A seat belt wearing detection method, apparatus and vehicle

Abstract

The application relates to a safety belt wearing detection method, device and vehicle. The method comprises the following steps: acquiring posture data of the vehicle; determining a posture change rate of the vehicle based on the posture data; determining a displacement amount of a target safety belt, the target safety belt being any one of a plurality of safety belts; and determining that the target safety belt is not correctly worn in the case that the posture change rate is greater than or equal to a first threshold value and the displacement amount of the target safety belt is less than or equal to a second threshold value. The method can accurately determine that the target safety belt is not correctly worn by determining the posture change rate of the vehicle and the displacement amount of the target safety belt, and in the case that the posture change rate is large and the displacement amount of the target safety belt is small.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a seat belt wearing detection method, device and vehicle. Background Technology

[0002] While driving or riding in a vehicle, people need to wear seat belts correctly. Seat belts help protect occupants from secondary injuries in the event of an emergency. Therefore, accurately detecting whether seat belts are being worn correctly has become a pressing issue in the field of intelligent driving technology. Summary of the Invention

[0003] Therefore, it is necessary to provide a seatbelt wearing detection method, device, vehicle, computer-readable storage medium, and computer program product that can accurately determine whether a target seatbelt is not being worn correctly, in response to the above-mentioned technical problems.

[0004] In a first aspect, this application provides a seatbelt wearing detection method, applied to a vehicle control system, wherein the vehicle includes multiple seatbelts, and the method includes:

[0005] Acquire vehicle attitude data;

[0006] Based on attitude data, determine the vehicle's attitude change rate;

[0007] Determine the displacement of the target seat belt, which is any one of multiple seat belts;

[0008] If the rate of change of attitude is greater than or equal to the first threshold and the displacement of the target seat belt is less than or equal to the second threshold, it is determined that the target seat belt is not being worn correctly.

[0009] In an exemplary embodiment, the vehicle further includes multiple displacement detection sensors and multiple guides, with each guide corresponding to a different seatbelt. Each displacement detection sensor is disposed at a target position on each guide, and the target position of each guide is disposed opposite to each seatbelt. Determining the displacement of the target seatbelt includes:

[0010] The data collected by the target displacement detection sensor is obtained to obtain the first sensing data. The target displacement detection sensor is the displacement detection sensor corresponding to the target seat belt.

[0011] Based on the first sensor data, the displacement of the target seat belt is determined.

[0012] In an exemplary embodiment, determining the displacement of the target seatbelt based on the first sensing data includes:

[0013] Based on the first sensor data, the first position data and the second position data of the target seat belt are determined. The first position data is the data collected by the target displacement detection sensor at the initial position of the target seat belt, and the second position data is the data collected by the target displacement detection sensor at the current position of the target seat belt.

[0014] Based on the first and second position data, the displacement of the target seat belt is determined.

[0015] In one exemplary embodiment, the vehicle further includes multiple seats and multiple pressure sensors, with pressure sensors disposed on the seats and a seatbelt provided on each seat. The method further includes:

[0016] The data collected by the target pressure sensor is acquired to obtain the second sensing data. The target pressure sensor is the pressure sensor of the target seat corresponding to the target seat belt among multiple pressure sensors.

[0017] Based on the second sensor data, the pressure value on the target seat is determined;

[0018] The second threshold is determined based on the pressure value, the rate of change of posture, and the material of the target seat belt.

[0019] In one exemplary embodiment, the vehicle also includes a plurality of seat belt buckles and a plurality of buckle sensors, each seat belt buckle being configured in a one-to-one correspondence with each seat belt, and each seat belt buckle being configured with a buckle sensor.

[0020] The determination that the target seatbelt is not being worn correctly when the rate of attitude change is greater than or equal to a first threshold and the displacement of the target seatbelt is less than or equal to a second threshold includes:

[0021] The data collected by the target buckle sensor is obtained to obtain the third sensor data. The target buckle sensor is the buckle sensor corresponding to the target seat belt among multiple buckle sensors.

[0022] Based on third-sensor data, determine the buckle engagement information of the target seatbelt.

[0023] If the buckle information indicates that the target seat belt buckle is in the buckled state, the rate of change of the attitude data is greater than or equal to the first threshold, and the displacement of the target seat belt is less than or equal to the second threshold, it is determined that the target seat belt is not being worn correctly.

[0024] In an exemplary embodiment, the attitude data includes vehicle speed, vehicle tilt angle, and vehicle acceleration; determining that the target seatbelt is not properly worn when the rate of attitude change is greater than or equal to a first threshold and the displacement of the target seatbelt is less than or equal to a second threshold includes:

[0025] If the rate of change of vehicle speed is greater than or equal to a speed change rate threshold, the rate of change of vehicle tilt angle is greater than or equal to a tilt angle change rate threshold, or the rate of change of vehicle acceleration is greater than or equal to an acceleration change rate threshold, and the displacement of the target seat belt is less than or equal to a second threshold, it is determined that the target seat belt is not being worn correctly.

[0026] In one exemplary embodiment, the method further includes:

[0027] An alarm signal is generated if it is determined that the target's seat belt is not being worn correctly.

[0028] Secondly, this application also provides a seatbelt wearing detection device for use in a vehicle control system, wherein the vehicle includes multiple seatbelts, and the device includes:

[0029] The acquisition module is used to acquire the vehicle's attitude data;

[0030] The first determining module is used to determine the vehicle's attitude change rate based on attitude data;

[0031] The second determining module is used to determine the displacement of the target safety belt, which is any one of multiple safety belts;

[0032] The third determining module is used to determine that the target seat belt is not being worn correctly when the rate of attitude change is greater than or equal to the first threshold and the displacement of the target seat belt is less than or equal to the second threshold.

[0033] Thirdly, this application also provides a vehicle including multiple seat belts and a control system, the control system being used for:

[0034] Acquire vehicle attitude data;

[0035] Based on attitude data, determine the vehicle's attitude change rate;

[0036] Determine the displacement of the target seat belt, which is any one of multiple seat belts;

[0037] If the rate of change of attitude is greater than or equal to the first threshold and the displacement of the target seat belt is less than or equal to the second threshold, it is determined that the target seat belt is not being worn correctly.

[0038] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements some or all of the steps described in any method of the first aspect of the embodiments of this application.

[0039] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements some or all of the steps described in any method of the first aspect of the embodiments of this application.

[0040] The aforementioned seatbelt wearing detection method, device, vehicle, computer-readable storage medium, and computer program product acquire vehicle posture data; determine the vehicle's posture change rate based on the posture data; determine the displacement of a target seatbelt, where the target seatbelt is any one of multiple seatbelts; and determine that the target seatbelt is not being worn correctly when the posture change rate is greater than or equal to a first threshold and the displacement of the target seatbelt is less than or equal to a second threshold. Using the seatbelt wearing detection method provided in this application, it is possible to accurately determine that the target seatbelt is not being worn correctly by determining the vehicle's posture change rate and the displacement of the target seatbelt, even when the posture change rate is large and the displacement of the target seatbelt is small. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a diagram illustrating the application environment of a seatbelt wearing detection method in one embodiment;

[0043] Figure 2 This is a flowchart illustrating a seatbelt wearing detection method in one embodiment;

[0044] Figure 3 This is a schematic diagram of the seat belt structure in one embodiment;

[0045] Figure 4 This is a structural block diagram of the seatbelt wearing detection device in another embodiment;

[0046] Figure 5 This is an internal structural diagram of a computer device in one embodiment;

[0047] Figure 6 This is a diagram of the internal structure of a computer device in another embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] As described in the background section, accurately detecting whether a user is wearing a seatbelt correctly has become a pressing issue in the field of intelligent driving technology. Currently, existing seatbelt detection methods typically involve using a high-definition camera installed inside the vehicle to capture images of the user and combining this with image processing technology to intelligently identify whether the user is wearing the seatbelt correctly. However, this approach has several drawbacks:

[0050] (1) Cameras can usually only capture users sitting in the front seats of a vehicle, and cannot effectively capture users sitting in the back seats of a vehicle. Therefore, it is impossible to effectively determine whether users sitting in the back seats are wearing seat belts correctly.

[0051] (2) When the vehicle is traveling in severe weather such as fog or heavy rain, the detection accuracy of the camera will be severely affected and it will be difficult to capture accurate and reliable images. Therefore, it is also impossible to effectively determine whether the user is wearing the seat belt correctly.

[0052] (3) If the user sitting in the front seat is wearing clothing that is similar in color to the seat belt, or if the user is using a commonly used three-point seat belt, it will also lead to a "blunder" in the image processing-based intelligent recognition technology. Based on this, it is also impossible to effectively determine whether the user is wearing the seat belt correctly.

[0053] (4) In road sections where there are no cameras to capture and monitor, users may use products such as "seat belt buckles" to interfere with seat belt alarm devices. This will not only allow users to bypass the alarm signal generation mechanism, but also cause obvious safety hazards during vehicle operation.

[0054] Based on the aforementioned technical problems, the inventors discovered that when a seatbelt is worn correctly by the user, the seatbelt will inevitably have a certain degree of displacement. Based on this, by determining the vehicle's attitude change rate and the displacement of the target seatbelt, it is possible to accurately determine whether the target seatbelt is being worn correctly.

[0055] The above is the core idea of ​​this application. The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0056] The seatbelt wearing detection method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the vehicle 10 includes a control system 102 and multiple seat belts 104. The control system 102 can acquire the attitude data of the vehicle 10. At the same time, the control system 102 can also determine the displacement of each of the multiple seat belts 104. Thus, the control system 102 can determine that the target seat belt 104 is not being worn correctly when the attitude change rate is greater than or equal to a first threshold and the displacement of the target seat belt 104 is less than or equal to a second threshold.

[0057] In one exemplary embodiment, such as Figure 2 As shown, a seatbelt wearing detection method is provided, which is applied to... Figure 1 Taking the vehicle's control system as an example, the method includes steps 202 to 208. Wherein:

[0058] Step 202: Obtain the vehicle's attitude data.

[0059] In this application, the vehicle can be a vehicle for different purposes. For example, the vehicle can be a private car, a commercial vehicle, or a special vehicle. Private cars can include sedans and sport utility vehicles (SUVs), commercial vehicles can include buses, public buses, and trucks, and special vehicles can include ambulances and police cars. As long as the vehicle can support intelligent driving technology, it is acceptable. This application does not limit the specific purpose of the vehicle.

[0060] Vehicle attitude data refers to physical quantities used to characterize the motion state of a vehicle in three-dimensional space.

[0061] Optionally, the vehicle's attitude data may include different types of physical quantities characterizing the vehicle's motion state. Optionally, the different types of physical quantities included in the attitude data can be acquired by different types of sensors installed at different parts of the vehicle.

[0062] A control system refers to a system in a vehicle that integrates information display control, human-machine interaction control, and function control. Optionally, the vehicle's control system can refer to the vehicle's central control system, which, through hardware such as a central control screen and software applications, can provide users with more intuitive vehicle status information (such as speed and fuel level) and various interactive functions.

[0063] The number of seat belts in the vehicle corresponds to the number of seats in the vehicle; that is, one seat corresponds to one seat belt. Optionally, the seats in this embodiment can be any seat in any location within the vehicle; correspondingly, the seat belts in this embodiment can be any seat belt installed in the vehicle corresponding to any seat.

[0064] Step 204: Determine the vehicle's attitude change rate based on the attitude data.

[0065] Among them, the vehicle attitude change rate refers to the physical quantity used to characterize the speed at which the vehicle's motion state in three-dimensional space changes over time.

[0066] Optionally, the vehicle's attitude change rate can be determined based on attitude data within a preset time interval. Optionally, the preset time interval can be 1, 2, 3 seconds, or other time lengths.

[0067] It is easy to understand that during the driving process of a vehicle, starting, accelerating, braking, turning and other situations will cause changes in the vehicle's attitude data, that is, they will all cause the vehicle to have an attitude change rate.

[0068] Step 206: Determine the displacement of the target seat belt, which is any one of multiple seat belts.

[0069] The displacement of the target seat belt refers to the change in displacement that occurs during the pull-out process after the seat belt leaves its initial position. This displacement characterizes the actual extended length of the target seat belt in its current operational state.

[0070] Optionally, the displacement of the target seat belt can be obtained by a displacement detection sensor installed on the guide corresponding to the target seat belt.

[0071] A seatbelt guide is a guide component located at the top of the B-pillar of a vehicle. The guide guides the seatbelt to be smoothly pulled out of the retractor and directs it to the shoulder position of the user in the corresponding seat, ensuring the seatbelt is properly worn.

[0072] A retractor is a component in a vehicle used for the storage, release, and locking of seat belts.

[0073] Step 208: If the rate of change of attitude is greater than or equal to the first threshold and the displacement of the target seat belt is less than or equal to the second threshold, it is determined that the target seat belt is not worn correctly.

[0074] During vehicle operation, the user's body posture is closely related to the vehicle's body posture. Therefore, when the vehicle's body posture changes significantly (e.g., due to acceleration, turning, braking, etc.), the body posture of the occupants will theoretically also change significantly due to the influence of inertia. Thus, the change in the user's body posture can directly affect the seat belt, causing the seat belt to shift to a certain extent.

[0075] Based on this, since the rate of attitude change is greater than or equal to the first threshold, it indicates that the vehicle has undergone a certain degree of movement; and the displacement of the target seat belt is less than or equal to the second threshold, it indicates that the target seat belt has not left its initial position or has left its initial position only slightly, meaning that the target seat belt may not have been pulled out or has only been pulled out slightly. Therefore, if the rate of attitude change is greater than or equal to the first threshold and the displacement of the target seat belt is less than or equal to the second threshold, it can be determined that the target seat belt is not being worn correctly.

[0076] In the aforementioned seatbelt wearing detection method, vehicle posture data is acquired; based on the posture data, the vehicle posture change rate is determined; the displacement of the target seatbelt is determined, where the target seatbelt is any one of multiple seatbelts; if the posture change rate is greater than or equal to a first threshold and the displacement of the target seatbelt is less than or equal to a second threshold, it is determined that the target seatbelt is not being worn correctly. Using the seatbelt wearing detection method provided in this application embodiment, it is possible to accurately determine that the target seatbelt is not being worn correctly by determining the vehicle posture change rate and the displacement of the target seatbelt, even when the posture change rate is large and the displacement of the target seatbelt is small.

[0077] In an exemplary embodiment, the vehicle further includes multiple displacement detection sensors and multiple guides, with each guide corresponding to one of the multiple seat belts. Each displacement detection sensor is disposed at a target position of each guide, and the target position of each guide is disposed opposite to each seat belt. The determination of the displacement of the target seat belt includes:

[0078] The data collected by the target displacement detection sensor is used to obtain the first sensing data. The target displacement detection sensor is the displacement detection sensor corresponding to the target seat belt.

[0079] Based on the first sensor data, the displacement of the target seat belt is determined.

[0080] The displacement detection sensor is a sensor that can output first sensing data based on the positional change of the target seat belt caused by displacement. Therefore, the first sensing data refers to the electrical signal corresponding to the positional change of the target seat belt. Based on this, after the control system obtains the first sensing data output by the displacement sensor, it can determine the displacement of the target seat belt.

[0081] Optionally, the displacement detection sensor can be a photoelectric sensor, a motion sensor, or other sensor capable of detecting changes in the position of the target seat belt.

[0082] Each guide's target position is set relative to each seatbelt; that is, each guide's target position is facing each seatbelt. Based on this, each displacement detection sensor, located at the target position of each guide, can detect the positional change of the target seatbelt relative to the displacement detection sensor in real time. Thus, the vehicle's control system can accurately determine the displacement of the target seatbelt.

[0083] Since each displacement detection sensor is set at the target position of each guide, there is a one-to-one correspondence between multiple displacement detection sensors and multiple guides. Based on this, there is also a one-to-one correspondence between multiple displacement detection sensors and multiple seat belts.

[0084] Since the displacement of the target seat belt is determined by the first sensing data of the displacement detection sensor, the displacement of the target seat belt can be understood as the change in position of the target seat belt relative to the displacement detection sensor.

[0085] In this embodiment, the vehicle also includes multiple displacement detection sensors and multiple guides, with the target position of each guide being set relative to each seat belt. Thus, the vehicle's control system can accurately determine the displacement of the target seat belt based on the first sensing data collected from the target displacement detection sensor. Based on the displacement of the target seat belt, which has high real-time performance and accuracy, the vehicle's control system can determine in a timely and accurate manner, with the cooperation of the attitude change rate, whether the target seat belt is correctly worn by the user in the target seat, thereby improving the vehicle's driving safety.

[0086] In an exemplary embodiment, determining the displacement of the target seatbelt based on the first sensing data includes:

[0087] Based on the first sensor data, the first position data and the second position data of the target seat belt are determined. The first position data is the data collected by the target displacement detection sensor at the initial position of the target seat belt, and the second position data is the data collected by the target displacement detection sensor at the current position of the target seat belt.

[0088] Based on the first and second position data, the displacement of the target seat belt is determined.

[0089] The initial position of the target seat belt refers to the position detected by the target displacement detection sensor when the target seat belt is not pulled out, that is, the reference point between the displacement detection sensor and the target seat belt.

[0090] The current position of the target seat belt refers to the position detected by the target displacement detection sensor after the target seat belt is pulled out.

[0091] It is easy to understand that when the target seat belt is not pulled out, the current position of the target seat belt corresponds to the same position as the initial position of the target seat belt; when the target seat belt is pulled out, the current position of the target seat belt changes relative to the initial position of the target seat belt, that is, there is a change in position between the two.

[0092] Based on the first position data and the second position data, the change in position between the current position and the initial position of the target seat belt can be determined, so as to determine the displacement of the target seat belt by the change in position.

[0093] It should be noted that since each displacement detection sensor is set at the target position of each guide, and the target position of each guide is set relative to each seat belt, and since each displacement detection sensor is stationary relative to each guide, and each seat belt will only move in one fixed direction relative to each guide, the change in position between the initial position and the current position of the target seat belt can be regarded as the linear displacement of the target seat belt. That is, during the process of the target seat belt being pulled out, the influence of the user's pulling angle on the target seat belt can be ignored, and the change in position can be regarded as the absolute length of the target seat belt being pulled out.

[0094] In this embodiment, the vehicle control system determines the first position data and the second position data of the target seat belt based on the first sensor data, and determines the displacement of the target seat belt based on the first position data and the second position data. Thus, the vehicle control system can quickly and accurately detect the extension length of the target seat belt relative to its initial position. Based on this, the vehicle control system can determine in a timely and accurate manner whether the target seat belt is correctly worn by the user in the target seat under the cooperation of the attitude change rate, thereby improving the driving safety of the vehicle.

[0095] In an exemplary embodiment, when the multiple displacement detection sensors are multiple photoelectric sensors, each seat belt has multiple optical marks arranged in a regular pattern on the side opposite to the photoelectric sensor. These optical marks are arranged along the length of the seat belt and include adjacent first-type and second-type optical marks. The optical characteristics of the first-type optical marks are different from those of the second-type optical marks. The determination of the displacement of the target seat belt based on the first and second position data includes:

[0096] Determine the number of targets for optical markers located between the first position data and the second position data;

[0097] The displacement of the target safety belt is determined based on the number of targets and the displacement corresponding to the optical markers.

[0098] The multiple optical markers are arranged along the length of the seat belt, or in other words, along the pull-out direction of the seat belt. Thus, when the seat belt is pulled out by the user, the displacement detection sensor can detect the number of optical markers included in the pull-out length of the seat belt due to the optical properties of the optical markers.

[0099] For example, such as Figure 3 As shown, the first type optical mark 302 and the second type optical mark 304 arranged adjacent to each other mean that the first type optical mark 302 and the second type optical mark 304 are arranged alternately and closely adjacent to each other, and the first type optical mark 302 and the second type optical mark 304 are arranged along the length direction X of the seat belt.

[0100] Optionally, the optical marks can be dark or light-colored marks. That is, the first type of optical mark 302 can be a dark mark and the second type of optical mark 304 can be a light-colored mark. Multiple optical marks can include regularly arranged dark and light marks. Thus, by arranging dark and light marks adjacent to each other, a regular arrangement of multiple optical marks can be achieved. For example, the dark mark can be a dark striped mark, such as a black striped mark, and the light mark can be a light striped mark, such as a white mark.

[0101] Based on this, since the light transmittance of dark markings is different from that of light markings, the pulse data output by the photoelectric sensor when detecting dark markings is different from the pulse data output when detecting light markings. Therefore, the photoelectric sensor can output multiple pulse data in a regular pattern based on the spaced dark and light markings. That is, the first sensing data at this time includes multiple pulse data in a regular pattern. Thus, based on the number of targets corresponding to the multiple pulse data included in the first sensing data and the displacement corresponding to a single pulse, the displacement of the target seat belt can be determined.

[0102] Optionally, the displacement of the target seat belt can be determined based on the product of the number of targets and the displacement corresponding to the optical markers.

[0103] For example, assuming that the width of both the dark and light marks is 1 cm, and assuming that there are 25 dark marks and 25 light marks between the first position data and the second position data, then the first sensing data includes 50 pulse data. Based on this, the displacement of the target seat belt can be determined as: number of targets × displacement corresponding to the optical marks = (25 + 25) × 1 = 50 cm.

[0104] Optionally, the optical mark can also be a recessed mark or a raised mark. That is, the first type of optical mark 302 can be a recessed mark and the second type of optical mark 304 can be a raised mark. In other words, multiple optical marks can include regularly arranged recessed marks and raised marks. Thus, by arranging the recessed marks and raised marks adjacent to each other, the regular arrangement of multiple optical marks can be achieved.

[0105] It is easy to understand that the distance between the recessed mark and the optical sensor is greater than the distance between the raised mark and the optical sensor. Therefore, the pulse data output by the optical sensor when detecting the recessed mark is different from the pulse data output when detecting the raised mark. Thus, the photoelectric sensor can output multiple pulse data in a regular pattern based on the spaced recessed and raised marks. Similarly, the first sensing data at this time also includes multiple pulse data in a regular pattern, helping the control system to ultimately determine the displacement of the target seatbelt based on the number of targets corresponding to the multiple pulse data and the displacement corresponding to a single pulse. Similarly, the displacement corresponding to a single optical mark at this time is the width of the recessed mark or the width of the raised mark.

[0106] In one exemplary embodiment, the vehicle further includes multiple seats and multiple pressure sensors, with pressure sensors disposed on the seats and a seatbelt provided on each seat. The method further includes:

[0107] The data collected by the target pressure sensor is acquired to obtain the second sensing data. The target pressure sensor is the pressure sensor of the target seat corresponding to the target seat belt among multiple pressure sensors.

[0108] Based on the second sensor data, the pressure value on the target seat is determined;

[0109] The second threshold is determined based on the pressure value, the rate of change of posture, and the material of the target seat belt.

[0110] The pressure sensor is a sensor that can output second sensing data based on the pressure exerted on the target seat. Therefore, the second sensing data refers to the electrical signal corresponding to the pressure exerted on the target seat. Based on this, after the control system obtains the second sensor data output by the pressure sensor, it can determine the pressure value exerted on the target seat.

[0111] Optionally, pressure sensors can be installed at the seat cushion positions of each seat in the vehicle, so that when a user sits down, the pressure sensors at the seat cushion positions can output accurate second sensing data under the user's applied weight. With pressure sensors installed at the seat cushion positions of each seat, the second sensing data can characterize the user's weight.

[0112] The seat cushion area refers to the horizontal area at the bottom of the seat where the user's buttocks and legs bear weight.

[0113] Optionally, the pressure sensors can also be installed on the backrests of each seat in the vehicle. This allows the pressure sensors at the seat back to output accurate second sensing data under the support force applied by the user when the user is leaning against the seat. With the pressure sensors installed on the backrests of each seat, the second sensing data can characterize the contact area between the user and the seat based on the pressure value applied to the target seat back.

[0114] The backrest of a seat refers to the vertical area on the back of the seat that supports the user's back and shoulders.

[0115] Alternatively, the contact area between the user and the seat can be determined by assuming that the pressure is uniformly distributed across the contact area between the user and the seat, and thus by the relationship between the pressure value detected by the pressure sensor and the pressure intensity.

[0116] When pressure sensors can be installed at the seat cushion position and / or backrest position of each seat in the vehicle, the pressure value of the target seat determined based on the second sensing data may include the pressure value at the seat cushion position and / or the pressure value at the backrest position of the target seat.

[0117] Because users with greater weight and / or larger body size will experience greater displacement of the target seat belt compared to users with less weight and / or smaller body size in order to ensure that the target seat belt is worn correctly and properly inserted into the target seat belt buckle, the pressure value may optionally be positively correlated with the second threshold.

[0118] A seatbelt buckle is a component in a vehicle used to secure and release seatbelts. When the seatbelt is pulled out from the guide and inserted into the buckle, the buckle secures the seatbelt in place to ensure it restrains the user in the seat and provides protection while the vehicle is in motion.

[0119] When the vehicle's attitude change rate is large, the user may lean forward or tilt to the side due to inertia, which may cause the target seat belt to be pulled out further. Therefore, optionally, the attitude change rate and the second threshold can be positively correlated.

[0120] The material of the target seat belt can characterize its elasticity. For example, since polyester has less elasticity than nylon, the second threshold value when the target seat belt is made of polyester is less than the second threshold value when the target seat belt is made of nylon. That is, the elasticity of the target seat belt, as characterized by its material, can be positively correlated with the second threshold value.

[0121] In this embodiment, the vehicle also includes multiple seats and multiple pressure sensors. The seats are equipped with pressure sensors, and the second threshold is determined based on the pressure value of the target seat, the rate of change of posture, and the material of the target seat belt. That is to say, the second threshold is a dynamically adjusted and dynamically determined threshold. Therefore, the second threshold can flexibly and reliably adapt to different users, different vehicle motion states, and target seat belts of different materials. Thus, based on the more flexible and reliable second threshold, false detection phenomena that may occur under some special circumstances can be avoided, ensuring that the detection results of whether the target seat belt is worn have higher accuracy and reliability.

[0122] In an exemplary embodiment, determining the displacement of the target seatbelt includes:

[0123] If the pressure value applied to the target seat is greater than or equal to the pressure threshold, determine the displacement of the target seat belt.

[0124] In an exemplary embodiment, determining the displacement of the target seatbelt includes:

[0125] If the pressure value on the target seat is determined to be greater than or equal to the pressure threshold, the first position data and the second position data of the target seat belt are determined based on the first sensing data. The first position data is the data collected by the target displacement detection sensor at the initial position of the target seat belt, and the second position data is the data collected by the target displacement detection sensor at the current position of the target seat belt.

[0126] Based on the first and second position data, the displacement of the target seat belt is determined.

[0127] In this embodiment, the vehicle control system will only drive the displacement of the target seat belt when the pressure value on the target seat is greater than or equal to the pressure threshold. This avoids the situation where the displacement detection sensor continues to output position data and consume a lot of computing resources when the target seat has not been occupied by a user and the target seat belt does not need to be pulled out. Based on this, the vehicle control system can determine whether the target seat belt is correctly worn only when the user is occupied by the target seat and the target seat belt needs to be pulled out, thus avoiding the undesirable situation of the vehicle control system wasting a lot of computing resources.

[0128] In one exemplary embodiment, the vehicle further includes multiple seats and multiple pressure sensors, with pressure sensors respectively disposed at the seat cushion and backrest positions on the seats, and each seat is equipped with a seat belt. The method further includes:

[0129] The data collected by the target pressure sensor is acquired to obtain the second sensing data. The target pressure sensor is the pressure sensor of the target seat corresponding to the target seat belt among multiple pressure sensors.

[0130] Based on the second sensor data, the pressure values ​​at the seat cushion and backrest of the target seat are determined respectively.

[0131] Based on the pressure value exerted on the backrest of the target seat, the contact area between the target seat and the user is determined;

[0132] The second threshold is determined based on the pressure value, contact area, rate of posture change, and material of the target seat belt at the seat cushion position.

[0133] Since there is a positive correlation between the contact area and the user's body size, and in general, if the user's body size increases, then the user needs to pull the seat belt out to a greater length in order to wear it correctly, the contact area and the second threshold can be positively correlated.

[0134] In this embodiment, the vehicle also includes multiple seats and multiple pressure sensors. The seats are equipped with pressure sensors, and the second threshold is determined based on the pressure value of the target seat, the rate of change of posture, and the material of the target seat belt. That is to say, the second threshold is a dynamically adjusted and dynamically determined threshold. Therefore, the second threshold can flexibly and reliably adapt to different users, different vehicle motion states, and target seat belts of different materials. Thus, based on the more flexible and reliable second threshold, false detection phenomena that may occur under some special circumstances can be avoided, ensuring that the detection results of whether the target seat belt is worn have higher accuracy and reliability.

[0135] In one exemplary embodiment, the vehicle also includes a plurality of seat belt buckles and a plurality of buckle sensors, each seat belt buckle being configured in a one-to-one correspondence with each seat belt, and each seat belt buckle being configured with a buckle sensor.

[0136] The determination that the target seatbelt is not being worn correctly when the rate of attitude change is greater than or equal to a first threshold and the displacement of the target seatbelt is less than or equal to a second threshold includes:

[0137] The data collected by the target buckle sensor is obtained to obtain the third sensor data. The target buckle sensor is the buckle sensor corresponding to the target seat belt among multiple buckle sensors.

[0138] Based on third-sensor data, determine the buckle engagement information of the target seatbelt.

[0139] If the buckle information indicates that the target seat belt buckle is in the buckled state, the rate of change of the attitude data is greater than or equal to the first threshold, and the displacement of the target seat belt is less than or equal to the second threshold, it is determined that the target seat belt is not being worn correctly.

[0140] Among them, the buckle sensor refers to the sensor installed inside the seat belt buckle to detect whether the seat belt buckle is inserted into the seat belt.

[0141] Since each seatbelt buckle is set to correspond one-to-one with each seatbelt, and each seatbelt buckle is equipped with a buckle sensor, each seatbelt and each buckle sensor are also set to correspond one-to-one.

[0142] When the seatbelt buckle is inserted into the seatbelt or by a latch, the third sensor data can determine the buckle's engagement information, indicating that the seatbelt buckle is in an engaged state; when the seatbelt buckle is not inserted into the seatbelt, the third sensor data can determine the buckle's locking information, indicating that the seatbelt buckle is not in an engaged state.

[0143] Since the target seatbelt buckle may be inserted by the seatbelt itself or by the seatbelt clip when it is determined that the target seatbelt buckle is in the engaged state, comprehensively considering the buckle engagement information during the process of determining whether the target seatbelt is being worn correctly can obviously improve the accuracy of the detection of the target seatbelt wearing result.

[0144] A seatbelt buckle is a component used to simulate the insertion of a seatbelt into the buckle to prevent the control system from generating an alarm signal. It is easy to understand that seatbelt buckles are highly detrimental to the personal safety of occupants while the vehicle is in motion. Therefore, in determining whether a target seatbelt is being worn correctly, the buckle's engagement information must be considered to avoid situations where the user uses the buckle but does not properly wear the seatbelt.

[0145] In this embodiment, the vehicle also includes multiple seat belt buckles and multiple buckle sensors. The vehicle's control system determines the buckling information of the target seat belt buckle through the target buckle sensor. Therefore, the target seat belt is determined not to be worn correctly only when the buckling information indicates that the target seat belt buckle is in a buckled state, the rate of change of the posture data is greater than or equal to a first threshold, and the displacement of the target seat belt is less than or equal to a second threshold. Based on this, it can avoid the undesirable situation where a user sits in the target seat and does not wear the seat belt correctly, but instead inserts a deceptive product such as a seat belt buckle into the target seat belt buckle to avoid generating an alarm signal. Furthermore, by avoiding the false alarm caused by products such as seat belt buckles, it can significantly ensure that the detection results of whether the target seat belt is worn have higher accuracy and reliability.

[0146] In an exemplary embodiment, the attitude data includes vehicle speed, vehicle tilt angle, and vehicle acceleration; determining that the target seatbelt is not properly worn when the rate of attitude change is greater than or equal to a first threshold and the displacement of the target seatbelt is less than or equal to a second threshold includes:

[0147] If the rate of change of vehicle speed is greater than or equal to a speed change rate threshold, the rate of change of vehicle tilt angle is greater than or equal to a tilt angle change rate threshold, or the rate of change of vehicle acceleration is greater than or equal to an acceleration change rate threshold, and the displacement of the target seat belt is less than or equal to a second threshold, it is determined that the target seat belt is not being worn correctly.

[0148] Vehicle speed refers to the instantaneous rate of motion of the vehicle's center of mass relative to the ground coordinate system.

[0149] Optionally, wheel speed sensors may be installed on the inner side of the front wheel hub and / or the inner side of the rear wheel hub, so that the vehicle control system can determine the vehicle speed through the sensing data provided by the wheel speed sensors.

[0150] Vehicle camber angle refers to the angle between the vehicle body and the horizontal ground. Optionally, vehicle camber angle may include pitch angle, which characterizes the angle of tilt of the vehicle in the longitudinal direction, and roll angle, which characterizes the angle of tilt of the vehicle in the lateral direction.

[0151] Vehicle acceleration refers to the rate of change of a vehicle's speed with respect to time.

[0152] Optionally, inertial measurement units (IMUs) can be installed in locations within the vehicle that are characterized by high rigidity, proximity to the center of mass, and low vibration, such as below the vehicle's control system, under the crossbeam of the front seats, or in the center of the vehicle's roof interior. In this way, the vehicle's control system can determine the vehicle's tilt angle and acceleration using the sensing data provided by the IMU.

[0153] Optionally, the rate of change of vehicle speed can be determined based on the vehicle speed within a preset time interval; the rate of change of vehicle tilt angle can be determined based on the vehicle tilt angle within a preset time interval; and the rate of change of vehicle acceleration can be determined based on the vehicle acceleration within a preset time interval.

[0154] If at least one of the following three conditions is met, and the displacement of the target seat belt is less than or equal to the second threshold, then the target seat belt is determined to be not worn correctly.

[0155] In this embodiment, if the rate of change of vehicle speed is greater than or equal to a speed change rate threshold, the rate of change of vehicle tilt angle is greater than or equal to a tilt angle change rate threshold, or the rate of change of vehicle acceleration is greater than or equal to an acceleration change rate threshold, and the displacement of the target seat belt is less than or equal to a second threshold, it is determined that the target seat belt is not worn correctly. Thus, the vehicle's attitude change rate can be fully considered, improving the accuracy and reliability of the target seat belt wearing result.

[0156] In one exemplary embodiment, the method further includes:

[0157] An alarm signal is generated if it is determined that the target's seat belt is not being worn correctly.

[0158] Among them, the alarm signal refers to the signal used to remind the user in the target seat corresponding to the target seat belt to pay attention to wearing the seat belt correctly.

[0159] Optionally, the alarm signal may be presented in the form of an audible signal, a visual signal, a vibration signal, or other forms.

[0160] For example, the sound signal could be a "beep" sound effect played by the vehicle's speakers, or a voice effect such as "Please wear your seatbelt"; the visual signal could be a prompt icon displayed on the central control screen, or a continuously flashing animation, or a flashing effect of the ambient lights in the vehicle; the vibration signal could be a slight vibration of the target seat, or a slight vibration of the target seatbelt.

[0161] In this embodiment, when it is determined that the target seat belt is not worn correctly, the control system will generate an alarm signal to remind the user in the target seat corresponding to the target seat belt to wear the seat belt. Thus, based on the accurate and timely generated alarm signal, it can avoid accidental injury to the user that may be caused by the user not wearing the seat belt correctly, thereby significantly improving the vehicle's driving safety and the protection effect for the user.

[0162] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0163] Based on the same inventive concept, this application also provides a seatbelt wearing detection device for implementing the seatbelt wearing detection method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more seatbelt wearing detection device embodiments provided below can be found in the limitations of the seatbelt wearing detection method described above, and will not be repeated here.

[0164] In one exemplary embodiment, such as Figure 4As shown, a seatbelt wearing detection device is provided, including: an acquisition module 402, a first determination module 404, a second determination module 406, and a third determination module 408, wherein:

[0165] The acquisition module 402 is used to acquire the vehicle's attitude data.

[0166] The first determining module 404 is used to determine the vehicle's attitude change rate based on attitude data.

[0167] The second determining module 406 is used to determine the displacement of the target safety belt, which is any one of a plurality of safety belts.

[0168] The third determining module 408 is used to determine that the target seat belt is not worn correctly when the attitude change rate is greater than or equal to the first threshold and the displacement of the target seat belt is less than or equal to the second threshold.

[0169] In an exemplary embodiment, the vehicle further includes multiple displacement detection sensors and multiple guides, with each guide corresponding to a different seatbelt. Each displacement detection sensor is disposed at a target position of each guide, and the target position of each guide is disposed opposite to each seatbelt. The second determining module 406 is specifically used to acquire data collected by the target displacement detection sensor to obtain first sensing data, wherein the target displacement detection sensor is the displacement detection sensor corresponding to the target seatbelt; and based on the first sensing data, to determine the displacement of the target seatbelt.

[0170] In an exemplary embodiment, the second determining module 406 is specifically used to determine first position data and second position data of the target seat belt based on the first sensing data. The first position data is the data collected by the target displacement detection sensor at the initial position of the target seat belt, and the second position data is the data collected by the target displacement detection sensor at the current position of the target seat belt. Based on the first position data and the second position data, the displacement of the target seat belt is determined.

[0171] In one exemplary embodiment, the vehicle also includes multiple seats and multiple pressure sensors, with pressure sensors disposed on the seats and a seatbelt provided on each seat, such as... Figure 4 As shown, the above-mentioned device also includes a fourth determining module 410, which is used to acquire data collected by the target pressure sensor to obtain second sensing data. The target pressure sensor is a pressure sensor installed on the target seat corresponding to the target seat belt among multiple pressure sensors. Based on the second sensing data, the pressure value of the target seat is determined. Based on the pressure value, the rate of change of posture and the material of the target seat belt, a second threshold is determined.

[0172] In an exemplary embodiment, the vehicle further includes multiple seat belt buckles and multiple buckle sensors, with each seat belt buckle corresponding to a specific seat belt, and each seat belt buckle containing a buckle sensor. The third determining module 408 is specifically used to acquire data collected by the target buckle sensor to obtain third sensing data, wherein the target buckle sensor is the buckle sensor corresponding to the target seat belt among the multiple buckle sensors. Based on the third sensing data, the buckling information of the target seat belt buckle is determined. If the buckling information indicates that the target seat belt buckle is in a buckled state, the rate of change of the posture data is greater than or equal to a first threshold, and the displacement of the target seat belt is less than or equal to a second threshold, it is determined that the target seat belt is not worn correctly.

[0173] In an exemplary embodiment, the attitude data includes vehicle speed, vehicle tilt angle, and vehicle acceleration; the third determining module 408 is specifically used to determine that the target seat belt is not properly worn when the rate of change of vehicle speed is greater than or equal to a speed change rate threshold, the rate of change of vehicle tilt angle is greater than or equal to a tilt angle change rate threshold, or the rate of change of vehicle acceleration is greater than or equal to an acceleration change rate threshold, and the displacement of the target seat belt is less than or equal to a second threshold.

[0174] In one exemplary embodiment, such as Figure 4 As shown, the device also includes an alarm module 412, which generates an alarm signal when it is determined that the target seat belt is not worn correctly.

[0175] Each module in the aforementioned seatbelt wearing detection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0176] Based on the same inventive concept, this application also provides a vehicle for implementing the seatbelt wearing detection method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more vehicle embodiments provided below can be found in the limitations of the seatbelt wearing detection method described above, and will not be repeated here.

[0177] In one exemplary embodiment, a vehicle is also provided, including a plurality of seat belts and a control system, the control system being used for:

[0178] Acquire vehicle attitude data;

[0179] Based on attitude data, determine the vehicle's attitude change rate;

[0180] Determine the displacement of the target seat belt, which is any one of multiple seat belts;

[0181] If the rate of change of attitude is greater than or equal to the first threshold and the displacement of the target seat belt is less than or equal to the second threshold, it is determined that the target seat belt is not being worn correctly.

[0182] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores vehicle attitude data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When executed by the processor, the computer program implements a seatbelt wearing detection method.

[0183] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a seatbelt wearing detection method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0184] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0185] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0186] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above-described method embodiments.

[0187] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0188] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0189] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0190] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0191] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for detecting seatbelt wearing, characterized in that, In a vehicle control system, the vehicle includes multiple seat belts, multiple seats, and multiple pressure sensors, wherein the pressure sensors are disposed on the seats, and each seat is provided with a seat belt, the method includes: Acquire the attitude data of the vehicle; Based on the attitude data, the attitude change rate of the vehicle is determined; Determine the displacement of the target seat belt, wherein the target seat belt is any one of the plurality of seat belts; If the rate of change of posture is greater than or equal to a first threshold and the displacement of the target seat belt is less than or equal to a second threshold, it is determined that the target seat belt is not being worn correctly. The method further includes: Data collected by the target pressure sensor is acquired to obtain second sensing data. The target pressure sensor is the pressure sensor installed in the target seat corresponding to the target seat belt among a plurality of pressure sensors. Based on the second sensing data, the pressure value of the seat cushion of the target seat and the pressure value of the backrest of the target seat are determined respectively. Based on the pressure value exerted on the backrest of the target seat, the contact area between the target seat and the user is determined; The second threshold is determined based on the pressure value, contact area, posture change rate of the target seat cushion, and the material of the target seat belt. The pressure value is positively correlated with the second threshold, the rate of change of posture is positively correlated with the second threshold, the material of the target seat belt, which characterizes the elasticity of the target seat belt, is positively correlated with the second threshold, and the contact area is positively correlated with the second threshold.

2. The method according to claim 1, characterized in that, The vehicle also includes multiple displacement detection sensors and multiple guides, with each guide corresponding to one of the seat belts. Each displacement detection sensor is positioned at a target location on each guide, and each target location on each guide is positioned opposite to one of the seat belts. Determining the displacement of the target seat belt includes: The data collected by the target displacement detection sensor is obtained to obtain the first sensing data, wherein the target displacement detection sensor is the displacement detection sensor corresponding to the target seat belt; Based on the first sensor data, the displacement of the target seat belt is determined.

3. The method according to claim 2, characterized in that, Determining the displacement of the target seatbelt based on the first sensing data includes: Based on the first sensing data, the first position data and the second position data of the target seat belt are determined. The first position data is the data collected by the target displacement detection sensor at the initial position of the target seat belt, and the second position data is the data collected by the target displacement detection sensor at the current position of the target seat belt. Based on the first location data and the second location data, the displacement of the target seat belt is determined.

4. The method according to claim 1, characterized in that, Determining the vehicle's attitude change rate based on the attitude data includes: The attitude change rate of the vehicle is determined based on attitude data within a preset time interval.

5. The method according to claim 1, characterized in that, The vehicle also includes multiple seat belt buckles and multiple buckle sensors. Each seat belt buckle is configured to correspond one-to-one with each seat belt, and each seat belt buckle is equipped with a buckle sensor. The step of determining that the target seat belt is not properly worn when the rate of change of attitude is greater than or equal to a first threshold and the displacement of the target seat belt is less than or equal to a second threshold includes: Data collected by the target buckle sensor is acquired to obtain third sensing data, wherein the target buckle sensor is the buckle sensor corresponding to the target seat belt among the multiple buckle sensors; Based on the third sensor data, the buckling information of the target seat belt buckle is determined; If the buckle information indicates that the target seat belt buckle is in a buckled state, the rate of change of the attitude data is greater than or equal to a first threshold, and the displacement of the target seat belt is less than or equal to a second threshold, then it is determined that the target seat belt is not being worn correctly.

6. The method according to claim 1, characterized in that, The attitude data includes vehicle speed, vehicle tilt angle, and vehicle acceleration; determining that the target seatbelt is not properly worn when the rate of change of attitude is greater than or equal to a first threshold and the displacement of the target seatbelt is less than or equal to a second threshold includes: If the rate of change of the vehicle speed is greater than or equal to a speed change rate threshold, the rate of change of the vehicle tilt angle is greater than or equal to a tilt angle change rate threshold, or the rate of change of the vehicle acceleration is greater than or equal to an acceleration change rate threshold, and the displacement of the target seat belt is less than or equal to a second threshold, it is determined that the target seat belt is not being worn correctly.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: An alarm signal is generated if it is determined that the target seat belt is not being worn correctly.

8. A seatbelt wearing detection device, characterized in that, The device is applied to a vehicle control system, the vehicle including multiple seat belts, multiple seats, and multiple pressure sensors, wherein the pressure sensors are disposed on the seats, and each seat is provided with one seat belt, the device comprising: An acquisition module is used to acquire the attitude data of the vehicle; The first determining module is used to determine the attitude change rate of the vehicle based on the attitude data; The second determining module is used to determine the displacement of the target seat belt, wherein the target seat belt is any one of the plurality of seat belts; The third determining module is used to determine that the target seat belt is not worn correctly when the attitude change rate is greater than or equal to a first threshold and the displacement of the target seat belt is less than or equal to a second threshold. The device further includes a fourth determining module, which is used to acquire data collected by a target pressure sensor to obtain second sensing data. The target pressure sensor is a pressure sensor installed on the target seat corresponding to the target seat belt among a plurality of pressure sensors. Based on the second sensing data, the pressure value of the seat cushion position and the pressure value of the backrest position of the target seat are determined respectively. Based on the pressure value of the backrest position of the target seat, the contact area between the target seat and the user is determined. Based on the pressure value of the seat cushion position, the contact area, the rate of change of posture, and the material of the target seat belt, a second threshold is determined. The pressure value is positively correlated with the second threshold, the rate of change of posture is positively correlated with the second threshold, the material of the target seat belt, which characterizes the elasticity of the target seat belt, is positively correlated with the second threshold, and the contact area is positively correlated with the second threshold.

9. The apparatus according to claim 8, characterized in that, The device further includes: An alarm module is used to generate an alarm signal if it is determined that the target seat belt is not worn correctly.

10. A vehicle comprising a plurality of seat belts, a plurality of seats, a plurality of pressure sensors, and a control system, wherein the pressure sensors are disposed on the seats, and each of the seats is provided with one of the seat belts, characterized in that, The control system is used for: Acquire the attitude data of the vehicle; Based on the attitude data, the attitude change rate of the vehicle is determined; Determine the displacement of the target seat belt, wherein the target seat belt is any one of the plurality of seat belts; If the rate of change of posture is greater than or equal to a first threshold and the displacement of the target seat belt is less than or equal to a second threshold, it is determined that the target seat belt is not being worn correctly. The control system is also used for: Data collected by the target pressure sensor is acquired to obtain second sensing data. The target pressure sensor is the pressure sensor installed in the target seat corresponding to the target seat belt among a plurality of pressure sensors. Based on the second sensing data, the pressure value of the seat cushion of the target seat and the pressure value of the backrest of the target seat are determined respectively. Based on the pressure value exerted on the backrest of the target seat, the contact area between the target seat and the user is determined; The second threshold is determined based on the pressure value, contact area, posture change rate of the target seat cushion, and the material of the target seat belt. The pressure value is positively correlated with the second threshold, the rate of change of posture is positively correlated with the second threshold, the material of the target seat belt, which characterizes the elasticity of the target seat belt, is positively correlated with the second threshold, and the contact area is positively correlated with the second threshold.

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