an automobile seat rocking control method. The vehicle seat includes a seat body and an X-axis motion control motor for controlling the forward and backward motion of the seat body; the control method includes:

[0034] S1: Obtain the acceleration value A of the vehicle, and establish a seat motion compensation model according to the acceleration value A;

[0035] S2: Calculate the motion compensation current according to the seat motion compensation model;

[0036] S3: Use the motion compensation current as the working current of the X-axis motion control motor to control the forward and backward movement speed of the vehicle seat.

[0037] The present invention establishes a seat motion compensation model according to the acceleration of the vehicle to compensate for the motion of the seat, and then calculates the working current of the X-axis motion control motor according to the seat motion compensation model, thereby controlling the forward and backward movement speed of the vehicle seat, which can avoid the jerks caused by acceleration and deceleration and improve the comfort of the seat shaking.

[0038] According to an embodiment of the present application, the seat motion compensation model is:

[0039]

[0040] where m is the mass of the seat body (when there are passengers on the seat body, in order to improve the seat motion compensation accuracy, at this time, m can be taken as the sum of the mass of the seat body, the mass of the objects on the seat body (such as the mass of the baby seat) and the mass of the passengers on the seat body), s1 is the moving distance of the seat body in the X direction, t is the moving time, K tx is the torque constant of the X-axis motion control motor, i x is the working current of the X-axis motion control motor, η x is the transmission efficiency of the X-axis motion control motor, and f(A) is the seat motion compensation function.

[0041] The seat motion compensation model disclosed in this embodiment combines the electrical characteristics and mechanical characteristics of the motor to form the acceleration control of the seat, and at the same time uses the Newtonian mechanics model to offset the inertial force received by the passengers when the vehicle accelerates and decelerates, improving the seat comfort.

[0042] According to an embodiment of the present application, when the acceleration value A is greater than the first threshold A1 and the seat body moves backward, the seat motion compensation function f(A) is:

[0043] f(A) = 1 - ε·A

[0044] where ε is the compensation coefficient, A is the acceleration value of the vehicle, and A1 > 0.

[0045] When the acceleration value A is positive and greater than the set value A1, due to inertia, the seat body and the passengers on the seat body will move backward. If the seat body is also moving backward at the same time, the sense of jerk of the passengers on the seat will be particularly obvious. Therefore, in this embodiment, when the acceleration A is greater than the first threshold A1, according to the magnitude of the acceleration, the backward rocking speed of the seat body is reduced, so as to compensate for the backward movement under inertia, reduce the backward movement speed of the seat to buffer the inertial impact, make the movement process of the seat smooth and silky, and reduce the sense of jerk.

[0046] According to an embodiment of the present application, the value range of the first threshold A1 is 0.15g to 0.6g.

[0047] Under normal circumstances, when the vehicle acceleration is greater than 0.6g, passengers can often feel an obvious sense of jerk; in this embodiment, the value range of the first threshold A1 is set to 0.15g to 0.6g, which can reduce the discomfort caused by the sense of jerk; the value of the first threshold A1 can be set according to the needs of passengers. For example, if the passenger is an ordinary adult, the value of the first threshold A1 can be set to 0.5g; if the passenger is a child or an elderly person, the value of the first threshold A1 can be set to 0.3g; if the passenger is a baby, the value of the first threshold A1 can be set to 0.2g.

[0048] According to an embodiment of the present application, when the acceleration value A is less than the second threshold A2 and the seat body moves forward, the seat motion compensation function f(A) is:

[0049] f(A) = 1 + ε·A

[0050] Where ε is a compensation coefficient, A is the acceleration value of the vehicle, and A2 < 0.

[0051] When the acceleration value A is negative and greater than the set value, due to inertia, the seat body and the passengers on the seat body will move forward. If the seat body is also moving forward at the same time, the sense of jerk of the passengers on the seat will also be particularly obvious. Therefore, in this embodiment, when the acceleration A is less than the second threshold A2, according to the magnitude of the acceleration, the forward rocking speed of the seat body is reduced, so as to compensate for the forward movement under inertia, make the movement process of the seat smooth and silky, and reduce the sense of jerk.

[0052] According to an embodiment of the present application, the value range of the second threshold A2 is -0.6g to -0.15g.

[0053] Similarly, when the vehicle acceleration is less than -0.6g, passengers can often feel an obvious sense of jerk. In this embodiment, the value range of the first threshold A1 is set to -0.6g to -0.15g, which can reduce the discomfort caused by the sense of jerk. The value range of the second threshold A2 can be set according to the needs of passengers. For example, when the passenger is an ordinary adult, the value of the second threshold A2 can be set to -0.5g; when the passenger is a child or an elderly person, the value of the second threshold A2 can be set to -0.3g; when the passenger is an infant, the value of the second threshold A2 can be set to -0.2g.

[0054] According to an embodiment of the present application, the vehicle seat further includes a Z-axis motion control motor for controlling the up and down movement of the seat body. The X-axis motion control motor and the Z-axis motion control motor drive the seat body to perform a local elliptical motion.

[0055] As Figure 1 shown, the local elliptical equation is:

[0056]

[0057] where a is the major axis length of the ellipse corresponding to the local ellipse, b is the minor axis length of the ellipse corresponding to the local ellipse, and p is the angle between a certain point on the local ellipse and the positive direction of the major axis. When the value of p monotonically increases from -3π / 4 to -π / 4, the seat body moves backward, that is, from the left side of the solid line trajectory shown in Figure 1 to the right side; when the value of p monotonically decreases from -π / 4 to -3π / 4, the seat body moves forward, that is, from the right side of the solid line trajectory shown in Figure 1 to the left side.

[0058] In this embodiment, by using the X-axis motion control motor and the Z-axis motion control motor of the electric seat to control the seat body to perform a local elliptical motion, the rocking frequency of the seat body can be effectively controlled, and the discomfort caused by a large height difference can be avoided. It can ensure that the seat body can maintain a smooth pendulum rocking, and is especially suitable for soothing infants. The rocking frequency of the seat body can be custom-set, and the rocking frequency can be customized in a multi-gear control manner.

[0059] According to an embodiment of the present application, while adjusting the working current of the X-axis motion control motor according to the acceleration value A, the working current of the Z-axis motion control motor is adjusted according to the motion trajectory of the X-axis motion control motor. When calculating the working current of the Z-axis motion control motor, the moving distance s2 of the seat body in the Z direction can be first obtained according to the moving distance s1 of the seat body in the X direction and the seat motion trajectory, and then according to the formula: Calculate the working current i of the Z-axis motion control motor z , and the control of the Z-axis motion control motor can be realized; where K tzis the torque constant of the Z-axis motion control motor, i z is the working current of the Z-axis motion control motor, η z is the transmission efficiency of the Z-axis motion control motor.

[0060] According to an embodiment of the present application, the control method further includes: detecting and determining whether there is a passenger on the seat body, and if so, adjusting the working current of the X-axis motion control motor according to the acceleration value A. The specific implementation method of this embodiment may include: obtaining the pressure information on the seat body; then determining whether the pressure information is within a preset pressure threshold range, and if so, determining that a passenger is detected on the seat body, and then performing step S1.

[0061] In a second aspect, the present invention also discloses an automobile seat rocking control device, including a processor and a memory; wherein, the memory is used to store computer execution instructions, and when the device runs, the processor executes the computer execution instructions stored in the memory to enable the device to execute the automobile seat rocking control method provided in the first aspect above. The device can adopt the vehicle's own vehicle control unit (VCU), or other independently controlled control devices. By connecting the device to the X-axis motion control motor and the Z-axis motion control motor for signal connection, the X-axis motion control motor and the Z-axis motion control motor can be controlled to drive the seat body to move.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. A method for controlling the shaking of a car seat, wherein the car seat comprises a seat body and an X-axis motion control motor for controlling the forward and backward movement of the seat body; characterized in that: The control method comprises: S1: Acquire an acceleration value A of the vehicle, and establish a seat motion compensation model according to the acceleration value A; S2: Calculating motion compensation current according to the seat motion compensation model; S3: Using the motion compensation current as the working current of the X-axis motion control motor to control the forward and backward movement speed of the car seat.

2. The vehicle seat shaking control method according to claim 1, characterized in that: The seat motion compensation model is: Where m is the mass of the seat body, s1 is the moving distance of the seat body in the X direction, t is the moving time, K tx is the torque constant of the X-axis motion control motor, i x is the working current of the X-axis motion control motor, η x is the transmission efficiency of the X-axis motion control motor, and f(A) is the seat motion compensation function.

3. The vehicle seat shaking control method according to claim 2, characterized in that: When the acceleration value A is greater than the first threshold value A1 and the seat body moves backward, the seat motion compensation function f(A) is: f(A)=1-ε·A Among them, ε is the compensation coefficient, A is the acceleration value of the vehicle, and A1>0.

4. The vehicle seat shaking control method according to claim 3, characterized in that: The first threshold value A1 has a value range of 0.15 g to 0.6 g.

5. The vehicle seat shaking control method according to any one of claims 2 to 4, characterized in that: When the acceleration value A is less than the second threshold value A2 and the seat body moves forward, the seat motion compensation function f(A) is: f(A)=1+ε·A Among them, ε is the compensation coefficient, A is the acceleration value of the vehicle, and A2<0.

6. The vehicle seat shaking control method according to claim 5, characterized in that: The second threshold value A2 has a value range of -0.6g to -0.15g.

7. The vehicle seat shaking control method according to claim 1 or 2, characterized in that: The automobile seat further comprises a Z-axis motion control motor for controlling the up and down movement of the seat body; the X-axis motion control motor and the Z-axis motion control motor drive the seat body to perform partial elliptical motion; The local ellipse equation is: Among them, a is the length of the major axis of the ellipse corresponding to the local ellipse, b is the length of the minor axis of the ellipse corresponding to the local ellipse, and p is the angle between a point on the local ellipse and the positive direction of the major axis.

8. The vehicle seat shaking control method according to claim 7, characterized in that: While adjusting the operating current of the X-axis motion control motor according to the acceleration value A, the operating current of the Z-axis motion control motor is adjusted according to the motion trajectory of the X-axis motion control motor.

9. The vehicle seat shaking control method according to claim 1, characterized in that: The control method further includes: detecting and determining whether there is a passenger on the seat body, and if so, executing step S1.

10. A vehicle seat rocking control device, characterized in that: It comprises a processor and a memory; wherein the memory is used to store computer-executable instructions. When the device is running, the processor executes the computer-executable instructions stored in the memory, so that the device executes the vehicle seat rocking control method described in any one of claims 1-9.

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