Control method of vehicle seat

Abstract

The application provides a control method of a vehicle seat, which comprises: receiving a first control signal, the first control signal can comprise a signal requesting to adjust a seat of a vehicle to a first pose and is associated with a service type function in the vehicle; receiving a second control signal, the second control signal comprises a signal requesting to adjust the seat to a second pose and is associated with a function other than the service type function in the vehicle. Based on the first control signal and the second control signal, the pose adjustment of the seat is controlled. Based on the above technical solution, in the case of multiple input seat control signals, the pose adjustment of the seat can be controlled based on the received control signals. This is beneficial to balancing the control requirements of different functions and improving the riding experience of users.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicles, and more specifically, to a method for controlling a vehicle seat. Background Technology

[0002] Nowadays, vehicles are not only a means of transportation but also an entertainment venue. For example, users can turn on cinema mode to watch movies inside the car. To further enhance the user's entertainment experience, one approach is to control the vehicle's seats in response to activated functions. For instance, when a user activates 4D movie mode, the seat movement can be controlled, making the user feel more immersed in the experience.

[0003] However, there may also be seat control signals in the vehicle that respond to other functions. How to control the seat under multiple input control signals has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a method for controlling a vehicle seat, which can control the seat under multiple input control signals, thereby balancing the control needs of different functions and improving the user's riding experience.

[0005] In a first aspect, a control method is provided, which may include: receiving a first control signal, the first control signal including a signal requesting adjustment of a vehicle seat to a first position, and the first control signal being associated with a service function in the vehicle; receiving a second control signal, the second control signal including a signal requesting adjustment of the seat to a second position, and the second control signal being associated with a function in the vehicle other than the service function. Then, based on the first control signal and the second control signal, the seat position adjustment is controlled.

[0006] In some implementations, the second control signal is a signal associated with the vehicle's motion state. For example, the second control signal may be generated based on the vehicle's motion state, which indicates one or more of the vehicle's speed, acceleration, lateral acceleration, and steering angle.

[0007] In some other implementations, the second control signal is a signal associated with vehicle safety. For example, the second control signal may be a signal generated in response to the triggering of an active safety function of the vehicle, which may include, but is not limited to, automatic emergency braking (AEB) and automatic emergency steering (AES).

[0008] Based on the above technical solution, during the seat posture adjustment process based on service functions, when the controller used to control the seat posture receives signals from other sources for controlling the seat posture, the controller can comprehensively consider the multi-source control signals. This allows it to meet the control requirements of other sources without affecting the user's experience of using service functions, thus balancing the control requirements of different functions and improving the user's driving experience. When the second control signal is generated in response to changes in the vehicle's motion state (such as sudden braking or turning), the above technical solution can balance the user's dual needs for safety and comfort, that is, reducing discomfort caused to occupants by vehicle movement while ensuring the user's experience of using service functions.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the aforementioned control of seat posture adjustment based on the first control signal and the second control signal may include: determining whether the seat posture requested for adjustment by the first control signal and / or the second control signal meets a first condition; and if the seat posture meets the first condition, controlling seat posture adjustment based on the superimposed signal of the first control signal and the second control signal. Wherein, the first condition is associated with a first range of motion, which indicates the range of motion of the seat in at least one dimension.

[0010] Based on the above technical solution, the first range of motion can be used to indicate the range of motion of the seat. By limiting the range of motion of the seat, it is possible to prevent the seat from moving beyond the safe range, thereby improving the safety of the seat. In addition, setting a first condition based on the first range of motion can prevent the control of the seat's posture adjustment from exceeding the safe range, which is beneficial to improving the safety of the seat during movement.

[0011] On the other hand, when the seat posture meets the first condition, the seat posture adjustment can be controlled based on the superposition signal of the first control signal and the second control signal. This can take into account the requirements of service functions and other functions other than service functions for seat posture. When the second control signal is generated in response to changes in the vehicle's motion state, it can enable users to enjoy the seat experience related to service functions without perceiving changes in the vehicle's motion state.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the aforementioned seat posture is the second posture, and the aforementioned first condition includes: the second posture does not exceed the aforementioned first range of motion.

[0013] Based on the above technical solution, the seat posture adjustment is controlled based on whether the second posture meets the first condition. This can omit the process of fusing multiple control signals, which is beneficial for quickly determining whether the posture corresponding to the aforementioned superimposed signal meets the first condition and improves the judgment speed.

[0014] In some implementations, the second control signal relates to the posture adjustment of the seat in the first dimension, the aforementioned first range of motion includes the range associated with the first dimension, and the aforementioned second posture not exceeding the first range of motion includes: the second posture not exceeding the range associated with the first dimension in the first dimension.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, the method may further include: when the seat posture does not meet the first condition, controlling the seat posture to adjust to a third posture based on a second control signal, wherein the third posture does not exceed the first range of motion.

[0016] In some implementations, the second control signal can be received when the vehicle activates a service function and the seat responds to a first control signal related to that service function. Generally, the urgency of such a sudden request to control the seat is higher than that of the first control signal. Therefore, the second control signal can be prioritized for seat posture adjustment to improve user safety and comfort during vehicle use. However, if the posture requested by the second control signal exceeds the preset seat adjustment range, it may affect the lifespan of the seat structure and may also infringe on the user's space in other areas of the vehicle. Therefore, based on the above technical solution, it is helpful to meet the sudden request of the second control signal while ensuring seat safety. When the second control signal is generated in response to changes in the vehicle's motion state, user comfort and vehicle safety can be guaranteed.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the aforementioned seat posture is a fourth posture, which corresponds to a superimposed signal. The superimposed signal is determined based on the first control signal and the second control signal. The aforementioned first condition includes: the fourth posture does not exceed the first range of motion.

[0018] Based on the above technical solution, the adjustment of the seat posture is controlled based on whether the fourth posture meets the first condition. This can balance the adjustment of the seat posture by multiple control signals, which is beneficial to determining whether the seat posture can meet the adjustment requirements of multiple control signals, thereby improving the rationality of the seat control decision.

[0019] As an example, the superimposed signal relates to the seat's pose adjustment in the first dimension, the aforementioned first range of motion includes the range associated with the first dimension, and the aforementioned fourth pose does not exceed the first range of motion, including: the fourth pose does not exceed the range associated with the first dimension in the first dimension.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the method may further include: when the seat posture does not meet the first condition, controlling the seat posture adjustment based on the second control signal.

[0021] Based on the above technical solution, functions in a vehicle other than service functions are often related to user safety. If the first condition is not met, prioritizing the seat position adjustment corresponding to the second control signal can improve safety.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, the method may further include: controlling the posture adjustment of the seat in dimensions other than the first dimension based on the first control signal and / or the second control signal.

[0023] Based on the above technical solution, the adjustment of seat position by multiple control signals can be considered in a balanced manner in other dimensions, which is conducive to balancing the control needs of different functions and improving the user's riding experience.

[0024] As an example, the first control signal relates to the posture adjustment of the seat in a second dimension, and the second control signal does not relate to the posture adjustment of the seat in a second dimension, which is any dimension other than the first dimension. The aforementioned control of the posture adjustment of the seat in dimensions other than the first dimension includes: controlling the posture adjustment of the seat in the second dimension based on the first control signal.

[0025] As another example, both the first control signal and the second control signal relate to the posture adjustment of the seat in a second dimension, which is any one of the other dimensions. The aforementioned control of the posture adjustment of the seat in dimensions other than the first dimension includes: controlling the posture adjustment of the seat in the second dimension based on the first control signal and the second control signal.

[0026] Based on the above technical solutions, the seat can be flexibly adjusted in multiple dimensions, thereby improving the user's perception of the seat's intelligence.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the aforementioned second control signal is determined based on the vehicle's planning information, which can instruct the vehicle on at least one of the following in a first time period: longitudinal deceleration, lateral acceleration, and steering angle, wherein the start time of the first time period is later than the current time.

[0028] Based on the above technical solution, the second control signal is determined based on the vehicle's planning information. This can comprehensively consider the vehicle's driving plan over a period of time in the future and generate corresponding seat control signals. In this way, when the vehicle's longitudinal speed or steering angle begins to change, the seat posture adjustment can be controlled. This helps to synchronize the changes in the vehicle's motion state with the seat posture adjustment based on the second control signal, thereby improving the comfort of passengers as the vehicle's speed changes.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the second control signal is determined based on the detection results of the vehicle's chassis system.

[0030] In conjunction with the first aspect, in some implementations of the first aspect, the first control signal comes from the vehicle's cockpit domain controller, and the second control signal comes from the vehicle's chassis system or intelligent driving domain controller.

[0031] In conjunction with the first aspect, in some implementations of the first aspect, the first control signal includes a signal that responds to at least one of the following service functions: a sleep-inducing function, a 4D cinema function, and an in-car karaoke function.

[0032] Secondly, a control device is provided, comprising an acquisition unit and a processing unit. The acquisition unit is configured to: receive a first control signal, which may include a signal requesting adjustment of a vehicle seat to a first position, and the first control signal is associated with a service function in the vehicle; and receive a second control signal, which includes a signal requesting adjustment of the seat to a second position, and the second control signal is associated with a function in the vehicle other than the service function. The processing unit is configured to: control the seat position adjustment based on the first control signal and the second control signal.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, the aforementioned processing unit is further configured to: determine whether the seat posture requested for adjustment by the first control signal and / or the second control signal meets a first condition; and, if the seat posture meets the first condition, control the seat posture adjustment based on the superimposed signal of the first control signal and the second control signal. Wherein, the first condition is associated with a first range of motion, which indicates the maximum range of motion of the seat in at least one dimension.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the aforementioned seat posture is the second posture, and the aforementioned first condition includes: the second posture does not exceed the aforementioned first range of motion.

[0035] As an example, the second control signal relates to the posture adjustment of the seat in a first dimension, the aforementioned first range of motion includes the range associated with the first dimension, and the aforementioned second posture not exceeding the first range of motion includes: the second posture not exceeding the range associated with the first dimension in the first dimension.

[0036] In conjunction with the second aspect, in some implementations of the second aspect, the aforementioned processing unit is further configured to: when the seat posture does not meet the first condition, control the seat posture to be adjusted to a third posture based on the second control signal, wherein the third posture does not exceed the first range of motion.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, the aforementioned seat posture is a fourth posture, which corresponds to a superimposed signal. The superimposed signal is determined based on the first control signal and the second control signal. The aforementioned first condition includes: the fourth posture does not exceed the first range of motion.

[0038] As an example, the superimposed signal relates to the seat's pose adjustment in the first dimension, the aforementioned first range of motion includes the range associated with the first dimension, and the aforementioned fourth pose does not exceed the first range of motion, including: the fourth pose does not exceed the range associated with the first dimension in the first dimension.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the aforementioned processing unit is also used to: control the seat posture adjustment based on the second control signal when the seat posture does not meet the first condition.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, the aforementioned processing unit is also used to: control the posture adjustment of the seat in dimensions other than the first dimension based on the first control signal and / or the second control signal.

[0041] As an example, the first control signal relates to the posture adjustment of the seat in the second dimension, and the second control signal does not relate to the posture adjustment of the seat in the second dimension, which is any other dimension. The aforementioned processing unit is also used to: control the posture adjustment of the seat in the second dimension based on the first control signal.

[0042] As another example, both the first control signal and the second control signal relate to the posture adjustment of the seat in a second dimension, which is any one of the other dimensions. The aforementioned processing unit is also used to: control the posture adjustment of the seat in the second dimension based on the first control signal and the second control signal.

[0043] In conjunction with the second aspect, in some implementations of the second aspect, the aforementioned second control signal is determined based on the vehicle's planning information, which can instruct the vehicle on at least one of the following in a first time period: longitudinal deceleration, lateral acceleration, and steering angle, wherein the start time of the first time period is later than the current time.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the second control signal is determined based on the detection results of the vehicle's chassis system.

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the first control signal comes from the vehicle's cockpit domain controller, and the second control signal comes from the vehicle's chassis system or intelligent driving domain controller.

[0046] In conjunction with the second aspect, in some implementations of the second aspect, the first control signal includes a signal that responds to at least one of the following service functions: a sleep-inducing function, a 4D cinema function, and an in-car karaoke function.

[0047] Thirdly, a control device is provided, comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0048] In conjunction with the third aspect, in some implementations of the third aspect, the device also includes a memory.

[0049] Fourthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first aspect.

[0050] It should be noted that the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0051] Fifthly, a computer-readable storage medium is provided, the computer-readable medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0052] In a sixth aspect, a chip system is provided, the chip system including a processor for supporting the implementation of the functions involved in the first aspect above, such as transmitting or processing the data and / or information involved in the methods described above.

[0053] In some possible implementations, the chip system also includes a memory for storing program instructions and data necessary for vehicle or communication equipment. The chip system can consist of chips or include chips and other discrete components.

[0054] In a seventh aspect, a terminal is provided, the terminal including means as in any possible implementation of the second or third aspect, or the terminal including a computer-readable storage medium as in any possible implementation of the fifth aspect, or the terminal including a chip system as in any possible implementation of the sixth aspect, or the terminal loading a computer program product as in any possible implementation of the fourth aspect.

[0055] In conjunction with aspect seven, in some implementations of aspect seven, the terminal may include vehicles in a broad sense, such as transportation vehicles (e.g., commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (e.g., forklifts, trailers, tractors, etc.), engineering vehicles (e.g., excavators, bulldozers, cranes, etc.), agricultural equipment (e.g., lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. In practical implementations, the vehicle may also be a road vehicle, a water vehicle, an air vehicle, industrial equipment, agricultural equipment, or other intelligent driving equipment such as entertainment equipment. In some implementations, the aforementioned vehicle may also include intelligent terminals that can be ridden by humans, or the aforementioned vehicle may also include intelligent terminals such as mobile robots.

[0056] For the beneficial effects not described in detail in aspects two through seven, please refer to the description in aspect one, which will not be repeated here. Attached Figure Description

[0057] Figure 1 This is a functional schematic diagram of the vehicle 100 provided in the embodiments of this application.

[0058] Figure 2 This is a schematic flowchart of a control method 200 provided in an embodiment of this application.

[0059] Figure 3 This is one implementation method for controlling the adjustment of seat posture provided in the embodiments of this application.

[0060] Figure 4 This is a schematic diagram of a control device 400 provided in an embodiment of this application. Detailed Implementation

[0061] Before describing the embodiments of this application, the following explanation is given first.

[0062] In the description of the embodiments in this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0063] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0064] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0065] See Figure 1 As an example, Figure 1 This is a functional schematic diagram of the vehicle 100 provided in the embodiments of this application.

[0066] Vehicle 100 may include multiple subsystems, such as perception system 120 and computing platform 130. Optionally, vehicle 100 may include more or fewer subsystems, and each subsystem may include one or more components. In addition, each subsystem and component of vehicle 100 may be interconnected via wired or wireless means.

[0067] The perception system 120 may include several types of sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 120 may include a positioning system, which may be a global positioning system (GPS), a BeiDou system, or another positioning system. The perception system 120 may include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0068] Some or all of the functions of vehicle 100 can be controlled by computing platform 130. Computing platform 130 may include processors 131 to 13n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor unit (MPU), graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement related functions. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 130 may also include a memory for storing instructions. Some or all of the processors 131 to 13n can call the instructions in the memory to implement the corresponding functions.

[0069] The computing platform 130 can control the functions of the vehicle 100 based on inputs received from various subsystems (e.g., the sensing system 120). In some embodiments, the computing platform 130 can be used to provide control over many aspects of the vehicle 100 and its subsystems.

[0070] Optionally, the above components are just an example. In actual applications, the components in each of the above modules may be added or deleted as needed.

[0071] The method provided in this application can be applied to the field of intelligent control. For example, the method provided in this application can be used in the application scenario of controlling vehicle seats. The vehicle 100 in this application can include: road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, vehicle 100 can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc.; or vehicle 100 includes a wheeled device, which can be: a robot, mobile medical equipment, or experimental platform. This application does not specifically limit the type of vehicle.

[0072] As mentioned in the background section, vehicles can serve not only as a means of transportation but also as an entertainment venue. Users can rest or engage in other recreational activities while in the vehicle. To enhance the user's entertainment experience, one approach is to control the vehicle's seats in response to its entertainment functions. For example, when a user activates a soothing function, the seat can be controlled to move slowly. Similarly, when a user activates 4D cinema mode, the seat can be controlled to move in response to movie scenes.

[0073] However, vehicles may also contain seat control signals that respond to other functions, which can also control seat movement. For example, a vehicle might have a seat control signal that responds to a seat roll stabilization function, controlling seat movement based on the vehicle's motion state. How to control the seat under multiple input control signals has become a pressing problem to be solved.

[0074] In view of this, this application proposes a method for controlling a vehicle seat. Specifically, the seat's posture adjustment can be controlled based on control signals associated with service functions and control signals associated with functions other than service functions. Based on the above scheme, this method can adjust the seat's posture under multiple input control signals, which is beneficial for balancing the control needs of different functions and improving the user's riding experience.

[0075] The following is combined Figure 2 The control method 200 provided in the embodiments of this application will be described in detail.

[0076] See Figure 2 As an example, Figure 2 This is a schematic flowchart of a control method 200 provided in an embodiment of this application. Exemplarily, Figure 2It can be executed by the aforementioned vehicle 100; or it can be executed by the aforementioned computing platform 130; or it can be executed by the processor, circuit, or chip in the aforementioned computing platform 130. For example... Figure 2 As shown, the control method 200 may include some or all of the following steps.

[0077] S210 receives the first control signal.

[0078] As an example, the first control signal could be a signal associated with a service function within the cabin. Alternatively, the first control signal could be a signal that responds to a service function within the cabin.

[0079] For example, service functions can be one or more services provided by the vehicle to the user, including intelligent interaction, entertainment systems, safety monitoring, and environmental control, aimed at improving the driving experience and passenger comfort. The service functions involved in this application can be linked to seat posture, meaning that the seat posture can change during the operation of the service function. For example, service functions may include at least one of the following: in-vehicle karaoke function, in-vehicle cinema function, seat soothing function, vehicle camping mode function, etc.

[0080] As an example, the first control signal can be used to control the seat's pose adjustment. The seat's pose can be understood as the position and posture of the seat's coordinate system relative to a reference coordinate system. Alternatively, the following explanation uses the vehicle coordinate system (or vehicle reference system) as an example. For instance, the origin of the vehicle coordinate system can be the center of the vehicle's rear axle. The X-axis can be the vehicle's centerline, with its positive direction pointing towards the front of the vehicle. The Y-axis can be the axis of the vehicle's rear axle, orthogonal to the X-axis, with its positive direction pointing towards the left side of the vehicle. The Z-axis can be a vertical line passing through the origin of the vehicle coordinate system, with its positive direction pointing vertically upwards.

[0081] Similarly, the origin of the seat coordinate system can be the midpoint of the seat cushion's rotation axis. The X-axis can be the centerline of the seat cushion, parallel to the ground, with its positive direction pointing towards the front of the vehicle. The Y-axis can be the axis of the seat cushion's rotation axis, orthogonal to the X-axis and parallel to the ground, with its positive direction pointing towards the left side of the vehicle. The Z-axis can be a vertical line passing through the origin of the seat coordinate system, with its positive direction pointing vertically upwards.

[0082] Taking the two coordinate systems mentioned above as examples, the seat pose T can be represented using a 3x4 matrix, for example:

[0083] Where t is a 3x1 matrix (or a 3x1 vector) that can be used to represent the coordinates corresponding to the origin of the seat coordinate system in the vehicle coordinate system.

[0084] For example, .in, , and These represent the three-axis coordinates of the origin of the seat coordinate system in the vehicle coordinate system.

[0085] R is a 3rd-order rotation matrix used to represent the rotational relationship between the seat coordinate system and the vehicle coordinate system. For example, pitch, yaw, and roll angles can be used to represent the rotational relationship between the seat coordinate system and the vehicle coordinate system. The rotation matrix R can be understood as... , as well as The product of, where, Used to represent rotation about the X-axis of the vehicle coordinate system. Used to indicate rotation about the vehicle's Y-axis. Used to represent rotation about the Z-axis of the vehicle coordinate system.

[0086] For example, the first control signal can be used to control the seat posture adjustment to the first position.

[0087] For example, the first control signal may directly indicate one or more parameters associated with the first pose, based on which the first pose can be calculated. For instance, the first control signal may directly indicate a parameter associated with at least one of the following: the X-axis coordinate of the first pose in the vehicle coordinate system, the Y-axis coordinate of the first pose in the vehicle coordinate system, the Z-axis coordinate of the first pose in the vehicle coordinate system, the pitch angle corresponding to the first pose, the yaw angle corresponding to the first pose, and the roll angle corresponding to the first pose.

[0088] For example, the first control signal can also directly indicate the matrix corresponding to the first pose. .matrix It can represent the positional and rotational relationships between the first pose and the vehicle coordinate system, based on matrices. The first pose can be calculated.

[0089] S220 receives the second control signal.

[0090] As an example, the second control signal is used to control the seat's posture adjustment. A description of the posture can be found in the relevant content of step S210, and will not be repeated here. Exemplarily, the second control signal can be used to control the seat's posture adjustment to a second posture; the specific form of the second control signal can be found in the relevant description of the first control signal, and will not be repeated here.

[0091] As an example, the second control signal may be a signal associated with functions in the vehicle other than the aforementioned service functions. Alternatively, the second control signal may be a signal that responds to functions in the vehicle other than the aforementioned service functions.

[0092] For example, the second control signal may be a signal associated with vehicle connectivity functions. For instance, when a user approaches the vehicle and the vehicle detects the user's mobile phone Bluetooth signal, the second control signal may be used to control the seat position adjustment to facilitate the user getting into the vehicle.

[0093] For example, the second control signal can also be a signal associated with the vehicle's motion. For instance, when the vehicle makes a sharp turn, to reduce the user's swaying, the second control signal can be used to control the seat to rotate about the X-axis parallel to the vehicle's coordinate system. If the vehicle turns right, the lateral acceleration is to the right, and the vehicle generates a centrifugal force to the left. To counteract this centrifugal force, the second control signal needs to control the seat to deflect to the right about the X-axis parallel to the vehicle's coordinate system. If the vehicle turns left, the second control signal can adjust the seat's posture by deflecting to the left about the X-axis parallel to the vehicle's coordinate system, thus reducing the user's swaying. As another example, during sudden braking, to prevent the user's body from being restrained by the seatbelt due to inertia and leaning forward, the second control signal can be used to control the seat to rotate about the Y-axis parallel to the vehicle's coordinate system towards the front of the vehicle, and / or control the seat to translate about the Y-axis parallel to the vehicle's coordinate system towards the front of the vehicle. For example, when the vehicle passes through a bumpy road, in order to alleviate the bumpy feeling experienced by the user, the second control signal can be used to translate the seat along the Z-axis parallel to the vehicle coordinate system.

[0094] As another example, the second control signal may be a signal generated in response to the triggering of active safety functions such as AEB and AES of the vehicle. For example, when the AEB function is triggered, a second control signal is generated to control the seat to rotate in the direction of the vehicle's front end about a direction parallel to the Y-axis of the vehicle coordinate system, and / or to control the seat to translate in the direction of the vehicle's front end about a direction parallel to the Y-axis of the vehicle coordinate system.

[0095] To make it easier to understand, the following explanation will take the example of the second control signal being a signal associated with the movement of the vehicle.

[0096] In some implementations, the second control signal can be determined based on the vehicle's motion state at the current moment. For example, the vehicle's motion state at the current moment may include at least one of the following: the vehicle's speed at the current moment, the vehicle's acceleration at the current moment, the vehicle's steering angle at the current moment, etc.

[0097] In other implementations, the second control signal can be determined based on vehicle planning information. This planning information can be used to indicate the vehicle's motion state within a first time period, the start time of which can be later than the current time. For example, the vehicle planning information may include at least one of the following: vehicle speed, vehicle acceleration, and vehicle steering angle within the first time period.

[0098] It is understood that a vehicle's velocity can include the velocity vector of the vehicle along any one or more of the vehicle's X-axis, Y-axis, and Z-axis. Similarly, a vehicle's acceleration can also include the acceleration vector of the vehicle along any one or more of the vehicle's X-axis, Y-axis, and Z-axis.

[0099] It is important to understand that the order of S210 and S220 is not limited. That is, the first control signal can be received first, followed by the second control signal; the second control signal can be received first, followed by the first control signal; or the first and second control signals can be received simultaneously. In actual implementation, the second control signal can also be received during the process of the vehicle activating a service function and the seat adjusting its posture in response to the first control signal related to the service function.

[0100] S230 controls the seat posture adjustment based on the first control signal and the second control signal.

[0101] As an example, the posture adjustment of the seat can be determined based on whether the first condition is met, using the first control signal and / or the second control signal.

[0102] For example, the first condition may be associated with a first range of motion, i.e., the seat posture requested to be adjusted by the control signal (such as a first control signal and / or a second control signal) satisfies the first condition as follows: the seat posture requested to be controlled by the control signal is within the first range of motion. The first range of motion can be used to indicate the range of motion of the seat, or in other words, the first range of motion can be used to indicate the space that the seat can reach. For example, the first range of motion may include at least one of the following: the range of translational motion of the seat along the X-axis parallel to the vehicle coordinate system (hereinafter referred to as translation along the X-axis), the range of translational motion of the seat along the Y-axis parallel to the vehicle coordinate system (hereinafter referred to as translation along the Y-axis), the range of translational motion of the seat along the Z-axis parallel to the vehicle coordinate system (hereinafter referred to as translation along the Z-axis), the range of pitch angles of the seat (hereinafter referred to as rotation about the Y-axis), the range of yaw angles of the seat (hereinafter referred to as rotation about the Z-axis), and the range of roll angles of the seat (hereinafter referred to as rotation about the X-axis).

[0103] In some implementations, the first range of motion can be determined based on the seat structure. For example, the maximum range of motion can be the limit of seat movement constrained by the seat's physical structure. Alternatively, the maximum range of motion can be the safe range of motion of the seat, where the seat's safety is high as long as the seat's posture does not exceed the maximum range of motion. The first range of motion can also be determined based on obstacles around the seat, for example, the first range of motion is limited by the location of the obstacles. Or, the first range of motion can be determined based on the presence of occupants in other seats around the target seat, where the target seat is the seat whose posture adjustment is requested by the first and second control signals. For example, if the target seat is the driver's seat, the first range of motion can be determined based on whether there are occupants in the rear seats behind the driver's seat. When there are occupants in the rear seats behind the driver's seat, the range of motion of the driver's seat related to the X-axis (such as translation along the X-axis and / or rotation about the X-axis) is smaller than the range of motion of the driver's seat related to the X-axis when there are no occupants in the rear seats behind the driver's seat. In practical implementations, the first range of motion can also be determined based on other methods.

[0104] For example, the first range of activity may include a range parallel to the X-axis of the vehicle coordinate system. to Along the range parallel to the Y-axis of the vehicle coordinate system to and the range along the Z-axis of the vehicle coordinate system. to Therefore, the requested seat pose adjustment must satisfy the first condition: the origin of the seat coordinate system. Must meet: , , ,in, , and It is the origin of the seat coordinate system. Coordinates in the vehicle coordinate system.

[0105] For example, the first range of motion may include the range of rotation about the X-axis of the vehicle coordinate system. to The range of rotation around the Y-axis of the vehicle coordinate system to and the range of rotation around the Z-axis of the vehicle coordinate system. to Therefore, the requested seat pose adjustment must satisfy the first condition as follows: the seat coordinate axes must meet the following requirements: , , ,in, It is the angle of rotation of the seat coordinate system around the X-axis of the vehicle coordinate system. It is the angle of rotation of the seat coordinate system around the Y-axis of the vehicle coordinate system. It is the angle of rotation of the seat coordinate system around the Z-axis of the vehicle coordinate system.

[0106] As an example, the first range of motion can be used to indicate the range of motion of the seat, which may be related to the seat's structure. For instance, the first range of motion can be used to indicate the maximum range of motion of the seat, which may be the limit of the seat's range of motion restricted by the seat's physical structure. Alternatively, the maximum range of motion may be the safe range of motion of the seat, where the seat is relatively safe when the seat's posture does not exceed the maximum range of motion, and the seat's safety is compromised when the seat's posture exceeds the maximum range of motion.

[0107] The following two examples illustrate how to determine the posture adjustment of the seat based on the first control signal and / or the second control signal.

[0108] Example 1: Based on the aforementioned target posture seat posture second control signal request, the second posture is requested to determine whether it is within the first activity range, and the seat posture is adjusted accordingly.

[0109] As an example, the second pose being within the first range of motion can be understood as meaning that for any kind of motion (e.g., translation along a coordinate axis, or rotation about a coordinate axis), the second pose is within the first range of motion.

[0110] For example, the second control signal is used to control the seat involving translation along the X-axis, and the first range of motion includes the translational movement range along the X-axis. If the translation along the X-axis corresponding to the second pose is within the translational movement range along the X-axis, then the second pose can be considered to be within the first range of motion.

[0111] For example, the second control signal is used to control the seat's translation along the X-axis and rotation about the X-axis, and the first range of motion includes a translational range and a roll angle range along the X-axis. If the translation along the X-axis corresponding to the second pose is within the translational range along the X-axis, and the rotation about the X-axis corresponding to the second pose is within the roll angle range, then the second pose can be considered to be within the first range of motion.

[0112] For example, when the second posture is within the first range of motion, it can be determined that the posture adjustment of the seat is controlled based on the first control signal and the second control signal.

[0113] For example, the seat posture can be adjusted to a fourth posture based on the superposition of the first and second control signals.

[0114] For example, if the second position is not within the first range of motion, it can be determined that the position adjustment of the seat is controlled based on the second control signal.

[0115] For example, the seat posture can be adjusted to a third posture based on the second control signal, which is within the first range of motion.

[0116] Example 2: Based on whether the fourth pose requested by the superimposed signal of the first control signal and the second control signal is within the first range of motion, adjust the seat pose accordingly.

[0117] As an example, the fourth pose can be determined based on the superposition of the first and second control signals. In other words, based on the aforementioned superposition signal, the seat pose can be controlled to adjust to the fourth pose.

[0118] For example, the fourth pose can be a superposition of the first pose and the second pose.

[0119] For example, the translational part of the fourth pose can be the vector addition of the translational part of the first pose and the translational part of the second pose, and the rotational part of the fourth pose can be the superposition of the rotational part of the first pose and the rotational part of the second pose.

[0120] For example, the fourth pose can be a weighted sum of the first pose and the second pose. In other words, the fourth pose can be the sum of the product of the first pose and the first weight, and the product of the second pose and the second weight, where the sum of the first weight and the second weight can be 1.

[0121] Further, see Figure 3It can determine whether the fourth position is within the first range of motion. If the fourth position is within the first range of motion, the seat position adjustment is controlled based on the superposition signal of the first control signal and the second control signal; or, if the fourth position exceeds the first range of motion, the seat position adjustment is controlled based on the second control signal.

[0122] In one implementation, the superimposed signal relates to the pose adjustment of the seat in a first dimension, and the first range of motion includes a range associated with the first dimension, then the pose of the seat in the first dimension is adjusted based on the superimposed signal.

[0123] For example, both the first and second control signals indicate adjustment of the seat's posture in a first dimension. Furthermore, either the first or second control signal also indicates adjustment of the seat's posture in a second dimension. In this case, the fourth posture is the seat's posture in the first dimension. Therefore, when the fourth posture is within a first range of motion, the seat's posture adjustment in the first dimension is controlled based on the superimposed signal of the first and second control signals; or, when the fourth posture exceeds the first range of motion, the seat's posture adjustment in the second dimension is controlled based on the second control signal. Simultaneously, if the first control signal also indicates adjustment of the seat's posture in the second dimension, then the seat's posture adjustment in the second dimension is controlled based on the first control signal; if the second control signal also indicates adjustment of the seat's posture in the second dimension, then the seat's posture adjustment in the second dimension is controlled based on the second control signal. The first dimension can be any one of translation along the X-axis, translation along the Y-axis, translation along the Z-axis, rotation about the Y-axis, rotation about the X-axis, or rotation about the Z-axis. The second dimension can be any dimension other than the first dimension.

[0124] In another implementation, where the first control signal and the second control signal relate to the posture adjustment of the seat in the first and second dimensions, and the first range of motion includes the range associated with the first and second dimensions, the posture of the seat in the first and second dimensions is adjusted based on the superimposed signal.

[0125] The above are two examples of adjusting the seat posture based on the first control signal and the second control signal. In actual implementation, the first control signal and the second control signal can be used to control the seat posture more flexibly. This application is not limited to this.

[0126] In some embodiments, in order to ensure that the delay in controlling the posture adjustment of the seat is small, the first control signal and the second control signal can be transmitted through a high-bandwidth line.

[0127] In some embodiments, the first control signal and the second control signal may originate from different control domains within the vehicle.

[0128] For example, the first control signal may come from the vehicle's cockpit domain controller, and the second control signal may come from the vehicle's chassis system or intelligent driving domain controller.

[0129] Understandably, to ensure minimal latency in controlling the seat's posture adjustment, the first and second control signals can be transmitted using methods with low latency. For example, the first and second control signals can be transmitted via Ethernet.

[0130] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0131] The above text combines Figures 1 to 3 The methods provided in the embodiments of this application are described in detail below. Figure 4 The apparatus provided in the embodiments of this application is described in detail. It should be understood that the description of the apparatus embodiments corresponds to the description of the method embodiments. Therefore, for content not described in detail, please refer to the method embodiments above. For the sake of brevity, it will not be repeated here.

[0132] This application provides a control device, in which each unit implements the corresponding process of the above-described method embodiment. The device includes an acquisition unit and a processing unit. The acquisition unit can be used to implement corresponding data acquisition or transmission / reception functions, and the processing unit can be used to implement corresponding processing functions.

[0133] Optionally, the device further includes a storage unit, which can be used to store instructions and / or data, and the processing unit can read the instructions and / or data in the storage unit so that the device can perform the relevant actions in the foregoing method embodiments.

[0134] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0135] It should also be understood that the device described here is embodied in the form of a functional unit. The terms "module" or "unit" here may refer to an ASIC, electronic circuitry, a processor (e.g., a shared processor, a proprietary processor, or a group processor, etc.) and memory for executing one or more software or firmware programs, integrated logic circuitry, and / or other suitable components that support the described functions.

[0136] The apparatuses described above have the function of implementing the corresponding steps in the methods described above. These functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above; for example, the acquisition unit can be replaced by a transceiver, and other units, such as the processing unit, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0137] For example, the operations performed by the acquisition unit and the processing unit described above can be performed by a single processor, or they can be performed by different processors.

[0138] In the specific implementation process, the units in the above devices can be fully or partially integrated together, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0139] See Figure 4 As an example, Figure 4 This is a schematic diagram of a control device 400 provided in an embodiment of this application.

[0140] The device 400 includes a memory 410, a processor 420, and a communication interface 430. The memory 410, processor 420, and communication interface 430 are connected via an internal connection path. The memory 410 stores instructions, and the processor 420 executes the instructions stored in the memory 410 to control the communication interface 430 to acquire information, thereby enabling the device 400 to implement the aforementioned control method. Optionally, the memory 410 can be coupled to the processor 420 via an interface, or it can be integrated with the processor 420.

[0141] It should be noted that the communication interface 430 described above uses a transceiver device, such as, but not limited to, a transceiver. The communication interface 430 may also include an input / output interface.

[0142] The processor 420 stores one or more computer programs, which include instructions. When the instructions are executed by the processor 420, the control device 400 performs the control methods described in the above embodiments.

[0143] In implementation, each step of the above method can be completed by the integrated logic circuitry of the hardware in the processor 420 or by instructions in software form. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 410, and the processor 420 reads the information in memory 410 and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0144] As one possible implementation, the control device 400 can be a physical device, such as including one or more of the following modules: central processing unit, microprocessor, application-specific integrated circuit, field-programmable gate array, complex programmable logic device (CPLD), coprocessor (assisting the central processing unit in completing corresponding processing and applications), microcontroller unit (MCU), domain controller (DC), vehicle domain controller (VDC), electronic control unit (ECU), cockpit domain controller (CDC), vehicle integration unit (VIU), vehicle control unit (VCU), motor control unit (MCU), etc. Furthermore, the control device 400 includes at least one processor integrated in the form of a system-on-chip (SOC), commonly referred to by those skilled in the art as an SOC. The SOC may include at least one processor, and when the SOC includes multiple processors, the types of processors may be different.

[0145] Optionally, Figure 4 The communication interface 430 can implement steps S210 and S220 in the aforementioned embodiments. Figure 4 The processor 420 in the above embodiment can implement step S230.

[0146] Optionally, the device 400 can be located in Figure 1 Of the 100 vehicles in the list.

[0147] Optionally, the device 400 can be Figure 1 The computing platform 130 in the vehicle.

[0148] This application also provides a computer-readable storage medium storing program code that, when run on a computer, causes the computer to perform any of the methods described in the above embodiments.

[0149] This application also provides a computer program product, which includes a computer program that, when run, causes a computer to perform any of the methods described in the above embodiments.

[0150] This application also provides a chip, including: a circuit for performing any of the methods in the above embodiments.

[0151] This application embodiment also provides a vehicle, including as follows: Figure 4 The control device shown.

[0152] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0153] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0154] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0155] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0156] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0157] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0158] It should be noted that the personal information and data processing (e.g., collection, storage, use, processing, transmission, provision and disclosure) involved in this application that are protected by the laws and regulations of the relevant countries and regions comply with the relevant laws and regulations of the relevant countries and regions.

[0159] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method, characterized in that, include: Receive a first control signal, the first control signal including a signal requesting adjustment of the vehicle seat to the first position, and the first control signal being associated with a service function in the vehicle; Receive a second control signal, the second control signal including a signal requesting adjustment of the seat to a second position, and the second control signal being associated with a function in the vehicle other than the service function; The seat's posture adjustment is controlled based on the first control signal and the second control signal.

2. The method according to claim 1, characterized in that, The step of controlling the posture adjustment of the seat based on the first control signal and the second control signal includes: Determine whether the seat posture requested by the first control signal and / or the second control signal meets a first condition, the first condition being associated with a first range of motion, the first range of motion being used to indicate the range of motion of the seat in at least one dimension; When the seat posture meets the first condition, the seat posture is adjusted based on the superposition signal of the first control signal and the second control signal.

3. The method according to claim 2, characterized in that, The seat posture is a second posture, and the first condition includes: the second posture does not exceed the first range of motion.

4. The method according to claim 3, characterized in that, The second control signal relates to the posture adjustment of the seat in a first dimension, wherein the first range of motion includes a range associated with the first dimension, and the second posture does not exceed the first range of motion, including: The second pose does not exceed the range associated with the first dimension in the first dimension.

5. The method according to claim 3 or 4, characterized in that, The method further includes: If the seat posture does not meet the first condition, the seat posture is adjusted to a third posture based on the second control signal. The third pose does not exceed the first activity range.

6. The method according to claim 2, characterized in that, The seat posture is a fourth posture, which corresponds to a superimposed signal, and the superimposed signal is determined based on the first control signal and the second control signal. The first condition includes: the fourth pose does not exceed the first activity range.

7. The method according to claim 6, characterized in that, The superimposed signal relates to the seat's pose adjustment in a first dimension, the first range of motion including a range associated with the first dimension, and the fourth pose not exceeding the first range of motion, including: The fourth pose does not exceed the range associated with the first dimension in the first dimension.

8. The method according to claim 6 or 7, characterized in that, The method further includes: If the seat posture does not meet the first condition, the seat posture is adjusted based on the second control signal.

9. The method according to claim 5 or 8, characterized in that, The method further includes: Based on the first control signal and / or the second control signal, the seat is controlled to adjust its posture in dimensions other than the first dimension.

10. The method according to claim 9, characterized in that, The first control signal relates to the posture adjustment of the seat in a second dimension, while the second control signal does not relate to the posture adjustment of the seat in the second dimension. The second dimension is any one of the other dimensions. Controlling the posture adjustment of the seat in dimensions other than the first dimension includes: Based on the first control signal, the seat is controlled to adjust its posture in the second dimension.

11. The method according to claim 9, characterized in that, Both the first control signal and the second control signal relate to the posture adjustment of the seat in a second dimension, where the second dimension is any one of the other dimensions. Controlling the posture adjustment of the seat in dimensions other than the first dimension includes: Based on the first control signal and the second control signal, the seat is controlled to adjust its posture in the second dimension.

12. The method according to any one of claims 1 to 11, characterized in that, The second control signal is determined based on the vehicle's planning information, which indicates at least one of the following for the vehicle in a first time period: longitudinal deceleration, lateral acceleration, and steering angle, wherein the start time of the first time period is later than the current time.

13. The method according to any one of claims 1 to 12, characterized in that, The second control signal is determined based on the detection results of the vehicle's chassis system.

14. The method according to any one of claims 1 to 13, characterized in that, The first control signal comes from the vehicle's cockpit domain controller, and the second control signal comes from the vehicle's chassis system or intelligent driving domain controller.

15. The method according to any one of claims 1 to 14, characterized in that, The first control signal includes a signal that responds to at least one of the following service functions: sleep aid function, 4D cinema function, and in-car karaoke function.

16. A control device, characterized in that, Includes modules or units for performing the method according to any one of claims 1 to 15.

17. A control device, characterized in that, include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 15.

18. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 15.

19. A chip system, characterized in that, The chip system includes circuitry for performing the method as described in any one of claims 1 to 15.

20. A computer program product, characterized in that, The computer program product includes: computer program code, which, when executed by a processor, implements the method as described in any one of claims 1 to 15.

21. A terminal, characterized in that, Alternatively, it may include the apparatus as described in claim 16 or 17, or the computer-readable storage medium as described in claim 18, or the chip system as described in claim 19, or the terminal may be loaded with the computer program product as described in claim 20.

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