Control method of a seat and vehicle

Abstract

This invention discloses a seat control method and a vehicle. The seat control method includes: when the vehicle is not braking, controlling the motor to operate according to a six-step reversing control strategy and a first target position corresponding to the motor-driven mechanism, so that the seat is in a first posture; when the vehicle is braking, if the braking time required for vehicle braking is greater than or equal to a preset time threshold, and the distance to an obstacle is greater than or equal to a preset distance threshold, controlling the motor to operate according to a magnetic field orientation control strategy, a second target position corresponding to the motor-driven mechanism, and a first preset duration; if the braking time is less than the preset time threshold, or the distance to an obstacle is less than the preset distance threshold, controlling the motor to operate according to the magnetic field orientation control strategy, the second target position corresponding to the motor-driven mechanism, and a second preset duration, so that the seat is in a second posture. The technical solution of this invention allows users to use the zero-gravity seat function while the vehicle is in motion, while ensuring personal safety.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to a method for controlling a seat and a vehicle. Background Technology

[0002] With technological advancements, passenger vehicles are becoming increasingly intelligent, leading to ever-higher demands for ride comfort. Zero-gravity seats, in their specific posture (zero-gravity posture), provide a fully relaxing and comfortable experience for the user, making them increasingly popular with automakers.

[0003] However, the use of zero-gravity seats is currently prohibited during vehicle operation, especially at high speeds, which degrades the user experience. How to use the zero-gravity seat function while the vehicle is in motion and ensure personal safety is a technical challenge that needs to be overcome. Summary of the Invention

[0004] This invention provides a method for controlling a seat and a vehicle, enabling users to use the zero-gravity seat function while the vehicle is in motion, and ensuring personal safety.

[0005] According to one aspect of the present invention, a method for controlling a seat is provided, the seat being applied to a vehicle, the seat including at least two motors, the seat having a first posture and a second posture, the vehicle including a seat controller connected to the motors, and the method for controlling the seat being executed by the seat controller; The method includes: When the vehicle is not braking, for each motor, the motor is controlled to run according to the six-step reversing control strategy and the first target position corresponding to the mechanism driven by the motor, so that the seat is in the first posture; When the vehicle brakes, if the braking time required for the vehicle to brake is greater than or equal to a preset time threshold, and the distance of the vehicle from the obstacle is greater than or equal to a preset distance threshold, for each motor, the motor is controlled to operate according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism driven by the motor, and the first preset duration, so that the motor drives its corresponding mechanism to move to the corresponding second target position within the first preset duration, so that the seat is in the second posture; When the braking time is less than the preset time threshold, or the obstacle distance is less than the preset distance threshold, for each motor, the motor is controlled to operate according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism driven by the motor, and the second preset duration, so that the motor drives its corresponding mechanism to move to the corresponding second target position within the second preset duration, so that the seat is in the second posture; wherein, the second preset duration is less than the first preset duration.

[0006] Optionally, any one of the motors is the master motor, and the rest are slave motors; For each motor, the operation of the motor is controlled according to the field-oriented control strategy, the second target position corresponding to the mechanism driven by the motor, and the first preset duration, including: The main motor is controlled to operate according to the magnetic field orientation control strategy, the second target position corresponding to the main motor, and the first preset duration. When determining the position change of the mechanism corresponding to the master motor, for each slave motor, the slave motor is controlled to run according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor, and the first preset duration; For each motor, the operation of the motor is controlled according to the field-oriented control strategy, the second target position corresponding to the mechanism driven by the motor, and the second preset duration, including: The main motor is controlled to operate according to the magnetic field orientation control strategy, the second target position corresponding to the main motor, and the second preset duration. When determining the position change of the mechanism corresponding to the master motor, for each slave motor, the slave motor is controlled to run according to the field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor, and the second preset duration.

[0007] Optionally, controlling the operation of the main motor according to the magnetic field orientation control strategy, the second target position corresponding to the main motor, and the first preset duration includes: The first parameter of the position loop corresponding to the main motor, the second parameter of the speed loop corresponding to the main motor, the third parameter of the quadrature-axis current loop corresponding to the main motor, and the fourth parameter of the direct-axis current loop corresponding to the main motor are determined according to the first preset duration and the first preset correspondence relationship; wherein, the first preset correspondence relationship is the correspondence relationship between the duration and the first, second, third, and fourth parameters corresponding to the main motor; In each control cycle, the target speed of the main motor is determined based on the actual position of the mechanism corresponding to the main motor, the second target position of the mechanism corresponding to the main motor, and the position loop corresponding to the main motor. The initial target quadrature-axis current of the main motor is determined based on the actual speed of the main motor, the target speed of the main motor, and the speed loop corresponding to the main motor. Based on the initial target quadrature-axis current of the main motor and the second preset correspondence, the intermediate target quadrature-axis current and the intermediate target direct-axis current of the main motor are determined; wherein, the second preset correspondence is the correspondence between the initial target quadrature-axis current, the intermediate target quadrature-axis current and the intermediate target direct-axis current. Based on the intermediate target quadrature-axis current, the quadrature-axis current loop, the intermediate target direct-axis current, and the direct-axis current loop of the main motor, a control signal is output to the voltage conversion circuit corresponding to the main motor to control the operation of the main motor.

[0008] Optionally, a control signal is output to the voltage conversion circuit corresponding to the main motor based on the intermediate target quadrature-axis current of the main motor, the quadrature-axis current loop of the main motor, the intermediate target direct-axis current of the main motor, and the direct-axis current loop of the main motor, to control the operation of the main motor, including: The final target quadrature axis current of the main motor is determined based on the intermediate target quadrature axis current and the preset quadrature axis harmonic, and the final target direct axis current of the main motor is determined based on the intermediate target direct axis current and the preset direct axis harmonic. Based on the final target quadrature-axis current of the main motor, the quadrature-axis current loop of the main motor, the final target direct-axis current of the main motor, and the direct-axis current loop of the main motor, a control signal is output to the voltage conversion circuit corresponding to the main motor to control the operation of the main motor.

[0009] Optionally, controlling the operation of the slave motor according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor, and the first preset duration includes: The first parameter of the position loop corresponding to the slave motor, the second parameter of the speed loop corresponding to the slave motor, the third parameter of the quadrature-axis current loop corresponding to the slave motor, and the fourth parameter of the direct-axis current loop corresponding to the slave motor are determined according to the first preset duration and the third preset correspondence. The third preset correspondence is the correspondence between the duration and the first, second, third, and fourth parameters corresponding to the slave motor. The third preset correspondence is different for different slave motors. In each control cycle, the target speed of the slave motor is determined based on the actual position of the mechanism corresponding to the slave motor, the second target position of the mechanism corresponding to the slave motor, and the position loop corresponding to the slave motor. The initial target quadrature-axis current of the slave motor is determined based on the actual speed of the slave motor, the target speed of the slave motor, and the speed loop corresponding to the slave motor. Based on the initial target quadrature-axis current of the slave motor and the fourth preset correspondence, the intermediate target quadrature-axis current and the intermediate target direct-axis current of the slave motor are determined; wherein, the fourth preset correspondence is the correspondence between the initial target quadrature-axis current of the slave motor, the intermediate target quadrature-axis current of the slave motor, and the intermediate target direct-axis current of the slave motor. Based on the intermediate target quadrature-axis current, the quadrature-axis current loop of the slave motor, the intermediate target direct-axis current, and the direct-axis current loop of the slave motor, a control signal is output to the voltage conversion circuit corresponding to the slave motor to control the operation of the slave motor.

[0010] Optionally, a control signal is output to the voltage conversion circuit corresponding to the slave motor based on the intermediate target quadrature-axis current, the quadrature-axis current loop of the slave motor, the intermediate target direct-axis current, and the direct-axis current loop of the slave motor, to control the operation of the slave motor, including: The final target quadrature axis current of the slave motor is determined based on the intermediate target quadrature axis current and the preset quadrature axis harmonic, and the final target direct axis current of the slave motor is determined based on the intermediate target direct axis current and the preset direct axis harmonic. Based on the final target quadrature-axis current of the slave motor, the quadrature-axis current loop of the slave motor, the final target direct-axis current of the slave motor, and the direct-axis current loop of the slave motor, a control signal is output to the voltage conversion circuit corresponding to the slave motor to control the operation of the slave motor.

[0011] Optionally, the method further includes: At preset intervals, a first ratio is determined to the first position change of the main motor and the total first position change required of the main motor. For each slave motor, determine a second ratio between the second position change of the slave motor and the total amount of second position change required for the slave motor; If the absolute value of the difference between the second ratio and the first ratio is greater than a preset difference threshold, then a compensation value is determined based on the difference between the second ratio and the first ratio. After determining the target speed of the slave motor based on the actual position of the mechanism corresponding to the slave motor, the second target position of the mechanism corresponding to the slave motor, and the position loop corresponding to the slave motor, and before determining the initial target quadrature-axis current of the slave motor based on the actual speed of the slave motor, the target speed of the slave motor, and the speed loop corresponding to the slave motor, the method further includes: The target speed of the slave motor is updated according to the compensation value corresponding to the slave motor; The initial target quadrature-axis current of the slave motor is determined based on the actual speed of the slave motor, the target speed of the slave motor, and the speed loop corresponding to the slave motor, including: The initial target quadrature-axis current of the slave motor is determined based on the updated target speed of the slave motor, the actual speed of the slave motor, and the speed loop corresponding to the slave motor.

[0012] Optionally, determining the compensation value based on the difference between the second ratio and the first ratio includes: The compensation value is determined based on the range of the difference between the second ratio and the first ratio; wherein different ranges of the difference correspond to different compensation values, and the larger the maximum value of the range of the difference, the smaller the compensation value; when the second ratio is greater than the first ratio, the compensation value is negative, and when the second ratio is less than the first ratio, the compensation value is positive.

[0013] According to another aspect of the present invention, a vehicle is provided, the vehicle including at least one seat and a seat controller, the seat including at least two motors, the seat having a first posture and a second posture, the seat controller being connected to the motors, the seat controller being used to execute the seat control method according to any embodiment of the present invention.

[0014] Optionally, the vehicle further includes a vehicle controller connected to the seat controller, the vehicle controller being used to determine the braking time required for braking the vehicle based on the vehicle's current speed and acceleration when the vehicle is braking.

[0015] The technical solution of this invention, when the vehicle is not braking, controls the operation of each motor according to a six-step reversing control strategy and the first target position corresponding to the mechanism driven by the motor, so that the seat is in a first posture. When the vehicle is braking, if the braking time required for braking is greater than or equal to a preset time threshold, and the distance to the obstacle is greater than or equal to a preset distance threshold, controls the operation of each motor according to a field-oriented control strategy, the second target position corresponding to the mechanism driven by the motor, and a first preset duration, so that the motor drives its corresponding mechanism to move to the corresponding second target position within the first preset duration, so that the seat is in a second posture. If the braking time is less than the preset time threshold, or the distance to the obstacle is less than the preset distance threshold, controls the operation of each motor according to a field-oriented control strategy, the second target position corresponding to the mechanism driven by the motor, and a second preset duration, so that the motor drives its corresponding mechanism to move to the corresponding second target position within the second preset duration, so that the seat is in a second posture; wherein, the second preset duration is less than the first preset duration. In this way, the seat can automatically and promptly shift to a safer second posture when the vehicle brakes (the first posture is close to a reclining position, while the second posture is close to an upright position). This allows the user to use the first posture while the vehicle is in motion, ensuring user safety. Thus, even when the vehicle is traveling at high speed, the user can safely use the first posture without worrying about not having enough time to adjust the seat posture during high-speed braking.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a structural schematic diagram of a seat provided in an embodiment of the present invention; Figure 2 This is a flowchart of a seat control method provided in an embodiment of the present invention; Figure 3 This is a flowchart of another seat control method provided in an embodiment of the present invention; Figure 4 This is a flowchart of another seat control method provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of another vehicle structure provided in an embodiment of the present invention. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] This invention provides a method for controlling a seat. The seat is applied to a vehicle and includes at least two motors. The seat has a first posture and a second posture. The vehicle includes a seat controller connected to the motors. The control method for the seat is executed by the seat controller. Figure 1 This is a structural schematic diagram of a seat provided in an embodiment of the present invention, for reference. Figure 1 The first posture of the seat ① is the zero-gravity posture, and the second posture of the seat ② is the normal posture. Figure 1 The solid line represents the first posture ①, and the dashed line represents the second posture ②.

[0022] The seat may include four motors. The seat includes a backrest 101, a leg rest 102, a slide rail 103, and a seat cushion 104. For example, the four motors include a main motor 105 and three slave motors. The three slave motors include a first slave motor 106, a second slave motor 107, and a third slave motor 108. For example, the main motor 105 is connected to the backrest and is used to drive the backrest 101. The three slave motors include the first slave motor 106, the second slave motor 107, and the third slave motor 108. The first slave motor 106 is connected to the leg rest 102 and is used to drive the leg rest 102 to adjust the angle between the leg rest 102 and the seat cushion 104. The second slave motor 107 is connected to the seat body and is used to drive the seat body to move along the slide rail 103 to adjust the position of the entire seat. The third slave motor 108 is connected to the seat cushion 104 and is used to drive the seat cushion 104 to adjust the angle of the seat cushion 104 relative to the plane of the slide rail 103. The seat body includes a seat frame. It is known that the backrest 101, leg rest 102 and seat cushion 104 are all installed on the seat frame, and the seat frame is slidably connected to the slide rail 103.

[0023] It is known that in the first posture of the seat, the angle α1 between the backrest 101 and the plane containing the slide rail 103 is smaller than the angle α1' between the backrest 101 and the plane containing the slide rail 103 in the second posture of the seat. For example, in the second posture of the seat, the angle α1' between the backrest 101 and the plane containing the slide rail 103 is close to 90 degrees. In the first posture of the seat, the angle α2 between the leg rest 102 and the seat cushion 104 is greater than the angle α2' between the leg rest 102 and the seat cushion 104 in the second posture of the seat. In the first posture of the seat, the height between the side of the seat cushion 104 away from the backrest and the slide rail 103 is greater than the height between the side of the seat cushion 104 away from the backrest and the slide rail 103 in the second posture of the seat. That is, the angle of the seat cushion 104 relative to the plane containing the slide rail 103 is different in the first and second postures. When the second posture of the seat changes from the first posture, the seat body on the slide rail 103 moves towards the rear of the vehicle. This allows the user to approach a reclining position in the first posture of the seat.

[0024] The motor in the seat can be a 48V three-phase brushless DC motor. This 48V three-phase brushless DC motor can be a three-in-one product comprising the motor body, motor driver, and reducer. The seat controller can connect to the control terminal of the motor driver, the input terminal of the motor driver is connected to the power supply, and the output terminal of the motor driver is connected to the motor body. The seat controller can control the voltage output from the motor driver to the motor body, thereby controlling the motor speed. The motor body can be connected to a corresponding mechanism (one of the backrest, leg rest, seat body, or seat cushion) via the reducer. The 48V three-phase brushless DC motor is smaller in size, reducing the overall vehicle weight, and its higher voltage allows for the use of a higher speed ratio reducer, achieving high torque output from the motor system. Furthermore, the reduced cable diameter of the 48V three-phase brushless DC motor (compared to a 12V motor) can lower the overall vehicle cabin current threshold.

[0025] Figure 2 This is a flowchart of a seat control method provided in an embodiment of the present invention, see reference. Figure 2 The seat control methods include: S110. When the vehicle is not braking, for each motor, control the motor to run according to the six-step reversing control strategy and the first target position corresponding to the mechanism driven by the motor, so that the seat is in the first posture.

[0026] This refers to the situation where the vehicle is not braking, meaning the vehicle does not need to stop, and the target speed is not zero. For each motor on the seat, the motor is controlled to operate, causing the mechanism it drives to reach its corresponding first target position. The electrically driven mechanism is one of the backrest, leg rest, seat body, or seat cushion. The first target position corresponding to the motor-driven mechanism is... Figure 1The position corresponding to the first posture shown. Before the vehicle or seat leaves the factory, the seat can be adjusted from the second posture to the first posture, and the number of pulses passed by each motor on the seat is recorded using Hall sensors. For a motor, the number of pulses passed by the motor is stored as the first target pulse number corresponding to the first target position of the motor mechanism.

[0027] Specifically, after the vehicle is started, the default posture of the seat is the second posture. After detecting that the user is sitting on the seat, or after the user presses the posture change button, the motor is controlled to run according to the six-step reversing control strategy and the first target position corresponding to the motor-driven mechanism, so that the seat is in the first posture, realizing automatic adjustment of the seat posture, which is beneficial to improving the user experience.

[0028] The six-step commutation control strategy is also known as square wave control or trapezoidal wave control. The core of this strategy is to evenly divide one electrical cycle (360° electrical angle) of the motor into six sectors, each 60°. Within each sector, the controller energizes only two phases of the three-phase stator windings, leaving the third phase unconnected (non-conductive). Switching the energized two-phase combination in different sectors causes the direction of the combined magnetic field generated by the stator windings to rotate 60° in a jump, pulling the permanent magnet rotor to follow. Every 60° rotation of the rotor, the controller switches the energizing combination (commutation), achieving six-step commutation. For example, when a mechanism on a seat (one of the backrest, leg rest, seat body, or cushion) changes from its initial position in the second posture to its corresponding first target position, the corresponding motor first determines the current electrical angle sector of the rotor. Then, the process of determining the target speed based on the deviation between the first target pulse number corresponding to the first target position and the current pulse number corresponding to the current position of the mechanism corresponding to the motor is repeated until the deviation between the first target pulse number corresponding to the first target position and the current pulse number corresponding to the current position is zero or close to a preset value, so that the motor drives the corresponding mechanism to reach the first target position.

[0029] The target speed can be determined by inputting the first target pulse count into a table corresponding to the deviation between the first target pulse count and the current pulse count and the target speed. This table can be pre-calibrated before the seat leaves the factory. Alternatively, the deviation between the first target pulse count and the current pulse count can be input into a proportional-integral (PI) control strategy, with the output value of the PI control strategy used as the target speed. No specific limitation is imposed here.

[0030] S120. When the vehicle is braking, if the braking time required for the vehicle to brake is greater than or equal to a preset time threshold, and the distance to the obstacle is greater than or equal to a preset distance threshold, for each motor, the motor is controlled to run according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism driven by the motor, and the first preset duration, so that the motor drives its corresponding mechanism to move to the corresponding second target position within the first preset duration, so that the seat is in the second posture.

[0031] Specifically, during vehicle braking, i.e., when the vehicle needs to stop, the seat controller can obtain the braking time required for braking from the vehicle's overall controller. The overall controller can determine the required braking time based on the vehicle's current speed and acceleration. The overall controller can also determine the distance to obstacles, including pedestrians, vehicles, debris, and traffic lights, using vehicle radar. Finally, the overall controller can determine the required braking distance based on the vehicle's current speed, acceleration, and the braking time, and can use this required braking distance as a preset distance threshold.

[0032] Among them, the field-oriented control strategy, also known as vector control, is an algorithm that achieves independent and precise control of torque and magnetic flux by decoupling the motor current. The field-oriented control strategy uses a sinusoidal control signal.

[0033] The second target position corresponding to the mechanism driven by the motor is the position corresponding to the motor when it is in the second posture (also the initial position).

[0034] Specifically, when the braking time required for vehicle braking is greater than or equal to a preset time threshold, and the distance to the obstacle is greater than or equal to a preset distance threshold, it indicates that although an emergency may occur requiring full-vehicle braking, there is still sufficient braking time and distance. Therefore, the seat is controlled to change from a first posture to a second posture within a relatively long first preset time period. This allows the seat to automatically and promptly change to a safer second posture (the first posture is close to a reclining position, while the second posture is close to an upright position) during vehicle braking, enabling the user to use the first posture while the vehicle is in motion while ensuring user safety. The first preset time period is relatively long, greater than the second preset time period, but not excessively so; for example, the first preset time period is 1.5 seconds, ensuring timely adjustment of the seat posture during vehicle braking. Thus, even when the vehicle is traveling at high speed, the user can safely use the seat in the first posture without worrying about not having enough time to adjust the seat posture during high-speed braking.

[0035] Furthermore, by employing a six-step reversing control strategy when the vehicle is not braking, the motor can achieve higher starting torque and start up faster. When the vehicle is braking, a field-oriented control strategy is used, and the sinusoidal drive virtually eliminates torque pulsation, resulting in minimal vibration and noise, which improves the comfort of seat posture changes and thus enhances the user experience.

[0036] S130. When the braking time is less than a preset time threshold or the obstacle distance is less than a preset distance threshold, for each motor, the motor is controlled to run according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism driven by the motor, and the second preset duration, so that the motor drives its corresponding mechanism to move to the corresponding second target position within the second preset duration, so that the seat is in the second posture; wherein, the second preset duration is less than the first preset duration.

[0037] Specifically, when the vehicle brakes, if the required braking time is less than a preset time threshold, or the obstacle distance is less than a preset distance threshold, indicating a potential collision risk, a shorter second preset duration is used to control the motor's operation. This allows the seat to reach the second posture in a shorter time, further ensuring user safety. This allows the user to maintain their first posture while the vehicle is in motion while ensuring user safety. The second preset duration can be any value between 0.5 seconds and 1 second, for example, 0.7 seconds, and is not limited here.

[0038] In this embodiment, when the vehicle is not braking, for each motor, the motor is controlled to operate according to a six-step reversing control strategy and the first target position corresponding to the mechanism driven by the motor, so that the seat is in a first posture. When the vehicle is braking, if the braking time required for braking is greater than or equal to a preset time threshold, and the distance to the obstacle is greater than or equal to a preset distance threshold, for each motor, the motor is controlled to operate according to a field-oriented control strategy, the second target position corresponding to the mechanism driven by the motor, and a first preset duration, so that the motor drives its corresponding mechanism to move to the corresponding second target position within the first preset duration, so that the seat is in a second posture. If the braking time is less than the preset time threshold, or the distance to the obstacle is less than the preset distance threshold, for each motor, the motor is controlled to operate according to a field-oriented control strategy, the second target position corresponding to the mechanism driven by the motor, and a second preset duration, so that the motor drives its corresponding mechanism to move to the corresponding second target position within the second preset duration, so that the seat is in a second posture; wherein the second preset duration is less than the first preset duration. In this way, the seat can automatically and promptly shift to a safer second posture when the vehicle brakes (the first posture is close to a reclining position, while the second posture is close to an upright position). This allows the user to use the first posture while the vehicle is in motion, ensuring user safety. Thus, even when the vehicle is traveling at high speed, the user can safely use the first posture without worrying about not having enough time to adjust the seat posture during high-speed braking.

[0039] Based on the above technical solution, optionally, any one of the motors can be the master motor, and the rest can be slave motors. For example, the motor corresponding to the backrest can be the master motor.

[0040] Figure 3 This is a flowchart of another seat control method provided in an embodiment of the present invention. Optionally, refer to... Figure 3 The seat control methods include: S210. When the vehicle is not braking, for each motor, control the motor to run according to the six-step reversing control strategy and the first target position corresponding to the mechanism driven by the motor, so that the seat is in the first posture.

[0041] S220. When the vehicle is braking, if the braking time required for the vehicle to brake is greater than or equal to a preset time threshold, and the distance of the vehicle from the obstacle is greater than or equal to a preset distance threshold, the main motor is controlled to run according to the magnetic field orientation control strategy, the second target position corresponding to the main motor, and the first preset duration.

[0042] Therefore, when the vehicle brakes, controlling the main motor on the seat to drive the corresponding mechanism first can improve the user experience and prevent the user from leaning back.

[0043] S230. When determining the position change of the mechanism corresponding to the main motor, for each slave motor, according to the field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor and the first preset time, the slave motor is controlled to run so that the motor drives its corresponding mechanism to move to the corresponding second target position within the first preset time, so that the seat is in the second posture.

[0044] In this way, by determining the positional change of the mechanism corresponding to the main motor before controlling the operation of the slave motors, and ensuring that the backrest can move before controlling the movement of other mechanisms, the user's ability to lean back is prevented, thus improving the user experience. Each motor can be equipped with a Hall sensor; a change in the number of pulses output by the Hall sensor on the main motor indicates that the main motor is running, indicating a positional change of the mechanism corresponding to the main motor.

[0045] The field-oriented control strategy is executed periodically. In each control cycle, a control signal is output to the motors according to the strategy. Therefore, after one control cycle, the positional change of the mechanism corresponding to the main motor can be detected, and the slave motors can be controlled to operate. A control cycle is very short, typically a few micrometers, and can be controlled to operate the slave motors for a first preset duration. This allows all motors to drive their corresponding mechanisms to the corresponding second target positions within the first preset duration, enabling the seat to reach its second posture within the first preset duration.

[0046] S240. When the braking time is less than a preset time threshold or the distance to the obstacle is less than a preset distance threshold, the main motor is controlled to run according to the magnetic field orientation control strategy, the second target position corresponding to the main motor, and the second preset duration.

[0047] S250. When determining the position change of the mechanism corresponding to the main motor, for each slave motor, according to the field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor and the second preset time, the slave motor is controlled to run so that the motor drives its corresponding mechanism to move to the corresponding second target position within the second preset time so that the seat is in the second posture; wherein, the second preset time is less than the first preset time.

[0048] The field-oriented control strategy is executed periodically. In each control cycle, a control signal is output to the motors according to the strategy. Therefore, after one control cycle, the positional change of the mechanism corresponding to the main motor can be detected, and the slave motors can be controlled to operate. A control cycle is very short, typically a few micrometers. The slave motors can be controlled to operate according to a second preset duration, causing all motors to drive their corresponding mechanisms to the corresponding second target positions within the second preset duration, thus enabling the seat to reach its second posture within the second preset duration.

[0049] Steps S240 to S250 are the same as steps S220 to S230 except for the first preset duration and the second preset duration, but the beneficial effects are the same, so they will not be described again here.

[0050] Based on the above technical solutions, Figure 4 This is a flowchart of another seat control method provided in an embodiment of the present invention. Optionally, refer to... Figure 4 The seat control methods include: S310. When the vehicle is not braking, for each motor, control the motor to run according to the six-step reversing control strategy and the first target position corresponding to the mechanism driven by the motor, so that the seat is in the first posture.

[0051] S320. When the vehicle is braking, if the braking time required for the vehicle to brake is greater than or equal to a preset time threshold, and the distance of the vehicle from the obstacle is greater than or equal to a preset distance threshold, the first parameter of the position loop corresponding to the main motor, the second parameter of the speed loop corresponding to the main motor, the third parameter of the quadrature-axis current loop corresponding to the main motor, and the fourth parameter of the direct-axis current loop corresponding to the main motor are determined according to the first preset duration and the first preset correspondence relationship. Wherein, the first preset correspondence relationship is the correspondence relationship between the duration and the first, second, third, and fourth parameters corresponding to the main motor.

[0052] The first preset correspondence can be stored in the storage unit of the seat controller in tabular form. The position loop corresponding to the main motor can employ a proportional-integral (PI) control strategy, with the first parameter for the main motor including a first position proportional coefficient and a first position integral coefficient. The speed loop corresponding to the main motor can employ a proportional-integral (PI) control strategy, with the second parameter including a first speed proportional coefficient and a first speed integral coefficient. The quadrature-axis current loop corresponding to the main motor can employ a proportional-integral (PI) control strategy, with the third parameter including a first quadrature-axis current proportional coefficient and a first quadrature-axis current integral coefficient. The direct-axis current loop can employ a proportional-integral (PI) control strategy, with the fourth parameter including a first direct-axis current proportional coefficient and a first direct-axis current integral coefficient.

[0053] Before the seat leaves the factory, initial parameters (first, second, third, and fourth) can be preset for the main motor. Under these initial parameters, the main motor drives the backrest from a first target position to a second target position, and the time taken is recorded. Then, the first, second, third, and fourth parameters are updated. Under the updated parameters, the main motor drives the backrest from the first target position to the second target position, and the time taken is recorded. This process is repeated multiple times, updating the first, second, third, and fourth parameters and controlling the main motor to drive the backrest from the first target position to the second target position, recording the time taken. This establishes a correspondence between the time taken and the corresponding first, second, third, and fourth parameters of the main motor, thus obtaining the first preset correspondence.

[0054] When the vehicle brakes, if the braking time required for braking is greater than or equal to a preset time threshold, and the distance to the obstacle is greater than or equal to a preset distance threshold, for the main motor, the first preset duration is substituted into the first preset correspondence to obtain the first parameter, second parameter, third parameter, and fourth parameter corresponding to the first preset duration. This allows the main motor to move the backrest from its corresponding first target position to the second target position within the first preset duration when controlled by the field-oriented control strategy based on the first, second, third, and fourth parameters.

[0055] S330. In each control cycle, the target speed of the main motor is determined based on the actual position of the mechanism corresponding to the main motor, the second target position of the mechanism corresponding to the main motor, and the position loop corresponding to the main motor.

[0056] Specifically, when using a field-oriented control strategy to control the motor on the seat, the control cycle is executed cyclically, that is, the operation of the main motor is controlled periodically. That is, steps S330 to S360 are executed cyclically until the mechanism driven by the main motor reaches the second target position.

[0057] Specifically, the difference between the second target pulse count corresponding to the second target position of the mechanism connected to the main motor and the actual pulse count corresponding to the actual position of the mechanism connected to the main motor is input into the position loop corresponding to the main motor. The position loop corresponding to the main motor adopts a proportional-integral control strategy, and the first parameter of the position loop is the first parameter corresponding to the first preset duration in the first preset correspondence. The value output by the position loop is the target speed of the main motor. In this way, the target speed of the main motor is determined periodically according to the deviation between the second target pulse count corresponding to the second target position and the actual pulse count, so that the mechanism corresponding to the main motor gradually moves to the second target position.

[0058] S340. Determine the initial target quadrature shaft current of the main motor based on the actual speed of the main motor, the target speed of the main motor, and the corresponding speed loop of the main motor.

[0059] Among them, the magnetic field orientation control strategy is to transform the three-phase coordinate system to a two-phase rotating coordinate system for control, that is, to the dq coordinate system, where the d-axis is the direct axis and the q-axis is the cross axis.

[0060] Specifically, the difference between the target speed and the actual speed of the main motor is input into the speed loop corresponding to the main motor. This speed loop employs a proportional-integral (PI) control strategy, and its second parameter is the second parameter corresponding to the first preset duration in the first preset correspondence. The output value of the speed loop corresponding to the main motor is the initial target quadrature-axis current of the main motor.

[0061] S350. Based on the initial target quadrature-axis current of the main motor and the second preset correspondence, determine the intermediate target quadrature-axis current and the intermediate target direct-axis current of the main motor; wherein, the second preset correspondence is the correspondence between the initial target quadrature-axis current, the intermediate target quadrature-axis current and the intermediate target direct-axis current.

[0062] The second preset correspondence can be stored in tabular form. Before the seat leaves the factory, for the main motor, under an initial target quadrature-axis current, the intermediate target quadrature-axis current and intermediate target direct-axis current can be changed to see which set of intermediate target quadrature-axis current and intermediate target direct-axis current results in the main motor-driven mechanism (backrest) better following the second target position (i.e., the position of the main motor-driven mechanism is less different from the second target position). The intermediate target quadrature-axis current and intermediate target direct-axis current corresponding to the better position following the second target position are stored in the second preset correspondence, which are the intermediate target quadrature-axis current and intermediate target direct-axis current corresponding to the initial target quadrature-axis current. Then, the initial target quadrature-axis current is changed, and the corresponding intermediate target quadrature-axis current and intermediate target direct-axis current are obtained in the same way and stored in the second preset correspondence. This process is repeated to obtain the second preset correspondence.

[0063] Alternatively, the MTPA (Maximum Torque Per Ampere) control algorithm can be used to determine the second preset correspondence. The goal of the MTPA control algorithm is to find a set of (d-axis current, q-axis current) combinations that minimize the stator current amplitude under a given torque (initial target quadrature axis current). The found (d-axis current, q-axis current) are the intermediate target direct axis current and intermediate target quadrature axis current.

[0064] Specifically, during actual operation of the seat, the calculated initial target quadrature-axis current can be substituted into the second preset correspondence to obtain the corresponding intermediate target quadrature-axis current and intermediate target direct-axis current. In this way, the determined intermediate target quadrature-axis current and intermediate target direct-axis current can make the movement of the mechanism driven by the main motor closer to the second target position, or can make the stator current amplitude smaller, thereby reducing power consumption.

[0065] S360 outputs control signals to the voltage conversion circuit corresponding to the main motor based on the intermediate target quadrature axis current, the quadrature axis current loop of the main motor, the intermediate target direct axis current of the main motor, and the direct axis current loop of the main motor, in order to control the operation of the main motor.

[0066] The voltage conversion circuit can be an inverter circuit, which is located within the motor driver. The inverter circuit includes power devices; by controlling the on-time and off-time of these power devices, the output voltage and / or output voltage to the motor can be controlled, thereby controlling the motor speed. The control signal can be a sinusoidal signal.

[0067] Specifically, the quadrature-axis current loop of the main motor can adopt a proportional-integral (PI) control strategy, and the direct-axis current loop of the main motor can also adopt a PI control strategy.

[0068] Specifically, for the main motor, the intermediate target quadrature-axis current can be input into the quadrature-axis current loop, and the intermediate target direct-axis current can be input into the direct-axis current loop. After the output values ​​of the quadrature-axis current loop and the DC current loop are transformed to the three-phase coordinate system, space vector pulse width modulation (SVPWM) is performed to obtain the control signal for each phase line. The control signal is then output to the power device of the corresponding phase of the inverter circuit to control the output power and / or output voltage of the inverter circuit, thereby controlling the motor.

[0069] S370. When determining the position change of the mechanism corresponding to the main motor, for each slave motor, according to the field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor and the first preset time, the slave motor is controlled to run so that the motor drives its corresponding mechanism to move to the corresponding second target position within the first preset time, so that the seat is in the second posture.

[0070] S380. When the braking time is less than a preset time threshold or the distance to the obstacle is less than a preset distance threshold, the main motor is controlled to run according to the magnetic field orientation control strategy, the second target position corresponding to the main motor, and the second preset duration.

[0071] The method of controlling the operation of the main motor according to the magnetic field orientation control strategy, the second target position corresponding to the main motor, and the second preset duration is the same as the method of controlling the operation of the main motor according to the magnetic field orientation control strategy, the second target position corresponding to the main motor, and the first preset duration, and will not be described again here.

[0072] S390. When determining the position change of the mechanism corresponding to the main motor, for each slave motor, according to the field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor and the second preset time, the slave motor is controlled to run so that the motor drives its corresponding mechanism to move to the corresponding second target position within the second preset time so that the seat is in the second posture; wherein, the second preset time is less than the first preset time.

[0073] The method of controlling the operation of the slave motor according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor, and the second preset time is the same as the method of controlling the operation of the slave motor according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor, and the first preset time, and will not be described again here.

[0074] Based on the above technical solution, optionally, a control signal is output to the voltage conversion circuit corresponding to the main motor according to the intermediate target quadrature-axis current of the main motor, the quadrature-axis current loop of the main motor, the intermediate target direct-axis current of the main motor, and the direct-axis current loop of the main motor, to control the operation of the main motor, including: Step a1: Determine the final target quadrature axis current of the main motor based on the intermediate target quadrature axis current and the preset quadrature axis harmonics, and determine the final target direct axis current of the main motor based on the intermediate target direct axis current and the preset direct axis harmonics.

[0075] Before application to the seat, for the main motor, the original quadrature-axis harmonics of the intermediate target quadrature-axis current can be acquired under any set (intermediate target quadrature-axis current, intermediate target direct-axis current). A preset quadrature-axis harmonic is determined based on the original quadrature-axis harmonics, where the amplitude of the preset quadrature-axis harmonic is the same as the amplitude of the original quadrature-axis harmonic but opposite in phase. Then, the original direct-axis harmonics of the intermediate target direct-axis current are acquired, and a preset direct-axis harmonic is determined based on the original direct-axis harmonics, where the amplitude of the preset direct-axis harmonic is the same as the amplitude of the original direct-axis harmonic but opposite in phase.

[0076] Specifically, a preset quadrature-axis harmonic can be added to the intermediate target quadrature-axis current of the main motor to obtain the final target quadrature-axis current of the main motor, and a preset direct-axis harmonic can be added to the intermediate target direct-axis current of the main motor to obtain the final target direct-axis current of the main motor. In this way, harmonic noise can be removed from the final target quadrature-axis current and the final target direct-axis current of the main motor, and the operation of the main motor can be controlled more accurately based on the final target quadrature-axis current and the final target direct-axis current.

[0077] Step a2: Based on the final target quadrature-axis current of the main motor, the quadrature-axis current loop of the main motor, the final target direct-axis current of the main motor, and the direct-axis current loop of the main motor, output control signals to the voltage conversion circuit corresponding to the main motor to control the operation of the main motor.

[0078] Specifically, for the main motor, the final target quadrature-axis current can be input into the quadrature-axis current loop, and the final target direct-axis current can be input into the direct-axis current loop. After the output values ​​of the quadrature-axis current loop and the DC current loop are transformed to the three-phase coordinate system, space vector pulse width modulation (SVPWM) is performed to obtain the control signal for each phase line. The control signal is then output to the power device of the corresponding phase of the inverter circuit to control the output power and / or output voltage of the inverter circuit, thereby controlling the main motor.

[0079] Based on the above technical solutions, optionally, the operation of the slave motor is controlled according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor, and the first preset duration, including: Step b1: Determine the first parameter of the position loop corresponding to the motor, the second parameter of the speed loop corresponding to the motor, the third parameter of the quadrature-axis current loop corresponding to the motor, and the fourth parameter of the direct-axis current loop corresponding to the motor based on the first preset duration and the third preset correspondence. The third preset correspondence is the correspondence between the duration and the first, second, third, and fourth parameters corresponding to the motor. The third preset correspondence is different for different motors.

[0080] The third preset correspondence can be stored in the seat controller's storage unit in tabular form. The position loop corresponding to the motor can employ a proportional-integral (PI) control strategy, with the first parameter including a second position proportional coefficient and a second position integral coefficient. The speed loop corresponding to the motor can also employ a PI control strategy, with the second parameter including a second speed proportional coefficient and a second speed integral coefficient. The quadrature-axis current loop corresponding to the motor can employ a PI control strategy, with the third parameter including a second quadrature-axis current proportional coefficient and a second quadrature-axis current integral coefficient. The direct-axis current loop corresponding to the motor can employ a PI control strategy, with the fourth parameter including a second direct-axis current proportional coefficient and a second direct-axis current integral coefficient.

[0081] Before the seat leaves the factory, initial parameters (first, second, third, and fourth) can be preset for the slave motor. Under these initial parameters, the slave motor drives the corresponding mechanism from a first target position to a second target position, and the time taken is recorded. Then, the first, second, third, and fourth parameters are updated. Under the updated parameters, the slave motor drives the corresponding mechanism from the first target position to the second target position, and the time taken is recorded. This process is repeated multiple times, updating the first, second, third, and fourth parameters and controlling the slave motor to drive the corresponding mechanism from the first target position to the second target position, recording the time taken. This establishes a correspondence between the time taken and the corresponding first, second, third, and fourth parameters of the slave motor, resulting in a third preset correspondence.

[0082] When the vehicle brakes, if the braking time required for braking is greater than or equal to a preset time threshold, and the distance to the obstacle is greater than or equal to a preset distance threshold, for the slave motor, the first preset duration is substituted into the third preset correspondence to obtain the first parameter, second parameter, third parameter, and fourth parameter corresponding to the first preset duration. This allows the slave motor to be controlled according to the field-oriented control strategy based on the first, second, third, and fourth parameters, enabling it to move the corresponding mechanism from its corresponding first target position to its second target position within the first preset duration.

[0083] Step b2: In each control cycle, determine the target speed of the slave motor based on the actual position of the mechanism corresponding to the slave motor, the second target position of the mechanism corresponding to the slave motor, and the position loop corresponding to the slave motor.

[0084] Specifically, for each slave motor, when using a field-oriented control strategy to control the motor on the seat, the control cycle is executed cyclically, that is, the operation of the slave motor is controlled periodically. That is, steps b2 to b5 are executed cyclically until the mechanism driven by the slave motor reaches the second target position.

[0085] Specifically, the difference between the second target pulse count corresponding to the second target position of the mechanism connected to the motor and the actual pulse count corresponding to the actual position of the mechanism connected to the motor is input into the position loop corresponding to the motor. The position loop corresponding to the motor adopts a proportional-integral control strategy, and the first parameter of the position loop is the first parameter corresponding to the first preset duration in the third preset correspondence. The output value of the position loop is the target speed of the motor. In this way, the target speed of the motor is determined periodically according to the deviation between the second target pulse count corresponding to the second target position and the actual pulse count, so that the mechanism corresponding to the motor gradually moves to the second target position.

[0086] Step b3: Determine the initial target quadrature shaft current of the slave motor based on the actual speed of the slave motor, the target speed of the slave motor, and the corresponding speed loop of the slave motor.

[0087] Specifically, the difference between the target speed and the actual speed of the slave motor is input into the speed loop corresponding to the slave motor. The speed loop of the slave motor adopts a proportional-integral control strategy, and the second parameter of the speed loop is the second parameter corresponding to the first preset duration in the third preset correspondence. The output value of the speed loop corresponding to the slave motor is the initial target quadrature-axis current of the slave motor.

[0088] Step b4: Based on the initial target quadrature-axis current of the slave motor and the fourth preset correspondence, determine the intermediate target quadrature-axis current and the intermediate target direct-axis current of the slave motor; wherein, the fourth preset correspondence is the correspondence between the initial target quadrature-axis current, the intermediate target quadrature-axis current, and the intermediate target direct-axis current of the slave motor. The fourth preset correspondence differs for different slave motors.

[0089] The fourth preset correspondence can be stored in tabular form. Before the seat leaves the factory, for the slave motor, under an initial target quadrature-axis current, the intermediate target quadrature-axis current and intermediate target direct-axis current can be changed to see which set of intermediate target quadrature-axis current and intermediate target direct-axis current results in the slave motor-driven mechanism following the second target position better (i.e., the difference between the position of the slave motor-driven mechanism and the second target position is smaller). The intermediate target quadrature-axis current and intermediate target direct-axis current corresponding to the better position-following effect are stored in the fourth preset correspondence, which are the intermediate target quadrature-axis current and intermediate target direct-axis current corresponding to the initial target quadrature-axis current. Then, the initial target quadrature-axis current is changed, and the corresponding intermediate target quadrature-axis current and intermediate target direct-axis current are obtained in the same way and stored in the second preset correspondence. This process is repeated to obtain the second preset correspondence.

[0090] Alternatively, the MTPA (Maximum Torque Per Ampere) control algorithm can be used to determine the fourth preset correspondence. The goal of the MTPA control algorithm is to find a set of (d-axis current, q-axis current) combinations under a given torque (initial target quadrature axis current) that minimizes the stator current amplitude. The found (d-axis current, q-axis current) are the intermediate target direct axis current and intermediate target quadrature axis current.

[0091] Specifically, during actual operation of the seat, the calculated initial target quadrature-axis current can be substituted into the fourth preset correspondence to obtain the corresponding intermediate target quadrature-axis current and intermediate target direct-axis current. In this way, the determined intermediate target quadrature-axis current and intermediate target direct-axis current can make the position reached by the movement of the mechanism driven by the motor closer to the second target position, or can make the stator current amplitude smaller, thereby reducing power consumption.

[0092] Step b5: Output control signals to the voltage conversion circuit corresponding to the slave motor based on the intermediate target quadrature-axis current, the quadrature-axis current loop of the slave motor, the intermediate target direct-axis current of the slave motor, and the direct-axis current loop of the slave motor, so as to control the operation of the slave motor.

[0093] Specifically, for the motor, the intermediate target quadrature-axis current can be input into the quadrature-axis current loop, and the intermediate target direct-axis current can be input into the direct-axis current loop. After the output values ​​of the quadrature-axis current loop and the DC current loop are transformed to the three-phase coordinate system, space vector pulse width modulation (SVPWM) is performed to obtain the control signal for each phase line. The control signal is then output to the power device of the corresponding phase of the inverter circuit to control the output power and / or output voltage of the inverter circuit, thereby controlling the motor.

[0094] Optionally, step b5, outputting a control signal to the voltage conversion circuit corresponding to the slave motor based on the intermediate target quadrature-axis current of the slave motor, the quadrature-axis current loop of the slave motor, the intermediate target direct-axis current of the slave motor, and the direct-axis current loop of the slave motor, to control the operation of the slave motor, includes: Step b51: Determine the final target quadrature axis current of the slave motor based on the intermediate target quadrature axis current and the preset quadrature axis harmonics, and determine the final target direct axis current of the slave motor based on the intermediate target direct axis current and the preset direct axis harmonics.

[0095] Before application to the seat, for the motor, the original quadrature-axis harmonics of the intermediate target quadrature-axis current can be acquired for any set (intermediate target quadrature-axis current, intermediate target direct-axis current). A preset quadrature-axis harmonic is determined based on the original quadrature-axis harmonics, where the amplitude of the preset quadrature-axis harmonic is the same as the amplitude of the original quadrature-axis harmonic but opposite in phase. Then, the original direct-axis harmonics of the intermediate target direct-axis current are acquired, and a preset direct-axis harmonic is determined based on the original direct-axis harmonics, where the amplitude of the preset direct-axis harmonic is the same as the amplitude of the original direct-axis harmonic but opposite in phase.

[0096] Specifically, a preset quadrature-axis harmonic can be added to the intermediate target quadrature-axis current of the slave motor to obtain the final target quadrature-axis current of the slave motor, and a preset direct-axis harmonic can be added to the intermediate target direct-axis current of the slave motor to obtain the final target direct-axis current of the slave motor. In this way, harmonic noise can be removed from the final target quadrature-axis current and the final target direct-axis current of the slave motor, and the operation of the slave motor can be controlled more accurately based on the final target quadrature-axis current and the final target direct-axis current.

[0097] Step b52: Output control signals to the voltage conversion circuit corresponding to the slave motor based on the final target quadrature-axis current of the slave motor, the quadrature-axis current loop of the slave motor, the final target direct-axis current of the slave motor, and the direct-axis current loop of the slave motor, so as to control the operation of the slave motor.

[0098] Specifically, for the slave motor, the final target quadrature-axis current can be input into the quadrature-axis current loop, and the final target direct-axis current can be input into the direct-axis current loop. After the output values ​​of the quadrature-axis current loop and the DC current loop are transformed to the three-phase coordinate system, space vector pulse width modulation (SVPWM) is performed to obtain the control signal for each phase line. The control signal is then output to the power device of the corresponding phase of the inverter circuit to control the output power and / or output voltage of the inverter circuit, thereby controlling the slave motor.

[0099] Based on the above technical solution, optionally, the seat control method during vehicle braking also includes: Step c1: At preset intervals, determine the first ratio between the first position change of the main motor and the total first position change required by the main motor.

[0100] The preset interval duration is longer than the control cycle of a field-oriented control strategy. Timing begins when the vehicle starts braking, and is interrupted once every time the preset interval duration is reached, proceeding to steps c1 to c3.

[0101] Specifically, the first position change of the main motor is the change in the current Hall pulse count determined by the Hall sensor on the main motor, that is, the change in the number of pulses output by the Hall sensor when the autonomous motor starts to move during vehicle braking. The total first position change of the main motor is the number of Hall pulses that the main motor needs to generate to move the corresponding mechanism from the first target position to the second target position.

[0102] The first ratio is obtained by comparing the first position change of the main motor with the total first position change required by the main motor.

[0103] Step c2: For each slave motor, determine the second ratio of the second position change of the slave motor to the total second position change required by the slave motor.

[0104] Specifically, the change in the second position of the motor is the change in the current Hall pulse count determined by the Hall sensor on the motor, that is, the change in the number of pulses output by the Hall sensor since the motor started moving when the vehicle brakes. The total number of second position changes required by the motor is the number of Hall pulses required for the corresponding mechanism to move from the first target position to the second target position.

[0105] The second ratio is obtained by comparing the amount of change in the second position of the motor with the total amount of change in the second position of the motor.

[0106] Step c3: If the absolute value of the difference between the second ratio and the first ratio is greater than the preset difference threshold, then the compensation value is determined based on the difference between the second ratio and the first ratio.

[0107] Specifically, the second ratio is subtracted from the first ratio to obtain the difference between the second and first ratios. For any slave motor, if the absolute value of the difference between the second and first ratios corresponding to the slave motor is greater than a preset difference threshold, it indicates that the slave motor is running too fast or too slow relative to the master motor, and compensation is required for the operation of the slave motor. The compensation value is determined based on the difference between the second and first ratios of the slave motor.

[0108] If the absolute value of the difference between the second ratio and the first ratio corresponding to the slave motor is less than or equal to the preset difference threshold, then there is no need to determine the compensation value corresponding to the slave motor, and the slave motor will continue to be controlled according to the target speed output by the position loop corresponding to the slave motor.

[0109] Optionally, after determining the target speed of the driven motor based on the actual position of the mechanism corresponding to the driven motor, the second target position of the mechanism corresponding to the driven motor, and the position loop corresponding to the driven motor, and before determining the initial target quadrature-axis current of the driven motor based on the actual speed of the driven motor, the target speed of the driven motor, and the speed loop corresponding to the driven motor, the seat control method further includes: The target speed of the slave motor is updated based on the compensation value corresponding to the slave motor.

[0110] For example, the target speed output from the position loop corresponding to the motor is added to the compensation value corresponding to the motor to obtain the updated target speed corresponding to the motor.

[0111] Optionally, the initial target quadrature-axis current of the slave motor is determined based on the actual speed of the slave motor, the target speed of the slave motor, and the corresponding speed loop of the slave motor, including: The initial target quadrature-axis current of the slave motor is determined based on the updated target speed of the slave motor, the actual speed of the slave motor, and the corresponding speed loop of the slave motor.

[0112] Specifically, the difference between the updated target speed of the slave motor and the actual speed of the slave motor is input to the speed loop corresponding to the slave motor, and the output of the speed loop is the initial target quadrature-axis current of the slave motor.

[0113] In this way, when the slave motor runs too fast or too slow relative to the master motor, the target speed of the slave motor can be compensated, that is, updated. The slave motor is controlled according to the updated target speed, which makes it easier for the slave motor and the master motor to drive the corresponding mechanism to the second target position at the same or almost the same time, which helps to improve the user experience.

[0114] Optionally, the compensation value is determined based on the difference between the second ratio and the first ratio, including: The compensation value is determined based on the range of the difference between the second ratio and the first ratio. Different ranges of differences correspond to different compensation values. The larger the maximum value of the range, the smaller the compensation value. When the second ratio is greater than the first ratio, the compensation value is negative. When the second ratio is less than the first ratio, the compensation value is positive. When the second ratio is equal to the first ratio, no compensation is required, or the compensation value is zero.

[0115] This allows the target speed of the slave motor to be reduced when it runs too fast relative to the master motor, thus slowing it down. Conversely, when the slave motor runs too slowly relative to the master motor, its target speed can be increased, causing it to run faster. This facilitates the simultaneous or near-simultaneous movement of each slave motor and the master motor to their respective mechanisms to the second target position, thereby improving the user experience.

[0116] This invention also provides a vehicle. Figure 5 This is a structural schematic diagram of a vehicle provided in an embodiment of the present invention, for reference. Figure 5 The vehicle includes at least one seat 200 and a seat controller 300. The seat 200 includes at least two motors 201. The seat 200 has a first posture and a second posture. The seat controller 300 is connected to the motors 201 and is used to execute the seat control method provided in any embodiment of the present invention. One of the at least two motors 201 is a master motor, and the others are slave motors.

[0117] Since the seat controller 300 in the vehicle provided in this embodiment is used to execute the seat control method provided in any embodiment of the present invention, the vehicle provided in this embodiment has the same beneficial effects as the seat control method provided in any embodiment of the present invention, and will not be described again here.

[0118] Based on the above technical solutions, Figure 6 This is a schematic diagram of another vehicle structure provided in an embodiment of the present invention. Optionally, refer to...Figure 6 The vehicle also includes a vehicle controller 400, which is connected to the seat controller 300. The vehicle controller 400 is used to determine the braking time required for the vehicle to brake based on the vehicle's current speed and acceleration when the vehicle is braking.

[0119] The vehicle controller 400 can communicate with the seat controller 300 via CAN (Controller Area Network) or LIN (Local Interconnect Network), without limitation. It should be understood that various processes described above can be used, with steps rearranged, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention is achieved; no limitation is imposed herein.

[0120] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling a seat, characterized in that, The seat is applied to a vehicle, the seat includes at least two motors, the seat has a first posture and a second posture, the vehicle includes a seat controller, the seat controller is connected to the motors, and the control method of the seat is executed by the seat controller; The method includes: When the vehicle is not braking, for each motor, the motor is controlled to run according to the six-step reversing control strategy and the first target position corresponding to the mechanism driven by the motor, so that the seat is in the first posture; When the vehicle brakes, if the braking time required for the vehicle to brake is greater than or equal to a preset time threshold, and the distance of the vehicle from the obstacle is greater than or equal to a preset distance threshold, for each motor, the motor is controlled to operate according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism driven by the motor, and the first preset duration, so that the motor drives its corresponding mechanism to move to the corresponding second target position within the first preset duration, so that the seat is in the second posture; When the braking time is less than the preset time threshold, or the obstacle distance is less than the preset distance threshold, for each motor, the motor is controlled to operate according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism driven by the motor, and the second preset duration, so that the motor drives its corresponding mechanism to move to the corresponding second target position within the second preset duration, so that the seat is in the second posture; wherein, the second preset duration is less than the first preset duration.

2. The method according to claim 1, characterized in that, Of all the motors mentioned, any one of the motors is the master motor, and the rest are slave motors; For each motor, the operation of the motor is controlled according to the field-oriented control strategy, the second target position corresponding to the mechanism driven by the motor, and the first preset duration, including: The main motor is controlled to operate according to the magnetic field orientation control strategy, the second target position corresponding to the main motor, and the first preset duration. When determining the position change of the mechanism corresponding to the master motor, for each slave motor, the slave motor is controlled to run according to the magnetic field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor, and the first preset duration; For each motor, the operation of the motor is controlled according to the field-oriented control strategy, the second target position corresponding to the mechanism driven by the motor, and the second preset duration, including: The main motor is controlled to operate according to the magnetic field orientation control strategy, the second target position corresponding to the main motor, and the second preset duration. When determining the position change of the mechanism corresponding to the master motor, for each slave motor, the slave motor is controlled to run according to the field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor, and the second preset duration.

3. The method according to claim 2, characterized in that, Controlling the operation of the main motor according to the magnetic field orientation control strategy, the second target position corresponding to the main motor, and the first preset duration includes: The first parameter of the position loop corresponding to the main motor, the second parameter of the speed loop corresponding to the main motor, the third parameter of the quadrature-axis current loop corresponding to the main motor, and the fourth parameter of the direct-axis current loop corresponding to the main motor are determined according to the first preset duration and the first preset correspondence relationship; wherein, the first preset correspondence relationship is the correspondence relationship between the duration and the first, second, third, and fourth parameters corresponding to the main motor; In each control cycle, the target speed of the main motor is determined based on the actual position of the mechanism corresponding to the main motor, the second target position of the mechanism corresponding to the main motor, and the position loop corresponding to the main motor. The initial target quadrature-axis current of the main motor is determined based on the actual speed of the main motor, the target speed of the main motor, and the speed loop corresponding to the main motor. Based on the initial target quadrature-axis current of the main motor and the second preset correspondence, the intermediate target quadrature-axis current and the intermediate target direct-axis current of the main motor are determined; wherein, the second preset correspondence is the correspondence between the initial target quadrature-axis current, the intermediate target quadrature-axis current and the intermediate target direct-axis current. Based on the intermediate target quadrature-axis current, the quadrature-axis current loop, the intermediate target direct-axis current, and the direct-axis current loop of the main motor, a control signal is output to the voltage conversion circuit corresponding to the main motor to control the operation of the main motor.

4. The method according to claim 3, characterized in that, Based on the intermediate target quadrature-axis current of the main motor, the quadrature-axis current loop of the main motor, the intermediate target direct-axis current of the main motor, and the direct-axis current loop of the main motor, a control signal is output to the voltage conversion circuit corresponding to the main motor to control the operation of the main motor, including: The final target quadrature axis current of the main motor is determined based on the intermediate target quadrature axis current and the preset quadrature axis harmonic, and the final target direct axis current of the main motor is determined based on the intermediate target direct axis current and the preset direct axis harmonic. Based on the final target quadrature-axis current of the main motor, the quadrature-axis current loop of the main motor, the final target direct-axis current of the main motor, and the direct-axis current loop of the main motor, a control signal is output to the voltage conversion circuit corresponding to the main motor to control the operation of the main motor.

5. The method according to claim 2, characterized in that, Based on the magnetic field orientation control strategy, the second target position corresponding to the mechanism connected to the slave motor, and the first preset duration, the operation of the slave motor is controlled, including: The first parameter of the position loop corresponding to the slave motor, the second parameter of the speed loop corresponding to the slave motor, the third parameter of the quadrature-axis current loop corresponding to the slave motor, and the fourth parameter of the direct-axis current loop corresponding to the slave motor are determined according to the first preset duration and the third preset correspondence. The third preset correspondence is the correspondence between the duration and the first, second, third, and fourth parameters corresponding to the slave motor. The third preset correspondence is different for different slave motors. In each control cycle, the target speed of the slave motor is determined based on the actual position of the mechanism corresponding to the slave motor, the second target position of the mechanism corresponding to the slave motor, and the position loop corresponding to the slave motor. The initial target quadrature-axis current of the slave motor is determined based on the actual speed of the slave motor, the target speed of the slave motor, and the speed loop corresponding to the slave motor. Based on the initial target quadrature-axis current of the slave motor and the fourth preset correspondence, the intermediate target quadrature-axis current and the intermediate target direct-axis current of the slave motor are determined; wherein, the fourth preset correspondence is the correspondence between the initial target quadrature-axis current of the slave motor, the intermediate target quadrature-axis current of the slave motor, and the intermediate target direct-axis current of the slave motor. Based on the intermediate target quadrature-axis current, the quadrature-axis current loop of the slave motor, the intermediate target direct-axis current, and the direct-axis current loop of the slave motor, a control signal is output to the voltage conversion circuit corresponding to the slave motor to control the operation of the slave motor.

6. The method according to claim 5, characterized in that, Based on the intermediate target quadrature-axis current of the slave motor, the quadrature-axis current loop of the slave motor, the intermediate target direct-axis current of the slave motor, and the direct-axis current loop of the slave motor, a control signal is output to the voltage conversion circuit corresponding to the slave motor to control the operation of the slave motor, including: The final target quadrature axis current of the slave motor is determined based on the intermediate target quadrature axis current and the preset quadrature axis harmonic, and the final target direct axis current of the slave motor is determined based on the intermediate target direct axis current and the preset direct axis harmonic. Based on the final target quadrature-axis current of the slave motor, the quadrature-axis current loop of the slave motor, the final target direct-axis current of the slave motor, and the direct-axis current loop of the slave motor, a control signal is output to the voltage conversion circuit corresponding to the slave motor to control the operation of the slave motor.

7. The method according to claim 5, characterized in that, When the vehicle brakes, the method further includes: At preset intervals, a first ratio is determined to the first position change of the main motor and the total first position change required of the main motor. For each slave motor, determine a second ratio between the second position change of the slave motor and the total amount of second position change required for the slave motor; If the absolute value of the difference between the second ratio and the first ratio is greater than a preset difference threshold, then a compensation value is determined based on the difference between the second ratio and the first ratio. After determining the target speed of the slave motor based on the actual position of the mechanism corresponding to the slave motor, the second target position of the mechanism corresponding to the slave motor, and the position loop corresponding to the slave motor, and before determining the initial target quadrature-axis current of the slave motor based on the actual speed of the slave motor, the target speed of the slave motor, and the speed loop corresponding to the slave motor, the method further includes: The target speed of the slave motor is updated according to the compensation value corresponding to the slave motor; The initial target quadrature-axis current of the slave motor is determined based on the actual speed of the slave motor, the target speed of the slave motor, and the speed loop corresponding to the slave motor, including: The initial target quadrature-axis current of the slave motor is determined based on the updated target speed of the slave motor, the actual speed of the slave motor, and the speed loop corresponding to the slave motor.

8. The method according to claim 7, characterized in that, Determining the compensation value based on the difference between the second ratio and the first ratio includes: The compensation value is determined based on the range of the difference between the second ratio and the first ratio; wherein different ranges of the difference correspond to different compensation values, and the larger the maximum value of the range of the difference, the smaller the compensation value; when the second ratio is greater than the first ratio, the compensation value is negative, and when the second ratio is less than the first ratio, the compensation value is positive.

9. A vehicle, characterized in that, The device includes at least one seat and a seat controller. The seat includes at least two motors and has a first posture and a second posture. The seat controller is connected to the motors and is used to perform the control method of the seat according to any one of claims 1-8.

10. The vehicle according to claim 9, characterized in that, The vehicle also includes a vehicle controller connected to the seat controller. The vehicle controller is used to determine the braking time required for the vehicle to brake based on the vehicle's current speed and acceleration when the vehicle brakes.

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