Seat folding control method, device, vehicle and storage medium

Abstract

The present application relates to the field of vehicle control and discloses a seat folding control method, device, vehicle, and storage medium. The method determines the starting position of a target seat in a target electric seat in response to a received folding control signal of a target electric seat. If the remaining travel corresponding to the starting position of the target seat is less than or equal to a preset threshold, a pulse width modulation control strategy is used to control the target seat to complete folding of the remaining travel. If the remaining travel corresponding to the starting position of the target seat is greater than the preset threshold, a segmented control strategy is used to control the folding of the target seat until the target seat is completely folded. By dynamically determining the remaining travel of the target seat and selecting the corresponding control strategy, a pulse width modulation strategy or a segmented control strategy is used to effectively reduce end impact and improve motion smoothness, ensure the smoothness of seat folding, and improve the anti-pinch capability of the target seat folding and user experience.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a seat folding control method, device, vehicle, and storage medium. Background Art

[0002] With the rapid development of the automobile industry, the performance, comfort, and technological sense of automobiles have been greatly improved. As the name suggests, car seats refer to electric seats used when riding in a car. In order to improve the comfort of passengers, the performance of electric seats is constantly being optimized. For example, when rear passengers need to rest or stack large objects, the activity space and comfort in the car can be improved by controlling the folding of the front seats and / or rear seats.

[0003] In the related technology, the current seat folding control strategy is prone to speed curve drift during the electric seat folding process, which cannot meet the requirements of seat movement smoothness; at the same time, when the target seat backrest is folded to the forward position, it will trigger the seat to fold down at a higher speed. This not only increases the difficulty of anti-pinch when folding the seat, but also reduces the user experience. Summary of the Invention

[0004] The embodiments of the present application provide a seat folding control method, device, vehicle, and storage medium to solve the technical problem of uneven movement of seat folding control methods in related technologies.

[0005] An embodiment of the present application provides a seat folding control method, comprising: determining the starting position of a target seat in an electric seat in response to a received folding control signal of a target electric seat; if the remaining stroke corresponding to the starting position of the target seat is less than or equal to a preset threshold, using a pulse width modulation control strategy to control the target seat in the target electric seat to complete the folding of the remaining stroke, the preset threshold being the stroke corresponding to the angle of the target seat at the current moment when it reaches a preset flip angle value; if the remaining stroke corresponding to the starting position of the target seat is greater than the preset threshold, using a segmented control strategy to control the folding of the target seat until the target seat is completely folded.

[0006] In one embodiment of the present application, the segmented control strategy divides the remaining journey into a first segment, a second segment, a third segment, and a fourth segment, and each segment corresponds to a control strategy, wherein the real-time position of the target seat is compared with a preset seat position threshold to determine the segment in which the target seat is currently located, and the preset seat position threshold is determined by the speed and / or acceleration when the seat is folded.

[0007] In one embodiment of the present application, if the target seat is in the first segment, a first control strategy is adopted to control the folding of the target seat; the first control strategy includes controlling the starting duty cycle of the motor to be above the motor dead zone, and controlling the power supply voltage fluctuation of the motor to be within a preset fluctuation range, and controlling the motor to perform linear acceleration with a preset acceleration to reach a preset speed; wherein the preset fluctuation range is determined by the mean and standard deviation of the motor power supply voltage, and the preset acceleration represents a curve of the change of the motor speed over time.

[0008] In one embodiment of the present application, before adopting the first control strategy to control the folding of the target seat, it also includes: obtaining the initial duty cycle of pulse width modulation, the duty cycle-speed gain coefficient, the preset power function polynomial and the dynamic compensation coefficient, the dynamic compensation coefficient is determined by the motor speed deviation and the proportional gain coefficient; determining the compensation duty cycle according to the duty cycle-speed gain coefficient, the preset power function polynomial and the dynamic compensation coefficient; determining the output duty cycle of the first control strategy based on the sum of the initial duty cycle and the compensation duty cycle.

[0009] In one embodiment of the present application, if the target seat is in the second segment, a second control strategy is adopted to control the folding of the target seat; the second control strategy includes using a proportional integral differential control algorithm to control the motor speed so that the motor speed quickly reaches the target speed, and controlling the motor speed fluctuation amplitude through an adaptive feedforward compensation factor.

[0010] In one embodiment of the present application, before adopting the second control strategy to control the folding of the target seat, it also includes: obtaining the motor speed deviation, proportional coefficient, integral coefficient and adaptive feedforward compensation factor, the motor speed deviation is determined by the target speed and the actual speed of the current motor; determining the first speed change according to the motor speed deviation at the current moment, the motor speed deviation at the previous moment and the proportional coefficient; determining the second speed change according to the motor speed deviation at the current moment and the integral coefficient; determining the target seat speed change based on the sum of the first speed change and the second speed change; and determining the duty cycle output of the second control strategy according to the adaptive feedforward compensation factor and the target seat speed change.

[0011] In one embodiment of the present application, if the target seat is in the third segment, a third control strategy is adopted to control the folding of the target seat; the third control strategy includes adopting the pulse width modulation duty cycle constant output at the previous moment if the motor speed reaches the target speed and the speed fluctuation amplitude is within the preset fluctuation range; if the motor speed exceeds the target speed and the speed fluctuation amplitude is within the preset fluctuation range, a feedforward-feedback composite control algorithm is adopted to control the duty cycle of the motor.

[0012] In one embodiment of the present application, before adopting the feedforward-feedback composite control algorithm to control the duty cycle of the motor, it also includes: obtaining a voltage feedforward compensation item, a pulse width modulation duty cycle at a previous moment, and a pulse width modulation duty cycle increment, wherein the voltage feedforward compensation item is determined by the voltage compensation gain, and the actual voltage of the motor and the theoretical duty cycle voltage, and the pulse width modulation duty cycle increment is determined by the proportional gain parameter, differential gain parameter, integral coefficient and motor speed deviation adaptively adjusted to the motor speed deviation change rate; and determining the duty cycle output of the feedforward-feedback composite control algorithm based on the voltage feedforward compensation item, the pulse width modulation duty cycle at a previous moment, and the pulse width modulation duty cycle increment.

[0013] In one embodiment of the present application, if the target seat is in the fourth segment, a fourth control strategy is used to control the folding of the target seat; the fourth control strategy includes using pulse width modulation to continuously reduce the duty cycle until the folding is completed according to the duty cycle.

[0014] In one embodiment of the present application, before adopting the fourth control strategy to control the folding of the target seat, it also includes: obtaining a preset attenuation function, a first duty cycle of pulse width modulation in the third segment, and a second duty cycle of pulse width modulation corresponding to the target seat folding to the extreme position, the preset attenuation function is determined by the attenuation function coefficient in the fourth segment; determining a difference function based on the difference between the first duty cycle and the second duty cycle; determining the duty cycle output of the fourth control strategy based on the difference function, the preset attenuation function and the first duty cycle.

[0015] An embodiment of the present application also provides a seat folding control device, which includes: a position determination module, which is used to determine the starting position of a target seat in a target electric seat in response to a received folding control signal of a target electric seat; a first control module, which is used to adopt a pulse width modulation control strategy to control the target seat to complete the folding of the remaining stroke if the remaining stroke corresponding to the starting position of the target seat is less than or equal to a preset threshold, and the preset threshold is the stroke corresponding to the angle of the target seat at the current moment when it reaches a preset flip angle value; a second control module, which is used to adopt a segmented control strategy to control the folding of the target seat if the remaining stroke corresponding to the starting position of the target seat is greater than the preset threshold until the target seat is completely folded.

[0016] An embodiment of the present application also provides a vehicle that adopts a method as described in any of the above embodiments.

[0017] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method of any of the above embodiments is implemented.

[0018] In the scheme implemented by the seat folding control method, device, vehicle and storage medium provided above, in response to the received folding control signal of the target electric seat, the starting position of the target seat in the electric seat is determined; if the remaining stroke corresponding to the starting position of the target seat is less than or equal to the preset threshold, pulse width modulation is used to control the target seat in the target electric seat to complete the folding of the remaining stroke, and fine control of the end stroke is achieved by fixed pulse width modulation; if the remaining stroke corresponding to the starting position of the target seat is greater than the preset threshold, a segmented control strategy is used to control the folding of the target seat until the target seat is completely folded. Since each segment corresponds to a different control strategy, different interval control algorithms and different control parameters are corresponding to the starting angle position of the target seat, until the target seat is folded to the maximum stroke, thus avoiding speed curve drift and meeting the requirements of seat movement smoothness; in addition, the target seat can quickly reach the target speed at any starting angle position and stabilize within the allowable fluctuation range of the expected seat speed curve, optimizing the seat anti-pinch function and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments of the present application. 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 any creative work.

[0020] Figure 1 An exemplary system architecture diagram of a seat folding control device applicable to an embodiment of the present application;

[0021] Figure 2 A schematic flow chart of a seat folding control method provided in an embodiment of the present application;

[0022] Figure 3 A schematic structural diagram of a seat folding control device provided in an embodiment of the present application;

[0023] Figure 4 A schematic structural diagram of an electronic device in one embodiment of the present application;

[0024] Figure 5 Another structural diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0026] In order to enable those skilled in the art to better understand the improvements of the technical solution provided by the present disclosure, the present disclosure briefly introduces the implementation scenarios and related information of the seat folding control method in the related art.

[0027] Figure 1 This is an exemplary system architecture diagram of a seat-folding control device for vehicle 100 according to an embodiment of the present application. Vehicle 100 includes, but is not limited to, a gasoline-powered vehicle and a new energy vehicle. Seat-folding control device 101 is disposed within vehicle 100. Vehicle 100 includes a sensing system, a display device, and a computing platform, and seat-folding control device 101 is specifically disposed within vehicle 100.

[0028] As mentioned earlier, as new energy vehicles gradually begin to embrace the second half of the connected and intelligent industrial revolution, seat control modules (SCMs) are commonly installed in the rear seats of light luxury new energy vehicles to implement electric adjustment functions for the rear or front seats, as well as related comfort and intelligent features. Taking the rear seats as an example, some high-end models offer one-touch electric folding and folding of the rear seats to precisely meet customer needs. To enhance the user experience, existing SCM modules aim to achieve the following control objectives: a) The rear seat should fold as quickly as possible when the one-touch electric folding function is activated. This means that regardless of the starting angle of the seat, the time from the activation of the one-touch electric folding function to the completion of the folding action should be as short as possible, typically within 5 seconds. Furthermore, the folding process should be as linear and smooth as possible, with gradual acceleration and deceleration. b) The seat should have an anti-pinch function during the electric folding process. If the seat encounters an obstacle during folding, the motor stops and the seat retracts to prevent pinching.

[0029] In related technologies, seat control module suppliers set a constant duty cycle based on the OEM's seat movement speed requirements. They then measure the seat movement speed and the corresponding seat motor speed, using the motor speed as the target value in the control algorithm. When the seat's one-touch folding position is pressed, the seat motor's drive duty cycle continuously increases as the control algorithm adjusts. When the motor speed reaches the target value, the seat control module uses the control algorithm to suppress speed fluctuations caused by mechanical resistance changes and power supply voltage fluctuations during the seat adjustment range, thereby ensuring smooth and stable operation of the seat motor and stabilizing the seat motor speed near the target value.

[0030] However, in the related art, when the control method strategy meets goals a) and b), due to the timing of the control algorithm intervening in the seat movement stroke and the control method, there are the following situations: ① The control strategy of a single control target value cannot cover the multivariable coupling scenario in the electric folding operation of the rear seat: for example, factors such as changes in the sliding resistance of the seat hinge at different angles and fluctuations in the power supply voltage will cause the speed curve to drift throughout the entire electric folding stroke of the rear seat, which cannot meet the requirements of high-end models for seat movement smoothness; ② Since the seat starting adjustment position is not taken into account, when the seat starting position is adjusted to a relatively forward position (the remaining target seat folding stroke is less than or equal to 30 degrees), triggering the button for electric one-touch folding will cause the seat to fold down at a higher speed, causing the anti-pinch force when the target seat anti-pinch function is triggered to exceed the limit by about 10%, affecting the customer experience and increasing the difficulty of implementing the seat anti-pinch function.

[0031] In view of this, embodiments of the present application provide a seat folding control method, device, vehicle, and storage medium. The control method for one-touch electric folding of rear seats in a vehicle generally has some shortcomings, such as low seat anti-pinch satisfaction during one-touch electric folding and folding of the rear seats, large fluctuations in the seat speed curve during the folding process, excessive motor noise at the moment the seat motor starts and stops, and a "nodding" jitter phenomenon. In order to optimize the one-touch folding control effect of the rear seats, optimize the seat anti-pinch function, and improve the user experience.

[0032] See also Figure 2 , Figure 2 A flowchart of a seat folding control method provided in an embodiment of the present application is provided. The method includes the following steps:

[0033] Step S201, determining a starting position of a target seat in the target power seats in response to a received folding control signal of the target power seat;

[0034] Step S202: If the remaining travel corresponding to the starting position of the target seat is less than or equal to a preset threshold, a pulse width modulation control strategy is used to control the target seat to complete the folding of the remaining travel. The preset threshold is the travel corresponding to the angle at which the target seat at the current moment reaches a preset flip angle value.

[0035] In step S203 , if the remaining travel corresponding to the starting position of the target seat is greater than a preset threshold, a segmented control strategy is adopted to control the folding of the target seat until the folding of the target seat is completed.

[0036] The remaining travel refers to the angle change range between the current position of the target seat and the fully folded position, which can be achieved by measuring the difference between the current flip angle and the target angle through an angle sensor.

[0037] The preset threshold refers to the travel distance corresponding to the target seat's current angle reaching (i.e., equal to) the preset tilt angle. For example, the preset threshold can be set to 15 degrees to differentiate between long and short travels and employ different control strategies. Pulse-width modulation controls the speed by adjusting the duty cycle of the motor drive signal. For example, a fixed-frequency PWM signal can be used to control the target seat's folding for the remaining travel.

[0038] Among them, the segmented control strategy refers to a method of dividing the remaining travel into multiple stages and matching different control parameters. Specifically, after receiving the folding instruction, the current position of the target seat is obtained through the angle sensor, the remaining flip angle from the current position to the folding end point is calculated, and compared with the preset threshold. If the remaining angle is less than or equal to the preset threshold, that is, the remaining travel corresponding to the starting position of the target seat is less than or equal to the preset threshold, pulse width modulation is used to drive the motor with a constant duty cycle until the folding is completed. If the remaining angle exceeds the preset threshold, that is, the remaining travel corresponding to the starting position of the target seat is greater than the preset threshold, the entire travel is divided into multiple stages, and different duty cycle adjustment rules are used for each stage.

[0039] Through the above technical solution, compared with the traditional single control mode for the entire folding stroke, which does not consider the differentiated requirements for speed curves at different stages, this application uses a remaining stroke judgment mechanism to enable a segmented control strategy at long strokes, making the acceleration and deceleration process transition smoothly. It solves the problem of uneven movement caused by sudden speed changes during seat folding, reduces the risk of collision caused by high-speed folding at the end of the target seat, and realizes the optimization of speed curves at different folding stages through real-time detection of the remaining stroke and switching of control strategies, thus ensuring folding efficiency while improving movement smoothness. In addition, the application of the segmented control strategy effectively reduces the response pressure of the anti-pinch detection system and improves the user experience.

[0040] Optionally, in order to overcome the problem that the motor gear set is subjected to instantaneous torque mutation during full-speed start / stop caused by mechanical shock, which causes mechanism wear and causes the target seat to fold unevenly.

[0041] The present application divides the remaining journey into the first segment, the second segment, the third segment and the fourth segment through a segmented control strategy. Each segment corresponds to a control strategy, wherein the real-time position of the target seat is compared with the preset seat position threshold to determine the segment in which the target seat is currently located. The preset seat position threshold is determined by the speed and / or acceleration when the seat is folded.

[0042] Among them, the segmented control strategy refers to a technical means of dividing the remaining stroke into multiple continuous control stages. Specifically, it can be implemented by using the angle threshold segmentation method. The folding process is decomposed into intervals with different dynamic characteristics through the preset flip angle value, thereby solving the problem that a single control strategy cannot adapt to sudden changes in the speed curve.

[0043] An angle sensor continuously monitors the actual target seat tilt angle and compares it with preset segmented thresholds. This can be implemented using a Hall effect sensor or photoelectric encoder, dynamically determining the current control stage. Specifically, during the seat folding process, when the remaining travel exceeds a preset threshold, the folding path is divided into four control stages based on the real-time target seat angle data. In the first stage, the slow-start acceleration stage, the duty cycle is gradually increased to achieve a smooth start. In the second stage, the approaching stability stage, a closed-loop control algorithm accelerates convergence to the target speed. In the third stage, the stability stage, constant output is maintained or voltage fluctuations are dynamically compensated. In the fourth stage, the slow-stop deceleration stage, the duty cycle is reduced according to a preset function until the vehicle stops. Switching between each stage is triggered by comparing the real-time angle with a preset threshold. For example, if the target seat angle reaches the upper limit of the first stage, the control strategy automatically switches to the second stage. This segmented approach allows independent optimization of control parameters in each stage. For example, the acceleration stage prioritizes suppressing start-up jerk and the deceleration stage prioritizes eliminating terminal impact.

[0044] Compared with the existing technology, the traditional solution uses a single speed curve to control the entire folding process, which cannot cope with the differences in dynamic characteristics of different stages, and is prone to jitter in the acceleration stage, speed fluctuations in the stabilization stage, and mechanical collisions in the slow stop and deceleration stage. This application divides the control interval and matches the differentiated strategy to accurately adapt the control targets of each stage. Compared with the traditional feedback control, it has a faster dynamic response. This application solves the problem of insufficient smoothness caused by the sudden change in speed during the folding process in the existing technology. By dynamically dividing the control stages and adapting the optimal strategy, it achieves impact-free starting in the acceleration stage, constant speed maintenance in the stabilization stage, and smooth stopping in the slow stop and deceleration stage, thereby reducing the mechanical noise and the probability of false triggering of anti-pinch during the seat folding process and improving the user experience.

[0045] In some embodiments, in order to avoid fluctuations in the vehicle power supply voltage (such as battery discharge, sudden load changes) that cause unstable motor output torque, thereby causing sudden changes or freezes in the target seat movement speed; when the motor is started in the dead zone, insufficient current may cause response lag or mechanical vibration, affecting the smoothness of the target seat folding; and in the first segment from stationary to accelerating, the startup response speed and movement smoothness need to be balanced to avoid users perceiving abrupt acceleration changes and other technical defects.

[0046] Optionally, if the target seat is in the first segment, the first control strategy is adopted to control the folding of the target seat; the first control strategy includes controlling the starting duty cycle of the motor to be above the motor dead zone, and controlling the power supply voltage fluctuation of the motor to be within a preset fluctuation range, and controlling the motor to perform linear acceleration with a preset acceleration to reach a preset speed; wherein the preset fluctuation range is determined by the mean and standard deviation of the motor power supply voltage, and the preset acceleration represents the change curve of the motor speed over time.

[0047] Specifically, the target seat position and motion state are monitored in real time through sensors (such as angle sensors and accelerometers), and the preset threshold is used to determine whether the current state is in the first segment; in the first segment, the starting duty cycle of the motor drive signal is set to be higher than the motor dead zone threshold to ensure that the motor quickly reaches a drivable state; the power supply voltage is monitored in real time, and the PWM duty cycle or motor control parameters are dynamically adjusted according to voltage fluctuations.

[0048] Through the above method, by optimizing the starting duty cycle and adaptive voltage control, the vibration and speed mutation during motor startup are reduced, thereby improving the user experience; the motor dead zone effect is avoided and the startup delay time is shortened; and the influence of power supply fluctuations on movement is effectively suppressed through adaptive voltage control, thereby improving the overall robustness.

[0049] The method for determining the first control strategy of the present application includes: obtaining the initial duty cycle of pulse width modulation, the duty cycle-speed gain coefficient, the preset power function polynomial and the dynamic compensation coefficient, the dynamic compensation coefficient is determined by the motor speed deviation and the proportional gain coefficient; determining the compensation duty cycle according to the duty cycle-speed gain coefficient, the preset power function polynomial and the dynamic compensation coefficient; determining the output duty cycle of the first control strategy based on the sum of the initial duty cycle and the compensation duty cycle.

[0050] Among them, the initial duty cycle refers to the basic duty cycle parameter required when the motor starts. The duty cycle-speed gain coefficient refers to the linear relationship parameter of the influence of the duty cycle change on the motor speed. It can be obtained by fitting the motor characteristic test data and is used to associate the duty cycle with the speed deviation. The preset power function polynomial refers to a nonlinear function used to dynamically adjust the compensation amount. Specifically, it can be in the form of a quadratic or cubic polynomial. Its function is to adjust the compensation amplitude according to the remaining stroke amount to avoid overshoot or lag caused by single linear compensation. The dynamic compensation coefficient refers to the dynamic adjustment factor for real-time correction of the duty cycle. It can be calculated by multiplying the proportional gain coefficient and the motor speed deviation. It is used to eliminate the speed deviation caused by power supply voltage fluctuations.

[0051] Specifically, within the first segment, an initial duty cycle is obtained as the control starting point, and a linear relationship between the duty cycle and the target speed is established through the duty cycle-speed gain coefficient. A preset power-raising polynomial is used to perform nonlinear compensation for the acceleration requirements of the remaining stroke. For example, a quadratic function is used to smoothly increase the compensation amount for the first half of the stroke. At the same time, a dynamic compensation coefficient is calculated based on the product of the real-time detected motor speed deviation and the proportional gain coefficient. For example, when voltage fluctuations cause the speed to be lower than expected, the compensation amount is increased by increasing the dynamic compensation coefficient. The initial duty cycle is superimposed with the compensated duty cycle to generate the actual output duty cycle signal, allowing the motor to overcome the effects of voltage fluctuations while maintaining smooth acceleration during acceleration.

[0052] Through the above technical solutions, existing solutions usually adopt a fixed duty cycle or a single proportional compensation, which cannot effectively cope with power supply voltage fluctuations and nonlinear acceleration requirements. However, the present application not only realizes the adaptation of the nonlinear acceleration curve through the synergy of the preset power function polynomial and the dynamic compensation coefficient, but also eliminates external interference through real-time feedback compensation, making the acceleration process more stable. For example, the traditional method may cause acceleration stagnation due to insufficient duty cycle when the voltage suddenly drops, but the present application improves the duty cycle output through the dynamic compensation coefficient to avoid such problems. The present application effectively solves the problem of uneven acceleration caused by power supply voltage fluctuations during the seat folding process. Through the combination of the dynamic compensation mechanism and the nonlinear compensation function, the duty cycle output of the motor in the first segment can be adaptively adjusted to ensure that the acceleration process of the target seat is smooth and stable, avoid false triggering of anti-pinch detection due to sudden speed changes, and reduce the dependence on the stability of the power supply voltage.

[0053] To solve the conflicting requirements of quickly converging to the target speed and suppressing overshoot / oscillation when the target seat is folded close to the second segment; at the same time, external interference such as changes in the target seat's load weight and friction fluctuations will destroy the speed stability, and traditional PID (proportional-integral-differential) control is difficult to compensate for nonlinear disturbances in real time.

[0054] Optionally, a second control strategy is adopted in the second segment to control the target seat folding. The second control strategy includes adopting a proportional integral differential control algorithm to control the motor speed so that the motor speed quickly reaches the target speed, and controlling the motor speed fluctuation amplitude through an adaptive feedforward compensation factor.

[0055] The proportional-integral-derivative control algorithm uses a proportional mechanism to quickly respond to speed deviations, an integral mechanism to eliminate steady-state errors, and a differential mechanism to predict speed trends. This algorithm can be implemented using a discretized incremental algorithm, which adjusts the control output by calculating the change in speed deviation in real time. The adaptive feedforward compensation factor dynamically adjusts the compensation parameter based on the motor's operating status. This factor can be implemented through online learning using historical data on speed fluctuations to offset the effects of external voltage fluctuations or load changes on speed.

[0056] Specifically, when the target seat enters the second segment, the deviation between the target speed and the actual speed is obtained. Based on this deviation, corrections for the proportional, integral, and differential terms are calculated. The proportional term is calculated by multiplying the current deviation by a preset proportional coefficient. The integral term is calculated by accumulating historical deviations and multiplying them by the integral coefficient. The differential term is generated by combining the difference between the current deviation and the previous deviation with the differential coefficient. After the three corrections are superimposed to form the basic control variable, the compensation generated by the adaptive feedforward compensation factor is added, and the duty cycle control signal is finally output. For example, when a battery voltage drop is detected, causing speed fluctuations, the adaptive feedforward compensation factor automatically increases the compensation value to offset the voltage fluctuation.

[0057] Compared with existing technologies, traditional methods only use fixed-parameter PID control, which is prone to speed overshoot or response delay when voltage fluctuates or mechanical resistance changes. This application introduces dynamically adjusted adaptive feedforward compensation to promptly correct the control variable when external interference occurs, avoiding drastic fluctuations in the speed curve. This effectively suppresses the oscillation of the motor speed as it approaches the target value, allowing the target seat folding process to quickly reach the target speed while maintaining speed stability. This reduces the mechanical impact caused by sudden speed changes during seat folding, improving motion smoothness and control accuracy.

[0058] Specifically, the method for determining the second control strategy includes obtaining the motor speed deviation, proportional coefficient, integral coefficient and adaptive feedforward compensation factor, wherein the motor speed deviation is determined by the target speed and the actual speed of the current motor; determining the first speed change based on the motor speed deviation at the current moment, the motor speed deviation at the previous moment and the proportional coefficient; determining the second speed change based on the motor speed deviation at the current moment and the integral coefficient; determining the target seat speed change based on the sum of the first speed change and the second speed change; and determining the duty cycle output of the second control strategy based on the adaptive feedforward compensation factor and the target seat speed change.

[0059] The motor speed deviation refers to the difference between the target speed and the current actual motor speed, and is used to reflect the degree of deviation between the current control state and the ideal state. The proportional coefficient refers to the gain parameter in the control system that is linearly related to the deviation and is used to quickly respond to deviation changes. The integral coefficient refers to the gain parameter in the control system that is linearly related to the accumulated deviation. Specifically, it can be obtained by accumulating historical deviation data through an integrator and multiplying it by a preset coefficient. The integral coefficient is used to eliminate steady-state errors and improve control accuracy. The adaptive feedforward compensation factor refers to a dynamically adjusted parameter used to suppress external disturbances. It can predict the impact of disturbances on the speed in advance and actively adjust the duty cycle output to offset the disturbance.

[0060] Specifically, in the second segment, the duty cycle output of the second control strategy is generated through the following steps: first, the actual speed of the current motor is obtained through the sensor, and the real-time motor speed deviation is calculated with the preset target speed; then, the speed deviation at the current moment and the deviation at the previous moment are multiplied by the proportional coefficient respectively to obtain a first speed change that reflects the deviation change trend; at the same time, the speed deviation at the current moment is input into the integrator, and the second speed change is obtained by accumulating historical deviation data and multiplying it by the integral coefficient to eliminate the steady-state error; then, the first speed change is added to the second speed change to obtain the target seat speed change that comprehensively reflects the dynamic response and steady-state accuracy; finally, the target seat speed change is corrected using the adaptive feedforward compensation factor to generate the final duty cycle output. For example, when the motor load suddenly increases and the speed drops, the adaptive feedforward compensation factor can automatically increase the duty cycle output based on the voltage fluctuation, thereby maintaining a stable speed.

[0061] Compared to existing technologies, traditional methods rely solely on fixed parameters within the proportional-integral-derivative control algorithm for speed regulation, making it difficult to address speed fluctuations caused by sudden load changes or voltage fluctuations. However, the present invention introduces an adaptive feedforward compensation factor to predict and compensate for the effects of external disturbances on speed in real time. For example, when a sudden change in resistance is encountered during the folding process of the target seat, the duty cycle can be proactively adjusted to suppress speed fluctuations. Furthermore, by combining the speed deviations between the current moment and historical moments, the dynamic response speed of the control system can be effectively improved. The present invention enables fast and smooth speed control within the second segment of the seat. Specifically, when the motor speed deviates from the target value, the proportional term rapidly responds to the deviation change, while the integral term eliminates steady-state errors, thereby avoiding overshoot or oscillation common in traditional control methods. The introduction of the adaptive feedforward compensation factor further reduces the impact of voltage fluctuations or mechanical resistance changes on speed, allowing the target seat to maintain a uniform speed during folding, enhancing the user experience.

[0062] In some embodiments, to solve the following problems: after the target seat folding enters the stable stage, it is necessary to avoid energy waste due to excessive control, while retaining the ability to respond quickly to sudden disturbances; when the motor speed unexpectedly exceeds the target value, it is necessary to suppress overshoot while preventing secondary oscillation caused by control lag; traditional feedforward control relies on accurate models, but parameter drift or sudden load changes in actual working conditions will cause compensation failure; when switching from constant duty cycle mode to compound control mode, it is necessary to avoid speed fluctuations caused by mode switching.

[0063] Optionally, if the target seat is in the third segment, a third control strategy is adopted to control the folding of the target seat; the third control strategy includes adopting the pulse width modulation duty cycle constant output at the previous moment if the motor speed reaches the target speed and the speed fluctuation amplitude is within the preset fluctuation range; if the motor speed exceeds the target speed and the speed fluctuation amplitude is within the preset fluctuation range, a feedforward-feedback composite control algorithm is adopted to control the duty cycle of the motor.

[0064] Specifically, the target seat position is detected by an angle sensor. When the position error is less than 5% of the target value, the third segment candidate state is triggered. The motor speed is measured by an encoder. When the speed change rate is less than 2 rpm / ms for multiple consecutive sampling periods, the third segment is confirmed. When both position and speed conditions are met, the third control strategy is officially activated. When the speed meets the target and fluctuates within ±2%, the current PWM duty cycle is locked as the output value. Speed ​​fluctuations are continuously monitored. If the fluctuation exceeds the ±2% range for 50ms, the constant mode is exited. When the speed exceeds the target value and fluctuates within ±2%, compound control is initiated.

[0065] In this way, high-performance motor control is achieved through the collaborative design of mode switching and compound control. By balancing the third-segment energy consumption optimization and overshoot suppression, the energy efficiency boundary of traditional control strategies is broken through.

[0066] Optionally, a feedforward-feedback composite control algorithm is used to control the duty cycle of the motor, including: obtaining a voltage feedforward compensation term, a pulse width modulation duty cycle at a previous moment, and a pulse width modulation duty cycle increment, wherein the voltage feedforward compensation term is determined by a voltage compensation gain, and the actual voltage of the motor and the theoretical voltage of the duty cycle, and the pulse width modulation duty cycle increment is determined by a proportional gain parameter, a differential gain parameter, an integral coefficient and a motor speed deviation that are adaptive to the rate of change of the motor speed deviation; and determining the duty cycle output of the feedforward-feedback composite control algorithm based on the voltage feedforward compensation term, the pulse width modulation duty cycle at a previous moment, and the pulse width modulation duty cycle increment.

[0067] The voltage feedforward compensation term dynamically compensates for the difference between the actual motor voltage and the theoretical voltage, offsetting the impact of voltage fluctuations on motor speed. The pulse width modulation duty cycle increment dynamically adjusts the duty cycle based on the rate of change of the motor speed deviation. This is achieved by multiplying the proportional gain parameter by the speed deviation, the differential gain parameter by the rate of change of the speed deviation, and the integral coefficient by the integral term of the speed deviation. This allows for adaptive duty cycle adjustment based on the real-time speed deviation.

[0068] Specifically, when the motor speed exceeds the target speed and the fluctuation amplitude is within the allowable range, the voltage feedforward compensation term compensates for the difference between the actual and theoretical voltages, while also incorporating the duty cycle at the previous moment as a reference output. Based on this, the current duty cycle increment is calculated based on the proportional, integral, and differential parameters, and the duty cycle output is dynamically adjusted. For example, when the actual voltage is lower than the theoretical voltage, the voltage feedforward compensation term increases the duty cycle to compensate for the voltage shortfall. When the speed deviation rate of change increases, the differential gain parameter suppresses rapid speed fluctuations. By combining feedforward compensation with feedback control, both a rapid response to voltage changes and dynamic correction of speed deviations are achieved.

[0069] Compared with the existing technology, which usually only adjusts the duty cycle through a single feedback control, the present application can more quickly eliminate the speed changes caused by voltage fluctuations by introducing a voltage feedforward compensation term and an adaptive duty cycle increment, and dynamically suppress the accumulation of speed deviations through proportional, integral, and differential parameters. For example, the traditional method may cause large speed fluctuations when the voltage suddenly changes, while the present application pre-adjusts the duty cycle through feedforward compensation to reduce the lag of feedback control. The present application can effectively suppress the influence of voltage fluctuations and speed deviations when the motor speed approaches the target value, and avoid sudden changes in the seat folding speed caused by frequent duty cycle jumps. This reduces the impact force of the target seat at the end of the folding stage, reduces the probability of false triggering of the anti-pinch function, and improves the smoothness of the folding process.

[0070] In some embodiments, to solve the following problems: when the target seat is folded close to the limit position, the smoothness of the deceleration process and the accuracy of the final stop must be met at the same time, that is, overshoot or undershoot must be avoided; different user weights or friction fluctuations will change the system inertia, and traditional open-loop attenuation control is difficult to ensure the consistency of the stop.

[0071] Optionally, in the method of controlling the folding of the target seat in the fourth segment, if the target seat is in the fourth segment, a fourth control strategy is adopted to control the folding of the target seat, and the fourth control strategy includes using pulse width modulation to continuously reduce the duty cycle until the folding is completed according to the duty cycle.

[0072] Specifically, the method for determining the fourth control strategy includes obtaining a preset attenuation function, a first duty cycle of pulse width modulation in the third segment, and a second duty cycle of pulse width modulation corresponding to the target seat folding to the extreme position. The preset attenuation function is determined by the attenuation function coefficient in the fourth segment; according to the difference between the first duty cycle and the second duty cycle, a difference function is determined; and according to the difference function, the preset attenuation function and the first duty cycle, the duty cycle output of the fourth control strategy is determined.

[0073] The fourth segment refers to the deceleration phase when the target seat is nearing completion of folding, achieving a smooth stop by gradually reducing the motor speed. Continuously reducing the duty cycle through pulse width modulation refers to gradually reducing the motor output torque by adjusting the duty cycle of the motor drive signal. For example, the duty cycle can be linearly reduced from an initial value to zero according to a preset decay function. The preset decay function is a mathematical model used to describe the change in duty cycle over time or position. For example, it can be an exponential function or a piecewise linear function. Its coefficients can be set based on the motor inertia and load characteristics to achieve a smooth transition in the speed curve. The first duty cycle refers to the duty cycle at the end of the third segment. For example, it can be a fixed value to maintain constant motor rotation. The second duty cycle refers to the duty cycle required when the target seat reaches the ultimate folding position. For example, it can be the minimum duty cycle to maintain the motor stationary or zero. The difference function refers to the difference between the first and second duty cycles. For example, the real-time duty cycle can be calculated by multiplying the difference by the current value of the decay function.

[0074] Specifically, in the fourth segment, the duty cycle gradually decreases from the higher value in the third segment until the target seat is fully folded. For example, when the target seat is detected entering the deceleration zone, the control module dynamically adjusts the output duty cycle based on the difference between the current and target duty cycles, combined with a preset decay function. The decay function can be, for example, an exponential function, with its decay rate adaptively adjusted based on the remaining travel length to ensure continuous and non-aggressive speed changes during deceleration. If the remaining travel is long, the decay rate is slowed to avoid premature deceleration and prolonged folding time. If the remaining travel is short, the decay rate is accelerated to ensure timely deceleration to a stop.

[0075] Compared to existing folding control methods, which typically directly cut off motor power or reduce frequency at a fixed rate during the deceleration phase, this can cause shock or vibration when the target seat comes to a stop. However, the present invention dynamically adjusts the duty cycle and incorporates a decay function to gradually reduce the motor's output torque, allowing the speed curve to smoothly transition to zero, thus avoiding mechanical shock and noise. For example, in the prior art, if the motor is directly shut off during the deceleration phase, the target seat may suddenly lose driving force due to inertia, causing it to collide with the stop mechanism, generating noise or even damaging components. However, the present invention uses continuous and controllable duty cycle decay to gradually stop the target seat when friction and driving force are balanced, significantly reducing the impact force. The present invention achieves smooth deceleration of the target seat at the end of the folding phase, effectively eliminating mechanical shock and noise caused by sudden speed changes, while also avoiding the problem of false triggering of the anti-pinch function due to excessive inertia. For example, when the target seat is nearly fully folded, the duty cycle is gradually reduced, slowly reducing the motor's driving force, allowing the target seat to stop smoothly due to friction, thus protecting the mechanical structure and improving user comfort.

[0076] Through the above-mentioned approach, the present application achieves nonlinear attenuation of the duty cycle by dynamically coordinating the difference function with the attenuation function. This not only avoids the mechanical shock caused by sudden stalling of the motor, but also ensures that the trajectory of the deceleration process is controllable, thereby improving the accuracy and stability of the target seat stop. Through the above-mentioned technical solution, the present application solves the problem of vibration and position deviation caused by sudden duty cycle changes during the deceleration phase of the electric seat folding process. By dynamically adjusting the duty cycle attenuation path, the target seat is brought to a smooth stop in the fourth segment, reducing mechanical shock and noise, while improving the reliability of anti-pinch control.

[0077] In some embodiments, the present application uses a seat folding control method to perform folding of a power seat, as detailed below:

[0078] When the remaining stroke corresponding to the starting position of the target seat is greater than 15 degrees, the remaining stroke is divided into the first segment, the second segment, the third segment, and the fourth segment. Each segment corresponds to a different control strategy. According to the starting angle position of the target seat, different interval control algorithms and different control parameters are used until the target seat is folded to the maximum stroke.

[0079] For example, the first segment refers to the travel range in which the target seat needs to start slowly in the initial stage of folding to avoid impact. This can be achieved by setting the starting duty cycle threshold, thereby avoiding vibration caused by inertia when the motor starts. The second segment refers to the travel range in which the target seat is close to the target speed but there is a need for dynamic adjustment. The duty cycle can be adjusted by the proportional integral differential algorithm to achieve rapid convergence of the speed. The third segment refers to the travel range in which the target seat is folded at a constant speed. This can be achieved by constant duty cycle output or feedforward compensation control, thereby maintaining the stability of the motor speed. The fourth segment refers to the travel range in which the target seat needs to decelerate and stop when it is close to the folding end point. The duty cycle can be gradually reduced by a preset attenuation function to avoid mechanical shock.

[0080] First segment

[0081] When the seat motor control enters the first segment control process, to reduce audible noise during motor startup, the initial duty cycle output by the control algorithm must be above the seat motor dead zone. That is, if the duty cycle is below a certain value, the seat mechanism cannot be driven. At the same time, the control algorithm should take into account power supply voltage fluctuations and be able to adaptively adjust the output. The target seat should move as smoothly as possible throughout the first segment. The implementation methods for this interval include:

[0082]

[0083]

[0084] Where n represents the nth cycle of the software process calculating the motor output duty cycle in the current interval. Indicates the duty cycle value output in the nth calculation cycle of the current interval. represents the dynamic compensation coefficient, represents the duty cycle-speed gain coefficient, is a predetermined power-raising polynomial, such as: , is the initial PWM duty cycle.

[0085] in, The duty cycle-speed gain is fitted through experimental calibration. The dynamic compensation coefficient calculation formula is as follows:

[0086]

[0087]

[0088] in, represents the proportional gain coefficient, Represents the seat motor speed deviation, is the target speed, is the current motor speed.

[0089] It is understandable that, depending on whether the seat's starting position is in the folding interval, The control parameters of the function polynomial are different. Refer to QC / T 1093-2017 "Technical Specifications for Electric Adjustment Mechanisms of Automobile Seats". When the starting position is in the non-folding interval, the control is required to meet the noise level when the seat moves. In order to achieve the ideal control effect in the first segment, the actual The coefficients of the function polynomial parameters are determined through parameter tuning tests. After the first segment control output PWM duty cycle continuously changes and increases for multiple cycles, the control process switches to the second segment control strategy.

[0090] Second subsection

[0091] When the seat motor control enters the second segment control process, the PID control algorithm is used to ensure that the seat motor speed can quickly reach the target speed within the ±2% error band and ensure that the seat motor acceleration process is as smooth as possible. At the same time, an adaptive feedforward compensation algorithm module is added to address the mechanical nonlinear friction resistance in seat movement. By real-time sampling of the seat motor operating current and seat movement speed, the dynamic compensation control algorithm output is controlled to keep the speed fluctuation within ±2% of the rated value. In summary, the specific implementation method of this range is as follows:

[0092] Set the target speed value for the second segment control interval , set the target speed value and the actual movement speed of the target seat Calculation deviation , the calculation formula is as follows:

[0093]

[0094] The actual movement speed of the target seat can be calculated from the motor speed and the mechanical transmission ratio between the motor and the seat movement:

[0095]

[0096] Where r is the radius of the motor output shaft (in meters), n is the speed of the seat motor (in revolutions per second), and i is the transmission ratio. Substitute into the PI incremental control algorithm, the incremental PI control algorithm does not need to calculate the deviation Accumulation operation reduces the amount of calculation. The output of the PI control algorithm is the sum of the proportional part of the current error and the integral part of the accumulated error during the adjustment process. The proportional part quickly responds to the current error, while the integral part eliminates the steady-state error and improves the system's error-free degree. The calculation formula is as follows:

[0097]

[0098] in, Indicates the change in target seat movement speed, Indicates the calculated deviation of the previous moment, 、 Represents the proportional coefficient and integral coefficient respectively. According to the transmission structure parameters of the rear seat electric adjustment system, the incremental value of the target seat speed can be It is converted into an incremental value of the motor speed and used to adjust the duty cycle of the motor drive PWM so that the target seat movement speed quickly and smoothly approaches the target speed in the stable range.

[0099] Secondly, considering the mechanical nonlinear friction resistance in seat movement, an adaptive feedforward compensation algorithm module is added. The specific implementation method is as follows:

[0100]

[0101] in, is the actual movement speed of the target seat at the previous moment, is a sign function used to adjust the compensation direction, is the window compensation gain, The calculation formula is as follows:

[0102]

[0103] in, is the predetermined window threshold, represents the large fluctuation compensation gain, Indicates the amount of zero-difference compensation, represents the rate of change of current, The calculation is as follows:

[0104]

[0105]

[0106] Where T represents the ADC sampling time interval, is the average sampled current corresponding to the nth cycle. The sliding average is used to filter the sampled current. If the computing resources are sufficient, a higher-order filtering algorithm can be used.

[0107] In summary, combined with the adaptive feedforward compensation algorithm module, the control algorithm for adjusting the seat motor output in the second segmented control interval is as follows:

[0108]

[0109] in, Indicates the change in target seat movement speed, is the adaptive feedforward compensation factor. In the approaching stable control range, when the actual movement speed of the rear target seat approaches the target speed value , that is, the deviation value ,in, If the value indicates the allowable deviation fluctuation range, the control process switches to the stable range control strategy. Based on the current target seat position information calculated by the motor Hall sensor during the target seat movement, the current target seat position information is compared with the preset fourth segment position threshold. If the comparison result shows that the current position is greater than or equal to the position threshold, that is, the remaining travel is too small, or is within the preset fourth segment position threshold, the control process switches to the fourth segment control strategy.

[0110] The third section

[0111] When the seat motor control enters the third stage of control, a feedforward-feedback composite control algorithm is used. The feedforward compensates for power supply voltage fluctuations, and the feedback algorithm uses an adaptive PID control algorithm to handle mechanical friction resistance disturbances, so that the seat motor maintains a constant speed during the third stage of control. The specific implementation method is as follows:

[0112] If the seat motor speed reaches the target speed and is within the allowable fluctuation range, the speed deviation of the seat motor is usually set within ±3~±5, and the PWM duty cycle of the previous moment is maintained constant output; if the seat motor speed exceeds the target speed within the allowable fluctuation range, a feedforward-feedback composite control algorithm is introduced. Its implementation is as follows:

[0113] 1) If the actual movement speed of the target seat is within the deviation range In the third section, the target speed value of the target seat is and the actual movement speed of the target seat The calculated deviation is ; for The absolute value of

[0114]

[0115] Then control the output motor drive PWM duty cycle:

[0116]

[0117] 2) If the actual movement speed of the target seat exceeds the deviation range,

[0118]

[0119] Then control the output motor drive PWM duty cycle:

[0120]

[0121] in, is the PWM duty cycle at the current moment, is the PWM duty cycle at the previous moment, represents the increment of PWM duty cycle calculated according to the adaptive PID control algorithm, It represents the voltage feed-forward compensation term, which directly compensates for the influence of power supply voltage fluctuation. It is implemented as follows:

[0122]

[0123] in, is the voltage compensation gain, is the actual collected motor working voltage, The theoretical voltage calculated for the algorithm output duty cycle.

[0124] The feedback algorithm adopts adaptive PID control algorithm. Represents the increment of the PWM duty cycle calculated according to the adaptive PID control algorithm, which is implemented as follows:

[0125]

[0126]

[0127]

[0128]

[0129] in, 、 It is the proportional gain parameter and differential gain parameter that are adaptively set according to the change rate of the seat motor speed deviation. Represents the adaptive proportional gain at the previous moment, is the proportional coefficient of the second segmented PI control algorithm, represents the adaptive differential gain at the previous moment, , represents the integral gain, 、 Represents the proportional gain adjustment coefficient and the differential gain adjustment coefficient, is the speed deviation at the current moment, Avg represents the mean function, Indicates the speed deviation at the previous moment, Indicates the speed deviation between the last two moments, is the speed deviation at the last three moments, Indicates the mean value of the speed deviation at the current moment, Indicates the average of the speed deviations at the last three moments.

[0130] In the stable control interval, the current target seat position information is calculated by the motor Hall sensor during the target seat movement, and the current target seat position information is compared with the preset fourth segment position threshold. When the comparison result is that the current position is greater than or equal to the position threshold, the control process is transferred to the fourth segment control strategy.

[0131] The fourth section

[0132] When the seat motor control enters the fourth segment control process, the motor output PWM duty cycle is continuously reduced until the seat is folded. The output PWM duty cycle in this interval is calculated using the following formula:

[0133]

[0134] Where n is the nth cycle of the software process calculating the motor output duty cycle in the current interval. The duty cycle value of the output is calculated for the nth cycle of the slow stop deceleration section. is the PWM duty cycle value output at the last moment of the third segment, The PWM duty cycle value output when the seat is folded to the mechanical limit position is preset. is the attenuation function of the calibration.

[0135] Assumptions is the difference between the starting PWM duty cycle and the ending duty cycle of the fourth segment, that is,

[0136]

[0137] The above formula can be transformed into:

[0138]

[0139] It is understandable that The difference function between the starting PWM duty cycle and the ending duty cycle of the fourth segment is designed. In order to avoid the electric one-touch folding of the seat when the starting position is very forward (that is, after the backrest is folded, the remaining folding stroke of the seat is less than or equal to 30 degrees), which causes the seat speed entering the fourth segment to be uncontrollable (the control algorithm directly jumps to the fourth segment without going through the third segment control), thereby affecting the expected control effect of the fourth segment, an attenuation function coefficient is designed that is self-adjusted according to the initial seat speed entering the fourth segment. , calculated by the following formula:

[0140]

[0141] in, is the attenuation gain, The initial speed of the seat for entering the fourth segment control zone is: is the predetermined seat speed threshold. In order to achieve the ideal control effect of the fourth segment, the corresponding actual The function can be determined by calibration experiments. For example, in one experiment, the corresponding .

[0142] Through the above method, if the remaining stroke corresponding to the starting position of the target seat is greater than the preset threshold, a segmented control strategy is adopted to control the folding of the target seat until the target seat is completely folded. Since each segment corresponds to a different control strategy, different interval control algorithms and different control parameters are corresponding to the starting angle position of the target seat, until the target seat is folded to the maximum stroke. In this way, the speed curve drift is avoided and the requirements of seat movement smoothness are met. In addition, the seat can quickly reach the target speed at any starting angle position and stabilize within the allowable fluctuation range of the expected seat speed curve, which optimizes the seat anti-pinch function and improves the user experience.

[0143] In one embodiment, a seat folding control device is provided, which is used to execute the seat folding control method provided in any of the above embodiments. Figure 3 , Figure 3 A structural diagram of a seat folding control device provided in an embodiment of the present application is shown as follows: Figure 3 As shown, the seat folding control device includes a position determination module 301, a first control module 302 and a second control module 303, wherein:

[0144] a position determination module 301 for determining a starting position of a target seat among the power seats in response to a received folding control signal of the target power seat;

[0145] A first control module 302 is configured to use a pulse width modulation control strategy to control the target seat to fold the remaining travel if the remaining travel corresponding to the starting position of the target seat is less than or equal to a preset threshold, where the preset threshold is the travel corresponding to the target seat's current angle when the angle reaches a preset flip angle value;

[0146] The second control module 303 is configured to adopt a segmented control strategy to control the folding of the target seat if the remaining travel corresponding to the starting position of the target seat is greater than a preset threshold, until the target seat is completely folded.

[0147] The specific definitions of the seat-folding control device can be found in the definitions of the seat-folding control method above and will not be further elaborated here. Each module in the seat-folding control device described above may be implemented in whole or in part via software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor within an electronic device in hardware form, or stored in memory within the electronic device in software form, allowing the processor to invoke and execute the corresponding operations of each module.

[0148] In this embodiment, the seat folding control device is essentially provided with multiple modules for executing the seat folding control method in any of the above embodiments. The specific functions and technical effects can be referred to the above embodiments and will not be repeated here.

[0149] In one embodiment, a vehicle is provided, comprising the seat folding control device provided by any one of the above embodiments.

[0150] For specific vehicle definitions, please refer to the definitions of the seat folding control method above and will not be repeated here. Each module in the aforementioned vehicle may be implemented in whole or in part through software, hardware, or a combination thereof. Each of these modules may be embedded in or independent of a processor within an electronic device in hardware form, or may be stored in a memory within the electronic device in software form, allowing the processor to call and execute the corresponding operations of each module.

[0151] In one embodiment, an electronic device is provided. The electronic device may be a server, and its internal structure may be as shown in FIG. Figure 4 As shown. The electronic device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external client via a network connection. When the computer program is executed by the processor, the functions or steps on the server side of the above method are implemented.

[0152] In one embodiment, an electronic device is provided. The electronic device may be a client, and its internal structure diagram may be as follows: Figure 5As shown. The electronic device includes a processor, memory, network interface, display screen and input device connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external server via a network connection. When the computer program is executed by the processor, the functions or steps of the client side of the above method are implemented.

[0153] In one embodiment, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are performed:

[0154] In response to the received folding control signal of the target electric seat, the starting position of the target seat in the target electric seat is determined; if the remaining stroke corresponding to the starting position of the target seat is less than or equal to a preset threshold, a pulse width modulation control strategy is adopted to control the target seat to complete the folding of the remaining stroke, and the preset threshold is the stroke corresponding to the angle of the target seat at the current moment reaching the preset flip angle value; if the remaining stroke corresponding to the starting position of the target seat is greater than the preset threshold, a segmented control strategy is adopted to control the folding of the target seat until the target seat is completely folded.

[0155] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0156] In response to the received folding control signal of the target electric seat, the starting position of the target seat in the target electric seat is determined; if the remaining stroke corresponding to the starting position of the target seat is less than or equal to a preset threshold, pulse width modulation is used to control the target seat to complete the folding of the remaining stroke, and the preset threshold is the stroke corresponding to the angle of the target seat at the current moment when it reaches a preset flip angle value; if the remaining stroke corresponding to the starting position of the target seat is greater than the preset threshold, a segmented control strategy is used to control the folding of the target seat until the target seat is completely folded.

[0157] It should be noted that the above functions or steps that can be implemented by the computer-readable storage medium or electronic device can be referred to the relevant descriptions on the server side and the client side in the aforementioned method embodiment. To avoid repetition, they will not be described one by one here.

[0158] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The above-described computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the above-described method embodiments. Any reference to memory, storage, database, or other media used in the various embodiments provided herein may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), direct memory bus RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0159] Those skilled in the art will clearly understand that for the sake of convenience and brevity in description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device or system can be divided into different functional units or modules to complete all or part of the functions described above.

[0160] The embodiments provided above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A seat folding control method, characterized in that: The method comprises: determining a starting position of a target seat in the target power seats in response to a received folding control signal of the target power seat; If the remaining travel corresponding to the starting position of the target seat is less than or equal to a preset threshold, a pulse width modulation control strategy is used to control the target seat to complete the folding of the remaining travel, wherein the preset threshold is the travel corresponding to the target seat's current angle when the preset flip angle value is reached; If the remaining travel corresponding to the starting position of the target seat is greater than the preset threshold, a segmented control strategy is adopted to control the folding of the target seat until the target seat is completely folded.

2. The seat folding control method according to claim 1, wherein: The segmented control strategy divides the remaining journey into a first segment, a second segment, a third segment and a fourth segment, and each segment corresponds to a control strategy, wherein the real-time position of the target seat is compared with a preset position threshold to determine the segment in which the target seat is currently located, and the preset position threshold is determined by the speed and / or acceleration of the target seat when it is folded.

3. The seat folding control method according to claim 2, wherein: If the target seat is in the first segment, a first control strategy is adopted to control the folding of the target seat; the first control strategy includes controlling the starting duty cycle of the motor to be above the motor dead zone, controlling the power supply voltage fluctuation of the motor to be within a preset fluctuation range, and controlling the motor to perform linear acceleration with a preset acceleration to reach a preset speed, wherein the preset fluctuation range is determined by the mean and standard deviation of the motor power supply voltage, and the preset acceleration represents a curve of the change of the motor speed over time.

4. The seat folding control method according to claim 3, wherein: Before adopting the first control strategy to control the folding of the target seat, the method further includes: Obtaining an initial duty cycle of the pulse width modulation, a duty cycle-speed gain coefficient, a preset power function polynomial, and a dynamic compensation coefficient, wherein the dynamic compensation coefficient is determined by a motor speed deviation and a proportional gain coefficient; Determining a compensation duty cycle according to the duty cycle-speed gain coefficient, the preset power function polynomial and the dynamic compensation coefficient; An output duty cycle of the first control strategy is determined based on the sum of the initial duty cycle and the compensated duty cycle.

5. The seat folding control method according to claim 2, wherein: If the target seat is in the second segment, a second control strategy is adopted to control the folding of the target seat; the second control strategy includes adopting a proportional integral differential control algorithm to control the motor speed so that the motor speed reaches the target speed, and controlling the fluctuation amplitude of the motor speed through an adaptive feedforward compensation factor.

6. The seat folding control method according to claim 5, wherein: Before adopting the second control strategy to control the folding of the target seat, the method further includes: Obtaining a motor speed deviation, a proportional coefficient, an integral coefficient, and an adaptive feedforward compensation factor, wherein the motor speed deviation is determined by the target speed and the actual speed of the current motor; determining a first speed variation according to the motor speed deviation at a current moment, the motor speed deviation at a previous moment, and the proportional coefficient; Determining a second speed variation according to the motor speed deviation at the current moment and the integral coefficient; determining the target seat speed change based on the sum of the first speed change and the second speed change; A duty cycle output of the second control strategy is determined according to the adaptive feedforward compensation factor and the target seat speed change.

7. The seat folding control method according to claim 2, wherein: If the target seat is in the third segment, the third control strategy is adopted to control the folding of the target seat; the third control strategy includes adopting the pulse width modulation duty cycle constant output at the previous moment if the motor speed reaches the target speed and the speed fluctuation amplitude is within the preset fluctuation range; if the motor speed exceeds the target speed and the speed fluctuation amplitude is within the preset fluctuation range, a feedforward-feedback composite control algorithm is adopted to control the duty cycle of the motor.

8. The seat folding control method according to claim 7, wherein: Before adopting the feedforward-feedback composite control algorithm to control the duty cycle of the motor, the method further includes: Obtaining a voltage feedforward compensation term, a pulse width modulation duty cycle at a previous moment, and a pulse width modulation duty cycle increment, wherein the voltage feedforward compensation term is determined by a voltage compensation gain, an actual motor voltage, and a theoretical duty cycle voltage, and the pulse width modulation duty cycle increment is determined by a proportional gain parameter, a differential gain parameter, an integral coefficient, and a motor speed deviation that are adaptive to a motor speed deviation change rate; The duty cycle output of the feedforward-feedback composite control algorithm is determined according to the voltage feedforward compensation term, the pulse width modulation duty cycle at the previous moment, and the pulse width modulation duty cycle increment.

9. The seat folding control method according to claim 2, wherein: If the target seat is in the fourth segment, a fourth control strategy is adopted to control the folding of the target seat; the fourth control strategy includes adopting pulse width modulation to continuously reduce the duty cycle until the folding is completed according to the duty cycle.

10. The seat folding control method according to claim 9, wherein: Before adopting the fourth control strategy to control the folding of the target seat, the method further includes: Obtaining a preset attenuation function, a first duty cycle of pulse width modulation in the third segment, and a second duty cycle of pulse width modulation corresponding to the target seat being folded to the extreme position, wherein the preset attenuation function is determined by the attenuation function coefficient in the fourth segment; determining a difference function according to a difference between the first duty cycle and the second duty cycle; The duty cycle output of the fourth control strategy is determined according to the difference function, the preset attenuation function and the first duty cycle.

11. A seat folding control device, characterized in that: include: a position determination module, configured to determine a starting position of a target seat in the target electric seat in response to a received folding control signal of the target electric seat; a first control module configured to control the target seat to fold to the remaining distance if the remaining distance corresponding to the starting position of the target seat is less than or equal to a preset threshold, wherein the preset threshold is the distance corresponding to when the angle of the target seat at the current moment reaches a preset flip angle value; The second control module is configured to adopt a segmented control strategy to control the folding of the target seat if the remaining travel corresponding to the starting position of the target seat is greater than the preset threshold, until the target seat is completely folded.

12. A vehicle, characterized in that: The vehicle adopts the method according to any one of claims 1 to 10.

13. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

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