Control method of executive component of vehicle cabin, electronic equipment and vehicle

Abstract

The embodiment of the invention provides a control method of an execution component of a vehicle cabin, electronic equipment and a vehicle. The method comprises the following steps: determining a center coordinate of an execution component in a cabin of a vehicle based on a preset vehicle coordinate system; determining a first envelope range of the execution component according to the size information and the center coordinate of the execution component; and if it is determined that interference exists between the first envelope range of the current execution component and the first envelope ranges of other execution components associated with the current execution component, a stop instruction is generated and sent to a controller of the vehicle, so that the current execution component stops moving. According to the method, in the adjustment movement process of the execution component in the vehicle cabin, the adjustment movement of the execution component is avoided in advance, and the control intelligence of the execution component of the vehicle cabin is improved; contact or extrusion between the execution part and other execution parts or personnel is avoided, and the comfort and safety of the personnel in the vehicle cabin are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles and the technical field of cockpit control, in particular to a control method of an execution component of a vehicle cockpit, an electronic device and a vehicle. BACKGROUND

[0002] With the development of intelligence of vehicles, the inside of the cockpit of the vehicle is configured with multiple execution components such as electric seats and electric steering wheels. Among them, the electric seats can support multi-dimensional position and posture adjustment, and the electric steering wheel can also adjust the angle. During the adjustment of the position, posture or angle of the execution component, interference with other execution components may occur.

[0003] In some technologies, when the execution component is adjusting the position, posture or angle, if it contacts other execution components or is squeezed by a person on the electric seat, the motor of the execution component enters the locked-rotor state, thereby stopping the adjustment of the position, posture or angle of the execution component. In the above technology, if there is interference during the adjustment movement of the execution component, the safety avoidance strategy cannot be triggered in advance, resulting in poor control intelligence of the execution component of the vehicle cockpit and low comfort and safety of the person in the vehicle cockpit.

[0004] Therefore, there is an urgent need for a solution that can trigger safety avoidance in advance before the execution component in the vehicle cockpit contacts or collides with other execution components, thereby stopping the adjustment movement of the execution component. SUMMARY

[0005] The control method of the execution component of the vehicle cockpit, the electronic device and the vehicle provided by the embodiments of the present application are used to realize the early avoidance of the adjustment action of the execution component during the adjustment movement of the execution component in the vehicle cockpit, improve the control intelligence of the execution component of the vehicle cockpit, and avoid the contact or squeezing of the execution component with other execution components or persons, thereby improving the comfort and safety of the person in the vehicle cockpit.

[0006] In a first aspect, the embodiments of the present application provide a control method of an execution component of a vehicle cockpit, comprising:

[0007] determining the center coordinates of the execution component in the cockpit of the vehicle based on a preset vehicle coordinate system;

[0008] determining a first envelope range of the execution component according to the size information and the center coordinates of the execution component; wherein the first envelope range represents the space range occupied by the actual shape of the execution component in the vehicle space;

[0009] In response to the motion instruction for the current execution component, if it is determined that the first envelope range of the current execution component interferes with the first envelope range of the other execution component associated with the current execution component, a stop instruction is generated and sent to the controller of the vehicle to stop the motion of the current execution component.

[0010] Based on the above technical means, the interference phenomenon can be detected in advance in the process of the execution component motion, and the execution of safety avoidance is triggered. The motion of the complex personnel distribution and multiple execution components is realized, and the control intelligence of the execution component in the cabin of the vehicle is improved. The contact or extrusion of the execution component with other execution components or personnel during the adjustment motion is avoided, the comfort and safety of the personnel are improved, and the execution component in the cabin of the vehicle is prevented from being damaged due to extrusion.

[0011] In a possible implementation, the first envelope range is a space range surrounded by an envelope line composed of multiple discrete points;

[0012] According to the size information and the center coordinates of the execution component, the first envelope range of the execution component is determined, including:

[0013] According to the size information and the center coordinates of the execution component, the end point coordinates of the execution component are determined.

[0014] According to the size information and the end point coordinates, the coordinates of the multiple discrete points of the execution component are determined, so as to obtain the first envelope range of the execution component.

[0015] Based on the above technical means, the accuracy of determining the first envelope range can be improved, and the safety avoidance accuracy of the execution component can be improved.

[0016] In a possible implementation, the determination that the first envelope range of the current execution component interferes with the first envelope range of the other execution component associated with the current execution component includes:

[0017] According to the coordinates of the multiple discrete points of the first envelope range of the current execution component and the coordinates of the multiple discrete points of the first envelope range of the other execution component associated with the current execution component, multiple interval distance values are determined; each interval distance value represents the distance between one of the multiple discrete points of the first envelope range of the current execution component and one of the multiple discrete points of the first envelope range of the other execution component associated with the current execution component.

[0018] If it is determined that the minimum value in the multiple interval distance values is less than or equal to a preset distance threshold, it is determined that the first envelope range of the current execution component interferes with the first envelope range of the other execution component associated with the current execution component.

[0019] Based on the above technical means, the avoidance action can be triggered in advance, and the contact and extrusion between the execution components or between the execution components and the personnel can be avoided, and the riding comfort is significantly improved.

[0020] In a possible implementation, the execution components include a steering wheel and at least one seat; each seat is provided with a composite sensor for monitoring whether there is a person on the seat; the method further includes:

[0021] If it is determined that there is a person on the seat, the first envelope range of the seat is modified to a second envelope range; wherein the space range represented by the second envelope range is greater than the space range represented by the first envelope range.

[0022] Based on the above technical means, the contact or extrusion of the person on the seat by the execution components can be further ensured, and the riding comfort and safety of the person are improved.

[0023] In a possible implementation, modifying the first envelope range of the seat to the second envelope range includes:

[0024] The first envelope range above the seat cushion of the seat is expanded by a preset range, and the first envelope range in front of the seat back of the seat is expanded by a preset range, to obtain the second envelope range of the seat; wherein the preset range represents the space range occupied by the person in the seat in the vehicle space.

[0025] Based on the above technical means, the accuracy of the second envelope range is improved, and the avoidance accuracy of the execution components in the cabin of the vehicle is further improved.

[0026] In a possible implementation, the other execution components associated with the current execution component include: an execution component located in front of the current execution component, and / or an execution component located behind the current execution component.

[0027] Based on the above technical means, the riding comfort and safety of the person in the cabin of the vehicle can be comprehensively ensured.

[0028] In a possible implementation, the execution components include, in sequence from front to back: a steering wheel, a first row of seats, a second row of seats, and a third row of seats.

[0029] If the current execution component is the steering wheel, the other execution components associated with the current execution component are the first row of seats.

[0030] If the current execution component is the first row of seats, the other execution components associated with the current execution component are the steering wheel and / or the second row of seats.

[0031] If the current first execution component is a two-row seat, then the other execution component associated with the current execution component is a one-row seat and / or a three-row seat.

[0032] If the current first execution component is a three-row seat, then the other execution component associated with the current execution component is a two-row seat.

[0033] Based on the above technical means, the comfort and safety of personnel in the cabin of the vehicle can be comprehensively guaranteed.

[0034] In a possible implementation, the execution component moves through driving of at least one motor; and the method further includes:

[0035] If it is detected that the motor parameter of the motor corresponding to the current execution component meets a preset condition, the motor corresponding to the current execution component is controlled to stop working, so that the current execution component stops moving.

[0036] Based on the above technical means, when the envelope range interference detection fails or an error occurs, further damage to the execution component or the personnel can be avoided, and the safety of the execution component and the personnel in the cabin of the vehicle can be improved.

[0037] In a possible implementation, the method further includes:

[0038] If communication abnormality is detected, prompt information is generated, and the prompt information is sent to a controller of the vehicle, so that the intelligent device of the vehicle displays the prompt information to a user; wherein the communication abnormality indicates that a communication link inside the vehicle has a fault.

[0039] Based on the above technical means, by detecting the communication abnormality and prompting the user, the safety avoidance failure of the execution component caused by inaccurate envelope range can be avoided, and the comfort and safety of the personnel in the vehicle can be improved.

[0040] In a second aspect, an embodiment of the present application provides a control device of an execution component in a cabin of a vehicle, including:

[0041] A first processing module is configured to determine a center coordinate of the execution component in the cabin of the vehicle based on a preset vehicle coordinate system.

[0042] The first processing module is further configured to determine a first envelope range of the execution component according to the size information and the center coordinate of the execution component; wherein the first envelope range represents a space range occupied by an actual shape of the execution component in a vehicle space.

[0043] The second processing module is configured to, in response to a motion instruction for the current execution component, if it is determined that the first envelope range of the current execution component interferes with the first envelope range of the other execution component associated with the current execution component, generate a stop instruction and send the stop instruction to a controller of the vehicle to stop the motion of the current execution component.

[0044] In a third aspect, an electronic device is provided, including a memory and a processor.

[0045] The memory stores computer-executable instructions.

[0046] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the first aspect and / or various possible implementation manners of the first aspect.

[0047] In a fourth aspect, an electronic device is provided, including the electronic device provided in the third aspect.

[0048] In a fifth aspect, a computer-readable storage medium is provided, and the computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the computer-executable instructions are used to implement the first aspect and / or various possible implementation manners of the first aspect.

[0049] In a sixth aspect, a computer program product is provided, and the computer program product includes a computer program. When the computer program is executed by a processor, the computer program implements the first aspect and / or various possible implementation manners of the first aspect.

[0050] The control method of the execution component in the vehicle cabin, the electronic device, and the vehicle provided in the embodiments of the present application determine the coordinates of the execution component in the cabin of the vehicle in a preset vehicle coordinate system. According to the coordinates and the preset size information of the execution component, the envelope range of the execution component is determined. In response to a motion instruction for the current execution component, if it is determined that the envelope range of the execution component interferes with the envelope range of the other execution component, the execution component is controlled to stop moving. Based on the above technical means, the beneficial effects that can be achieved by the present application are that, by using a unified vehicle coordinate system and based on the envelope range of the execution component, the interference is determined, so that the execution component in the cabin of the vehicle triggers the safety avoidance in advance before the execution component contacts or collides with the other execution component. The control intelligence of the execution component in the cabin of the vehicle is improved, and the comfort and safety of the personnel in the cabin of the vehicle are improved. BRIEF DESCRIPTION OF DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and serve to explain the principles of the present application together with the specification.

[0052] Figure 1A schematic diagram of multi-dimension adjustment of an electric seat is provided in the present application.

[0053] Figure 2 A flowchart of a control method of an execution component of a vehicle cabin is provided in the present application. Figure 1 ;

[0054] Figure 3 A schematic diagram of interference of exemplary execution components.

[0055] Figure 4 A flowchart of a control method of an execution component of a vehicle cabin is provided in the present application. Figure 2 ;

[0056] Figure 5 A schematic diagram of a first envelope range of a backrest portion of an exemplary seat.

[0057] Figure 6 A schematic diagram of a second envelope range of an exemplary seat.

[0058] Figure 7 A distribution diagram of execution components in a cabin of a vehicle.

[0059] Figure 8 A schematic diagram of center coordinates of execution components in a cabin of a vehicle.

[0060] Figure 9 A schematic diagram of a control device of an execution component of a vehicle cabin is provided in the present application.

[0061] Figure 10 A schematic diagram of an electronic device is provided in the present application.

[0062] Figure 11 A schematic diagram of a motor control system in a cabin of an exemplary vehicle.

[0063] The specific embodiments of the present application have been shown by way of example in the above figures, and will be described in more detail hereafter. These figures and the written description together serve to fully disclose the application to those skilled in the art, and not intended in any way to limit the scope of the present application as set forth in the appended claims. DETAILED DESCRIPTION

[0064] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The same reference numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments are not meant to be all inclusive of all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the appended claims.

[0065] Firstly, the terms involved in the present application are explained:

[0066] The first envelope range refers to the actual physical shape of the execution component in the vehicle cabin, which occupies the space range in the vehicle control. Among them, the execution component in the vehicle cabin can include the electric steering wheel and the electric seat in the vehicle.

[0067] Taking the electric seat as an example, the electric seat can be adjusted in multiple dimensions, such as overall adjustment of the seat forward and backward, overall adjustment of the seat up and down, rotation angle of the seat cushion, rotation angle of the seat back, etc. The actual shape of the electric seat represented by the first envelope range occupies the space range in the vehicle space, which will move with the adjustment movement of each dimension of the electric seat.

[0068] Figure 1 The multi-dimensional adjustment diagram of the electric seat provided in the present application is shown. The execution component in the vehicle cabin can be a seat. Taking the multi-dimensional adjustment movement of the seat as an example, the overall seat can be adjusted in multiple dimensions through multi-axis control based on the driving of the motor. As shown in Figure 1 , the seat as a whole can move forward and backward, move forward to the horizontal front end point B, and move backward to the horizontal rear end point A. The seat as a whole can move up and down, move up to the vertical upper end point G, and move down to the vertical lower end point H. The seat cushion can be rotated, and the rotation angle is Figure 1 the upper end angle F of the seat cushion. The seat back can be rotated, and the forward rotation angle is Figure 1 the front end angle D of the back, and the backward rotation angle is Figure 1 the rear end angle E of the back.

[0069] Further, the movement parameters of each dimension of the seat can be as shown in Table 1.

[0070] Table 1 Movement parameters of each dimension of the seat

[0071]

[0072] Based on the rapid development of intelligent technology in the current automobile industry, the motor control system in the vehicle cabin is gradually upgraded from the original manual adjustment to the angle adjustment of the electric seat and the electric steering wheel driven by the multi-axis motor. Through the adjustment of the multi-axis electric seat and the angle adjustment of the electric steering wheel, the comfort of the user driving and riding can be improved.

[0073] Specifically, the electric seat can realize position and attitude adjustment movement based on the driving of the motor. The electric steering wheel can realize angle adjustment movement based on the driving of the motor.

[0074] In practical applications, the electric seat and the electric steering wheel in the cabin of the vehicle can be regarded as the execution components of the motor control system. In the cabin of the vehicle, there are multiple rows of seats, and the steering wheel is arranged at the main driving position of the first row of seats. During the adjustment movement of the seat, interference with other execution components or personnel can occur.

[0075] In some embodiments, the motor stops working when the execution component contacts other execution components or personnel during the adjustment movement and causes extrusion leading to the locked-rotor state of the motor.

[0076] In the above embodiments, the execution component cannot trigger the safety avoidance strategy in advance when interference occurs during the adjustment movement, resulting in poor intelligence of the execution component control in the cabin of the vehicle, and low comfort and safety of personnel in the cabin of the vehicle.

[0077] The control method of the execution component in the cabin of the vehicle provided in the present application determines the coordinates of the execution component in the cabin of the vehicle in a preset vehicle coordinate system. According to the coordinates and the preset size information of the execution component, the envelope range of the execution component is determined. In response to a movement instruction for the current execution component, if it is determined that the envelope range of the execution component interferes with the envelope range of other execution components, the execution component stops moving. The interference phenomenon can be detected in advance during the movement of the execution component, and the safety avoidance is triggered. The control intelligence of the execution component in the cabin of the vehicle is improved. The contact or extrusion of the execution component with other execution components or personnel during the adjustment movement is avoided, the comfort and safety of personnel are improved, and the execution component in the cabin of the vehicle is prevented from being damaged due to extrusion.

[0078] The technical solutions of the present application and how the technical solutions solve the above technical problems will be described in detail in the following specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0079] Figure 2 The flowchart of the control method of the execution component in the cabin of the vehicle provided in the present application Figure 1 As shown in the figure, the method comprises: Figure 2

[0080] Step 101. Determine the center coordinates of the execution component in the cabin of the vehicle based on a preset vehicle coordinate system.

[0081] For example, the geometric center of the execution component in the cabin of the vehicle is determined based on the preset vehicle coordinate system, and the coordinates of the center of the execution component in the vehicle coordinate system are obtained. ​

[0082] The preset vehicle coordinate system takes the center of the left rear wheel of the vehicle as the origin (0, 0, 0) of the coordinate system, that is, the intersection of the x-axis, y-axis and z-axis of the vehicle coordinate system.

[0083] The midpoint coordinates of the i-th execution component in the cabin of the vehicle can be represented as (xi, yi, zi).

[0084] Step 102. Determine the first envelope range of the execution component according to the size information and center coordinates of the execution component.

[0085] The first envelope range represents the spatial range occupied by the actual shape of the execution component in the vehicle space.

[0086] For example, based on the center coordinates of the execution component, the actual position of the execution component in the cabin of the vehicle can be determined. In practical applications, each execution component in the cabin of the vehicle can have its size information. The size information of each execution component represents the actual shape of the execution component. The size information can specifically include length, width, thickness, height, actual shape, etc.

[0087] According to the size information and center coordinates of the execution component, the first envelope range of the execution component can be determined. The first envelope range represents the spatial range occupied by the actual shape of the execution component in the vehicle space.

[0088] Optionally, based on the center coordinates and length, width, height, etc. in the size information, the endpoint coordinates of the execution component can be determined respectively, and the first envelope range of the execution component can be obtained by connecting the endpoint coordinates.

[0089] Optionally, during the vehicle electrical inspection process, an initialization process can be performed. Through the initialization process, each execution component in the cabin of the vehicle can be in an initial position. Optionally, the initial position of each execution component can be stored as initialization information.

[0090] Further, based on the initialization information, in combination with the movement of the execution component, the first envelope range of the execution component is recorded and updated in real time, and the change of the first envelope range is time-stamped.

[0091] Step 103. In response to the movement instruction for the current execution component, if it is determined that the first envelope range of the current execution component interferes with the first envelope range of other execution components associated with the current execution component, a stop instruction is generated and sent to the controller of the vehicle to stop the movement of the current execution component.

[0092] For example, in response to the movement instruction for the current execution component, the current execution component is driven by the motor to adjust the movement.

[0093] In the process of the current execution component performing the adjustment movement, since the current execution component is in movement, correspondingly, the first envelope range of the current execution component is also following the movement thereof.

[0094] Taking the seat in the cabin as the execution component, according to the information of the real-time rotation of the motor, it can be concluded that the first envelope range of the seat in the time sequence follows the movement track of the seat.

[0095] For the convenience of description, the current execution component is recorded as the first execution component, and other execution components associated with the current execution component are recorded as the second execution component. In the process of the first execution component performing the adjustment movement, if it is determined that the first envelope range of the first execution component and the first envelope range of the second execution component exist interference, a stop instruction is generated.

[0096] Further, the stop instruction is sent to the controller of the vehicle, so that the controller controls the motor corresponding to the first execution component to stop working, and stops the adjustment movement of the first execution component.

[0097] Optionally, the stop instruction is sent to the domain controller in the controller of the vehicle.

[0098] Figure 3 For example, the interference schematic diagram of the execution component. As shown in Figure 3 From left to right starting from the vehicle head, the execution components in the cabin of the vehicle can include, in sequence: the electric steering wheel, the seats of the first row, the seats of the second row and the seats of the third row. In Figure 3 , the actual shape of the execution component is represented by the solid outline, and the first envelope range of the execution component is represented by the dashed outline. As shown in Figure 3 When the backrest of the seat of the second row is rotated backward, the seat cushion of the seat of the third row will appear the contact and intersection of the first envelope range, that is, the interference phenomenon exists.

[0099] It can be understood that at this time, the stop instruction for the seat of the second row is generated, and the motor driving the seat of the second row is controlled to stop working, so that the backrest of the seat of the second row stops to be installed backward.

[0100] Optionally, after confirming that the interference phenomenon exists, the first execution component can also be controlled to move a preset distance or angle in the direction opposite to the movement direction indicated by the movement instruction. Thus, the interval between the first execution component and the second execution component is restored.

[0101] The control method of the execution component in the vehicle cabin provided by the present application determines the coordinates of the execution component in the vehicle cabin in a preset vehicle coordinate system. According to the coordinates and the preset size information of the execution component, the envelope range of the execution component is determined. In response to the motion instruction for the current execution component, if it is determined that the envelope range of the execution component interferes with the envelope range of other execution components, the execution component is controlled to stop moving. The interference phenomenon can be detected in advance in the process of the execution component moving, and the execution of safety avoidance is triggered. The motion of the execution component in the complex personnel distribution and multiple execution components is realized, and the control intelligence of the execution component in the vehicle cabin is improved. The contact or extrusion of the execution component with other execution components or personnel during the adjustment motion is avoided, the comfort and safety of the personnel are improved, and the execution component in the vehicle cabin is prevented from being damaged due to extrusion.

[0102] Figure 4 The flowchart of the control method of the execution component in the vehicle cabin provided by the present application Figure 2 The embodiment in Figure 4 Based on the embodiment, the process of determining the first envelope range of the execution component in step 102 is described in detail.

[0103] In an example, the first envelope range is a space range surrounded by an envelope line composed of a plurality of discrete points.

[0104] According to the size information of the execution component in the vehicle cabin, the actual shape profile of the execution component can be discretized in combination with the actual shape represented in the size information, and a plurality of discrete points are obtained. The space range surrounded by the envelope line composed of the plurality of discrete points in the vehicle space is the first envelope range. It can be understood that the envelope line composed of the plurality of discrete points is similar or close in shape to the profile of the actual shape of the execution component.

[0105] On this basis, as Figure 5 shown, the method for determining the first envelope range of the execution component can specifically include:

[0106] Step 201. Determine the endpoint coordinates of the execution component according to the size information and the center coordinates of the execution component.

[0107] For example, according to the center coordinates of the execution component and the length, width, height, etc. information of the execution component in the size information of the execution component, the endpoint coordinates of the execution component are determined.

[0108] Taking a seat in a vehicle's cabin as an example, based on the length of the seat cushion and the center coordinates of the seat, the endpoint coordinates of the front and rear ends of the seat cushion can be determined. Furthermore, based on the length of the seat back and the initial angle of the seat back, the endpoint coordinates of the upper end of the seat back can be determined.

[0109] Taking the seats in the vehicle's cabin as an example, which are the actuators, Figure 5 This is a schematic diagram of the first envelope of the backrest portion of an exemplary seat.

[0110] For example, the center coordinates of the seat are (xl1, yl1, zl1), the initial angle of the seat back is α, and the length of the seat back is B. Figure 5 This is a 2D projection of the 3D vehicle coordinate system onto a y-z coordinate system. Therefore, the x-axis component of the upper endpoint coordinate of the seat back is the same as the x-axis component of the center coordinate. Based on trigonometric relationships, the final endpoint coordinates of the upper endpoint of the seat back can be determined as (xl1_1, yl1_1, zl1_1). Where yl1_1 = yl1 - Bcosα; zl1_1 = zl1 + Bcosα.

[0111] Step 202. Based on the size information and endpoint coordinates, determine the coordinates of multiple discrete points of the actuator to obtain the first envelope range of the actuator.

[0112] For example, based on the actual shape in the size information of the execution component, a contour line corresponding to the actual shape is generated, and the contour line passes through the endpoints of the execution component. The contour line is discretized to obtain multiple discrete points, and combined with the endpoint coordinates, the coordinates of multiple discrete points of the execution component are determined.

[0113] Continue to combine Figure 5 Provide an explanation, such as Figure 6 As shown, the dashed outline can be understood as the aforementioned contour line, which includes the upper end point of the seat back. Discretizing this contour line yields multiple discrete points. The coordinates of each discrete point can be determined by combining the coordinates of the upper end point of the backrest. The coordinates of each discrete point can be denoted as (xl1_2, yl1_2, zl1_2), (xl1_3, yl1_3, zl1_3), (xl1_4, yl1_4, zl1_4), and so on.

[0114] After determining the coordinates of all discrete points, the envelope can be obtained. The vehicle space enclosed by this envelope is the first envelope range of the actuator.

[0115] In the above examples, according to the size and the center coordinates of the execution component, the end point coordinates of the execution component are determined by a trigonometric function relationship first, and then according to the end point coordinates and the size information, the coordinates of the plurality of discrete points used to construct the first envelope range are determined, so as to form the first envelope range. The accuracy of determining the first envelope range can be improved, and the safety avoidance accuracy of the execution component can be improved.

[0116] On the basis of the foregoing examples, a plurality of interval distances are determined based on the first envelope range of the current execution component and the first envelope range of the other execution component associated with the current execution component.

[0117] Specifically, in an example, a plurality of interval distance values are determined according to the coordinates of the plurality of discrete points of the first envelope range of the current execution component and the coordinates of the plurality of discrete points of the first envelope range of the other execution component associated with the current execution component.

[0118] For example, in combination with the foregoing examples, for the convenience of description, the current execution component is denoted as a first execution component, and the other execution component associated with the current execution component is denoted as a second execution component.

[0119] Further, the discrete points of the first envelope range of the first execution component are denoted as first discrete points, and the discrete points of the first envelope range of the second execution component are denoted as second discrete points.

[0120] For the i th first discrete point in the plurality of first discrete points, the interval distance value between the i th first discrete point and each second discrete point is calculated respectively. Optionally, the Euclidean distance is calculated as the interval distance value based on the coordinates of the i th first discrete point and the coordinates of the second discrete point. The calculation is repeated until the calculation of the plurality of interval distance values corresponding to all first discrete points is completed.

[0121] Further, if it is determined that the minimum value in the plurality of interval distance values is less than or equal to a preset distance threshold value, it is determined that the first envelope range of the current execution component interferes with the first envelope range of the other execution component associated with the current execution component.

[0122] Each interval distance value represents the distance between one of the plurality of discrete points in the first envelope range of the current execution component and one of the plurality of discrete points in the first envelope range of the other execution component associated with the current execution component.

[0123] For example, in all interval distance values, the minimum value in the interval distance values is determined. If it is determined that the minimum value is less than or equal to a preset distance threshold value, it is determined that the first envelope range of the first execution component interferes with the first envelope range of the second execution component.

[0124] It can be understood that each interval distance value represents the distance between one of the first discrete points and one of the second discrete points.

[0125] The first discrete point is a discrete point in the first envelope range of the current execution component, and the second discrete point is a discrete point in the first envelope range of another execution component associated with the current execution component.

[0126] In the above examples, the interval distance between the first envelope range of the current execution component and the first envelope range of another component associated with the current execution component, and the preset distance threshold value can trigger the avoidance action in advance, avoid contact and compression between execution components or between execution components and personnel, and significantly improve the riding comfort.

[0127] On the basis of the foregoing examples, the execution component includes a steering wheel and at least one seat; each seat is provided with a composite sensor for monitoring whether there is a person on the seat.

[0128] For example, in the actual application, the vehicle cabin can include a steering wheel and at least one seat.

[0129] Optionally, each seat is provided with a composite sensor for monitoring whether there is a person on the seat.

[0130] For example, the composite sensor can include a pressure sensor, a capacitive sensor, and a camera. The pressure sensor can monitor the pressure value on the seat cushion of the seat. If the pressure value is greater than or equal to a preset pressure threshold value without a person sitting, it is determined that there is a person on the seat. By setting a capacitive sensing electrode inside the seat cushion, the electrode and the reference electrode form an electrostatic field. When a person approaches or contacts the seat, the capacitance value of the electric field will change, and the change in the capacitance value is used to determine whether there is a person on the seat.

[0131] On this basis, if it is determined that there is a person on the seat, the first envelope range of the seat is modified to a second envelope range. The space range represented by the second envelope range is greater than the space range represented by the first envelope range.

[0132] For example, in combination with the foregoing example, the first envelope range can only represent the space range of the seat in the vehicle space. If a person is present on the seat, the first envelope range cannot represent the space range of the person in the vehicle space. It is possible that when the backrest of the front seat is rotated backward, the first envelope range of the backrest of the front seat does not represent the space range of the person. The first envelope range of the backrest of the front seat has not yet interfered with the first envelope range of the seat where the person is present, but in fact, the backrest of the front seat has already contacted or pressed the legs or other parts of the person, and there is still a problem of poor comfort and safety.

[0133] Therefore, if it is determined that a person is present on the seat, the first envelope range of the seat is expanded and modified to a second envelope range. The space range represented by the second envelope range is greater than the first envelope range of the seat.

[0134] Specifically, the first envelope range above the seat cushion of the seat is expanded by a preset range, and the first envelope range in front of the backrest of the seat is expanded by a preset range, to obtain the second envelope range of the seat.

[0135] The preset range represents the space range of the person in the vehicle space when the person is seated on the seat.

[0136] For example, in combination with an actual application example, the person is seated on the seat, with the legs above the seat cushion and the upper body in front of the backrest.

[0137] Therefore, on the basis of the first envelope range, the preset range is added to the first envelope range above the seat cushion of the seat, and the preset range is also added to the first envelope range in front of the backrest of the seat, to obtain the second envelope range of the seat.

[0138] Figure 6 A schematic diagram of the second envelope range of the example seat is shown in FIG. 2. Figure 7 As shown in FIG. 2, the preset range is added to the first envelope range of the seat and the first envelope range of the backrest, to obtain the second envelope range of the seat.

[0139] The preset range represents the space range of the person in the vehicle space when the person is seated on the seat.

[0140] It can be understood that the second envelope range represents the space range of the person and the seat in the vehicle space when the person is seated on the seat.

[0141] In the above examples, when detecting that there is a person on the seat, the first envelope range corresponding to the seat is expanded to the second envelope range, which can further ensure that the person is not contacted or pressed by the executing component when sitting on the seat, and improve the comfort and safety of the person. Further, based on the space range of the vehicle space occupied by the person when sitting on the seat, the first envelope range is expanded, the accuracy of the second envelope range is improved, and the avoidance accuracy of the executing component in the cabin of the vehicle is further improved.

[0142] On the basis of the foregoing examples, the other executing component associated with the current executing component includes an executing component located in front of the current executing component, and / or an executing component located behind the current executing component.

[0143] For example, in combination with actual application examples, the cabin of the vehicle can have multiple rows of seats. When performing interference detection on the current executing component, it is usually necessary to ensure that the other executing component located behind the current executing component does not interfere, and it can also be necessary to ensure that the other component located in front of the current executing component does not interfere.

[0144] In an example, the other executing component for which the current executing component is judged for interference is an executing component located in front of the current executing component.

[0145] In an example, the other executing component for which the current executing component is judged for interference is an executing component located behind the current executing component.

[0146] In an example, the other executing component for which the current executing component is judged for interference includes an executing component located in front of the current executing component and an executing component located behind the current executing component.

[0147] Further, the executing components include, in order from front to back, a steering wheel, a first row of seats, a second row of seats, and a third row of seats.

[0148] If the current executing component is the steering wheel, the other executing component associated with the current executing component is the first row of seats.

[0149] If the current executing component is the first row of seats, the other executing component associated with the current executing component is the steering wheel and / or the second row of seats.

[0150] If the current first executing component is the second row of seats, the other executing component associated with the current executing component is the first row of seats and / or the third row of seats.

[0151] If the current first executing component is the third row of seats, the other executing component associated with the current executing component is the second row of seats.

[0152] An example, taking the front of the vehicle as the front and the rear of the vehicle as the rear. The execution components can include, in order from front to rear: a steering wheel, a first row of seats, a second row of seats, and a third row of seats.

[0153] In combination with the foregoing examples, each execution component can be a current execution component, and when the current execution component is adjusted, other execution components associated with the current execution component can be preceding execution components or succeeding execution components.

[0154] In one example, the current execution component is the steering wheel, and the other execution components associated with the current execution component are the first row of seats behind the steering wheel.

[0155] In one example, the current execution component is the first row of seats, and the other execution components associated with the current execution component include the steering wheel in front of the first row of seats and / or the second row of seats behind the first row of seats.

[0156] In one example, the current execution component is the second row of seats, and the other execution components associated with the current execution component include the first row of seats in front of the second row of seats and / or the third row of seats behind the second row of seats.

[0157] In one example, the current execution component is the third row of seats, and the other execution components associated with the current execution component are the second row of seats in front of the third row of seats.

[0158] Figure 7 A distribution diagram of execution components in the cabin of the vehicle. As shown in FIG. 1, there is a steering wheel in the front of the vehicle. The steering wheel can further include a steering wheel and a steering column, as shown in FIG. 2. Figure 7 As shown in FIG. 1, there is a first row of seats behind the steering wheel. The first row of seats can further include a driver's seat and a front passenger's seat, as shown in FIG. 3. Figure 7 As shown in FIG. 1, there is a second row of seats behind the first row of seats. The second row of seats can further include a second row left seat and a second row right seat, as shown in FIG. 4. Figure 7 As shown in FIG. 1, there is a third row of seats behind the second row of seats. The third row of seats can further include a third row left seat and a third row right seat, as shown in FIG. 5. Figure 8

[0159] In combination with the foregoing examples, continue to refer to the current execution component as a first execution component and the other execution components associated with the current execution component as second execution components.

[0160] When the first execution component is the steering wheel, the second execution components are the driver's seat and the second row left seat;

[0161] When the first execution component is the driver's seat, the second execution components are the steering wheel and the second row right seat;

[0162] When the first execution component is the front passenger's seat, the second execution components are the second row left seat and the third row right seat; ​

[0163] When the first actuator is the second-row left seat, the second actuator is the driver's seat and the third-row left seat;

[0164] When the first actuator is the right seat in the second row, the second actuator is the front passenger seat and the right seat in the third row;

[0165] When the first actuator is the third-row left seat, the second actuator is the second-row left seat;

[0166] When the first actuator is the right seat of the third row, the second actuator is the right seat of the second row.

[0167] Figure 8 This is a schematic diagram showing the center coordinates of the actuators within the vehicle's cabin. (Example:) Figure 9 The vehicle coordinate system shown is a two-dimensional x-y axis coordinate system derived from a three-dimensional vehicle coordinate system. Using the center of the vehicle's left rear wheel as the origin, the x-axis and y-axis components of the center coordinates of the aforementioned actuator can be determined.

[0168] For example, the x-axis and y-axis components of the steering wheel's center coordinates are (xl4, yl4). The x-axis and y-axis components of the driver's seat's center coordinates are (xl1, yl1); the x-axis and y-axis components of the passenger seat's center coordinates are (xr1, yr1). The x-axis and y-axis components of the second-row left seat's center coordinates are (xl2, yl2); the x-axis and y-axis components of the second-row right seat's center coordinates are (xr2, yr2). The x-axis and y-axis components of the third-row left seat's center coordinates are (xl3, yl3); the x-axis and y-axis components of the third-row right seat's center coordinates are (xr3, yr3).

[0169] In the example above, during the adjustment movement of the current actuator, interference detection is performed not only on other actuators located behind the current actuator, but also on other actuators located in front of the current actuator, which can comprehensively ensure the comfort and safety of passengers in the vehicle cabin.

[0170] Based on any of the foregoing embodiments, in one example, the actuators within the vehicle's cabin are moved by being driven by at least one motor. It is understood that within the vehicle's cabin, the actuators are driven by motors to execute motion commands directed at them.

[0171] Based on this, the method may also include:

[0172] If the motor parameters of the motor corresponding to the current actuator are detected to meet the preset conditions, the motor corresponding to the current actuator will be controlled to stop working, so that the current actuator will stop moving.

[0173] For example, in a possible case, the first envelope range of the current actuating component does not interfere with the first envelope range of the associated other actuating component, but the motor can also be in a locked-rotor state. In this case, it is also necessary to stop the movement of the current actuating component.

[0174] Therefore, if it is detected that the motor parameter of the motor corresponding to the current actuating component meets the preset condition, a stop instruction is generated and sent to the controller of the vehicle. The motor corresponding to the current actuating component is stopped to stop the movement of the current actuating component.

[0175] Specifically, the motor parameter of the motor can include the operating current of the motor and the operating speed of the motor. If the operating current of the motor exceeds the preset upper limit of the current, it is determined that the motor parameter meets the preset condition. If the operating speed of the motor is 0 or the speed is less than the preset minimum speed, it is determined that the motor parameter meets the preset condition. The above two examples can be implemented alone or in combination. It can be understood that in the above two examples, the motor enters a locked-rotor state and needs to be controlled to stop working.

[0176] In the above examples, the motor parameter of the motor is used for judgment. If the motor enters a locked-rotor state, a safety avoidance measure is still taken. In the case of envelope range interference detection failure or error, further damage to the actuating component or personnel can be avoided, and the safety of the actuating component and personnel in the cabin of the vehicle is improved.

[0177] Based on any of the preceding embodiments, in one example, the method can further include:

[0178] If the communication anomaly is detected, a prompt information is generated and sent to the controller of the vehicle, so that the intelligent device of the vehicle displays the prompt information to the user.

[0179] The communication anomaly indicates that the communication link inside the vehicle has a fault.

[0180] For example, the execution subject of the embodiments provided in the present application can be an electronic device on the vehicle. The electronic device can be connected to the controller via the communication link.

[0181] In some possible cases, the communication link can have a fault. If the communication link has a fault, it indicates that the current communication is abnormal. Due to the communication anomaly, the transmission of data cannot be normally performed. It can affect the calculation of the first envelope range or the second envelope range of the actuating component in the cabin of the vehicle by the electronic device and the accuracy of the interference judgment.

[0182] Therefore, if the communication anomaly is detected, prompt information is generated. The prompt information is used to indicate the communication anomaly in the cabin of the current vehicle, which means that the communication link has a fault.

[0183] Further, the prompt information is sent to the controller, and based on the controller, the smart device in the cabin of the vehicle is controlled to pop up the prompt information to the user. Thus, the user is prompted that the communication anomaly in the cabin of the current vehicle causes the position of the execution component to possibly deviate, and calibration and repair are needed.

[0184] For example, the communication link in the cabin of the vehicle can be built based on Ethernet. In the communication link built based on Ethernet, a frame check sequence (FCS) is contained in each data sending and receiving process. The receiver performs cyclic redundancy check (CRC) calculation to obtain the FCS of the receiver. If the FCS of the receiver is inconsistent with the FCS contained in the data, it means that an error occurs in the data transmission process. By counting the number of CRC errors, the CRC error rate is calculated. If the CRC error rate exceeds the preset error rate threshold, it is considered that the communication anomaly is detected.

[0185] In the above example, when the communication link has a fault, the envelope range of the execution component can be inaccurately calculated, resulting in inaccurate interference judgment between the envelope ranges of the execution components. By detecting the communication anomaly, the user is prompted to avoid the invalidity of the safety avoidance of the execution component due to the inaccurate envelope range, thereby improving the comfort and safety of the passengers.

[0186] The control method of the execution component in the cabin of the vehicle provided in the application has the following beneficial effects:

[0187] The complex personnel distribution and the coordination of the multiple execution components are realized, the control intelligence of the execution component in the cabin of the vehicle is improved, the contact or extrusion between the execution component and other execution components or personnel during the adjustment movement is avoided, the comfort and safety of the passengers are improved, and the execution component in the cabin of the vehicle is prevented from being damaged due to extrusion.

[0188] By establishing a unified vehicle coordinate system and updating the envelope range information of the execution component in real time, the execution component initiatively triggers the avoidance strategy before the movement conflict occurs. Specifically, by using the interval distance and the preset distance threshold, the avoidance action can be triggered in advance, the contact and extrusion between the execution components or between the execution component and the personnel are avoided, and the riding comfort is significantly improved.

[0189] The end point coordinates of the execution component are calculated by a trigonometric function, and an accurate first envelope range is generated based on the size information, thereby improving the avoidance accuracy of the execution component.

[0190] By detecting whether a person is sitting on the seat, it is ensured that the person is not contacted or pressed by the execution component when sitting on the seat, thereby improving the riding comfort and safety of the person. Furthermore, based on the space range occupied by the person when sitting on the seat, the first envelope range is expanded, the accuracy of the second envelope range is improved, and the avoidance accuracy of the execution component in the cabin of the vehicle is further improved.

[0191] Figure 9 The control device of the execution component in the cabin of the vehicle provided in the present application is shown in the structural schematic diagram of the control device of the execution component in the cabin of the vehicle as shown in the figure, and the control device 30 of the execution component in the cabin of the vehicle provided in the embodiment comprises: Figure 10

[0192] The first processing module 301 is configured to determine the center coordinates of the execution component in the cabin of the vehicle based on a preset vehicle coordinate system.

[0193] The first processing module 301 is further configured to determine the first envelope range of the execution component according to the size information and the center coordinates of the execution component, wherein the first envelope range represents the space range occupied by the actual shape of the execution component in the vehicle space.

[0194] The second processing module 302 is configured to, in response to a motion instruction for the current execution component, if it is determined that the first envelope range of the current execution component interferes with the first envelope range of other execution components associated with the current execution component, generate a stop instruction and send the stop instruction to the controller of the vehicle, so as to stop the motion of the current execution component.

[0195] In a possible implementation, the first envelope range is a space range surrounded by an envelope line composed of a plurality of discrete points.

[0196] According to the size information and the center coordinates of the execution component, the first processing module 301 is configured to:

[0197] According to the size information and the center coordinates of the execution component, the first processing module 301 is configured to determine the end point coordinates of the execution component.

[0198] According to the size information and the end point coordinates, the first processing module 301 is configured to determine the coordinates of a plurality of discrete points of the execution component, thereby obtaining the first envelope range of the execution component.

[0199] In a possible implementation, the second processing module 302 is configured to determine that the first envelope range of the current execution component interferes with the first envelope range of other execution components associated with the current execution component. ​

[0200] determining a plurality of interval distance values according to the coordinates of the plurality of discrete points of the first envelope range of the current execution component and the coordinates of the plurality of discrete points of the first envelope range of the other execution component associated with the current execution component, wherein each interval distance value represents a distance between one of the plurality of discrete points of the first envelope range of the current execution component and one of the plurality of discrete points of the first envelope range of the other execution component associated with the current execution component;

[0201] if it is determined that a minimum value of the plurality of interval distance values is less than or equal to a preset distance threshold, it is determined that the first envelope range of the current execution component interferes with the first envelope range of the other execution component associated with the current execution component.

[0202] In a possible implementation, the execution components include a steering wheel and at least one seat; each seat is provided with a composite sensor for monitoring whether a person is present on the seat; the first processing module 301 is further configured to:

[0203] if it is determined that a person is present on the seat, modifying the first envelope range of the seat to a second envelope range; wherein the second envelope range represents a larger spatial range than the first envelope range.

[0204] In a possible implementation, the first envelope range of the seat is modified to the second envelope range, and the first processing module 301 is configured to:

[0205] enlarging the first envelope range above a seat cushion of the seat by a preset range and enlarging the first envelope range in front of a seat back of the seat by the preset range to obtain the second envelope range of the seat; wherein the preset range represents a spatial range occupied by the person when sitting on the seat in the vehicle space.

[0206] In a possible implementation, the other execution component associated with the current execution component includes an execution component located in front of the current execution component and / or an execution component located behind the current execution component.

[0207] In a possible implementation, the execution components include, in sequence from front to back, a steering wheel, a first row of seats, a second row of seats, and a third row of seats.

[0208] if the current execution component is the steering wheel, the other execution component associated with the current execution component is the first row of seats;

[0209] if the current execution component is the first row of seats, the other execution component associated with the current execution component is the steering wheel and / or the second row of seats;

[0210] If the current first execution component is a two-row seat, then the other execution component associated with the current execution component is a one-row seat and / or a three-row seat.

[0211] If the current first execution component is a three-row seat, then the other execution component associated with the current execution component is a two-row seat.

[0212] In a possible implementation, the execution component moves through driving of at least one motor; the second processing module 302 is further configured to:

[0213] If it is detected that the motor parameter of the motor corresponding to the current execution component meets the preset condition, the motor corresponding to the current execution component is controlled to stop working, so that the current execution component stops moving.

[0214] In a possible implementation, the second processing module 302 is further configured to:

[0215] If a communication exception is detected, a prompt information is generated, and the prompt information is sent to the controller of the vehicle, so that the intelligent device of the vehicle displays the prompt information to the user; wherein the communication exception indicates that there is a fault in the communication link inside the vehicle.

[0216] The control device of the execution component of the vehicle cabin provided in this embodiment can execute the method provided in the method embodiments, and has similar implementation principles and technical effects, which will not be described here again.

[0217] Figure 10 The structural schematic diagram of the electronic device provided in this application is shown in FIG. 1. Figure 11 As shown in the figure, the electronic device 40 provided in this embodiment includes at least one processor 401 and a memory 402. Optionally, the electronic device 40 further includes a communication component 403. Wherein, the processor 401, the memory 402 and the communication component 403 are connected through a bus 404.

[0218] In the specific implementation process, the at least one processor 401 executes the computer execution instructions stored in the memory 402, so that the at least one processor 401 executes the above-mentioned method.

[0219] The specific implementation process of the processor 401 can refer to the above-mentioned method embodiments, which has similar implementation principles and technical effects, and will not be described here again.

[0220] Optionally, the computing power of the electronic device needs to meet certain requirements. For example, the physical core parameter of the electronic device is the AI computing power of the SoC. The AI computing power needs to be above 254 AI TOPS.

[0221] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the application can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor.

[0222] The memory can include a random access memory (RAM), and can also include a non-volatile memory (NVM), such as at least one disk memory.

[0223] The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0224] The present application also provides a vehicle including the electronic device provided in the above embodiments. The electronic device can perform the control method of the execution component of the vehicle cabin provided in the above method embodiments. The specific implementation and technical effects can be referred to the foregoing explanation of the embodiments.

[0225] In a possible implementation, the vehicle cabin has a motor control system. In the motor control system, the electronic device provided in the above embodiments is included.

[0226] Figure 11 This is a schematic diagram of the motor control system within the cabin of an exemplary vehicle. Figure 11 As shown, Figure 11 The central computer shown is the electronic device provided in the foregoing embodiments. This central computer is used to execute the control method for the vehicle cockpit actuators provided in the foregoing method embodiments.

[0227] like ​ As shown, the motor control system within the vehicle's cabin also includes a cabin domain controller and a domain controller. Both the cabin domain controller and the domain controller communicate with the central computer via Ethernet, and they can also communicate with each other via Ethernet. The domain controller can control the motors of the actuators within the vehicle's cabin, directly driving the actuators through a bridge drive.

[0228] The vehicle's in-cabin motor control system may also include a central control screen and a Telematics Box (T-BOX). The central control screen communicates with the cabin domain controller via a coaxial cable, while the T-BOX communicates with the cabin domain controller via Ethernet. The T-BOX communicates with the cloud wirelessly.

[0229] Optionally, the core of the domain controller is an MCU (Microcontroller Unit), with a CPU (Central Processing Unit) clock speed of ≥300MHz, Flash memory ≥16MB, RAM ≥1MB, ≥6 cores, and a computing power of ≥4K DMIPS (Dhrystone Millions of Instructions Per Second). This powerful hardware capability allows the domain controller to receive control calls from the cockpit domain controller via Ethernet, based on a Service-Oriented Architecture (SOA). Simultaneously, it drives the seat motors using a bridge driver chip on the domain controller hardware and monitors the ripple signals generated during motor operation, or uses a separate Hall effect sensor to receive these ripple signals.

[0230] Optionally, the cockpit domain controller can meet the in-vehicle human-machine interaction needs through the central control screen, complete the start and stop of fixed scenarios, and send control commands to the domain controller via Ethernet.

[0231] Optionally, the T-BOX transmits the data received from the cloud to the cockpit controller, and the cockpit controller transmits the data to the domain controller for performing the related control of the components.

[0232] The application further provides a computer program product, comprising a computer program which, when executed by a processor, implements the method described above.

[0233] The application further provides a computer readable storage medium, wherein the computer readable storage medium stores computer execution instructions, and when a processor executes the computer execution instructions, the method described above is implemented.

[0234] The readable storage medium described above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0235] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0236] The division of units is only a logical function division, and in actual implementation, there can be another division mode, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0237] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on a plurality of network units. According to actual needs, some or all of the units can be selected to achieve the purpose of the embodiment.

[0238] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0239] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0240] Those of ordinary skill in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction-related hardware. The aforementioned program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: a ROM, a RAM, a magnetic disk or an optical disk, and various program code storage media.

[0241] Finally, it should be noted that: those skilled in the art will easily think of other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or conventional technical means in the art that are not disclosed in the present application, and is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present application is only limited by the appended claims.

Claims

1. A method for controlling an actuator in a vehicle cockpit, characterized in that, include: Based on a preset vehicle coordinate system, determine the center coordinates of the actuators inside the vehicle's cabin; Based on the size information of the actuator and the center coordinates, a first envelope range of the actuator is determined; wherein, the first envelope range characterizes the spatial range occupied by the actual shape of the actuator in the vehicle space; In response to a motion command for the current actuator, if it is determined that the first envelope range of the current actuator interferes with the first envelope range of other actuators associated with the current actuator, a stop command is generated and sent to the controller of the vehicle to stop the current actuator from moving.

2. The method according to claim 1, characterized in that, The first envelope range is the spatial range enclosed by an envelope line composed of multiple discrete points; Determining the first envelope range of the actuator based on the size information of the actuator and the center coordinates includes: Based on the size information of the actuator and the center coordinates, determine the endpoint coordinates of the actuator; Based on the size information and the endpoint coordinates, the coordinates of multiple discrete points of the execution component are determined, thereby obtaining the first envelope range of the execution component.

3. The method according to claim 2, characterized in that, Determining the first envelope range of the current execution unit, where interference exists between the first envelope ranges of other execution units associated with the current execution unit, includes: Based on the coordinates of multiple discrete points within the first envelope of the current execution component and the coordinates of multiple discrete points within the first envelope of other execution components associated with the current execution component, multiple interval distance values ​​are determined; wherein each interval distance value represents the distance between one of the multiple discrete points within the first envelope of the current execution component and one of the multiple discrete points within the first envelope of other execution components associated with the current execution component. If the minimum value among the plurality of interval distance values ​​is determined to be less than or equal to a preset distance threshold, then the first envelope range of the current execution component is determined to be interfering with the first envelope range of other execution components associated with the current execution component.

4. The method according to claim 1, characterized in that, The actuator includes: a steering wheel and at least one seat; each seat is equipped with a composite sensor for detecting whether a person is present in the seat; the method further includes: If it is determined that there is a person on the seat, the first envelope of the seat is modified to a second envelope; wherein the spatial range represented by the second envelope is greater than the spatial range represented by the first envelope.

5. The method according to claim 4, characterized in that, Modifying the first envelope of the seat to a second envelope includes: The first envelope area above the seat cushion of the seat is expanded by a preset range, and the first envelope area in front of the backrest of the seat is expanded by a preset range to obtain the second envelope area of ​​the seat; wherein, the preset range represents the space occupied by a person in the vehicle space when sitting on the seat.

6. The method according to claim 1, characterized in that, Other execution components associated with the current execution component include: execution components located in front of the current execution component, and / or execution components located behind the current execution component.

7. The method according to claim 6, characterized in that, The actuators, from front to back, include: a steering wheel, a first-row seat, a second-row seat, and a third-row seat; If the current actuator is a steering wheel, then the other actuators associated with the current actuator are a row of seats; If the current actuator is a row of seats, then the other actuators associated with the current actuator are the steering wheel and / or the second row of seats; If the current first actuator is a second-row seat, then the other actuators associated with the current actuator are a first-row seat and / or a third-row seat; If the current first actuator is a three-row seat, then the other actuators associated with the current actuator are two-row seats.

8. The method according to any one of claims 1-7, characterized in that, The actuating component moves via the drive of at least one motor; the method further includes: If the motor parameters of the motor corresponding to the current execution component are detected to meet the preset conditions, the motor corresponding to the current execution component is controlled to stop working, so that the current execution component stops moving.

9. The method according to any one of claims 1-7, characterized in that, The method further includes: If a communication anomaly is detected, a prompt message is generated and sent to the vehicle's controller so that the vehicle's smart device can display the prompt message to the user; wherein, the communication anomaly indicates a failure in the communication link within the vehicle.

10. A control device for an actuator in a vehicle cabin, characterized in that, include: The first processing module is used to determine the center coordinates of the actuators inside the vehicle's cabin based on a preset vehicle coordinate system. The first processing module is further configured to determine a first envelope range of the execution component based on the size information of the execution component and the center coordinates; wherein, the first envelope range characterizes the spatial range occupied by the actual shape of the execution component in the vehicle space; The second processing module is configured to, in response to a motion command for the current actuator, generate a stop command and send the stop command to the vehicle controller if it is determined that the first envelope range of the current actuator interferes with the first envelope range of other actuators associated with the current actuator, so as to stop the movement of the current actuator.

11. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-9.

12. A vehicle, characterized in that, Including the electronic device as described in claim 11.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-9.

14. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1-9.

Images