Seat control method, device and terminal

Abstract

The application relates to a seat control method, device and terminal, which can be applied to the safety field of intelligent vehicles, robots and the like terminals. The method comprises the following steps: in the case that a collision with a collision intensity greater than a preset threshold is detected and / or a side of the terminal collides, the adjustment mode of the seat is switched to a jog adjustment mode, the mode limits the amplitude of single adjustment of the seat, so that the seat controller can only control the seat to move a limited distance or rotate a limited angle in response to one valid trigger signal of an adjustment switch. In this way, after the collision occurs, secondary extrusion caused by abnormal movement of the seat can be prevented, and necessary seat adjustment capability can be reserved to guarantee the escape and rescue efficiency.

Description

Technical Field

[0001] This application relates to the field of terminal security, and more specifically, to a seat control method, device, and terminal. Background Technology

[0002] With the development of vehicle passive safety technologies, the industry has made significant progress in vehicle crashworthiness and restraint systems (such as airbags and seat belts). However, in severe side collisions, occupants not only suffer direct impact but also face the risk of secondary injuries. For example, interior panels such as doors may deform significantly during a collision, squeezing switches and causing unexpected movement or rotation of the vehicle seats. This can force trapped occupants between the seats and the deformed vehicle body, resulting in severe secondary injuries such as pinching wounds and fractures. Summary of the Invention

[0003] This application provides a seat control method, device, and terminal that can reduce the risk of secondary injury to occupants after a collision and facilitate rescue operations.

[0004] Firstly, a seat control method is provided, which can be applied to terminals such as vehicles and robots, and can be executed by chips or circuits in the terminal. The following description uses the example of the method being executed by chips or circuits in a terminal including a first seat.

[0005] The method includes: acquiring a collision detection signal; and, when the collision detection signal meets preset conditions, controlling the first seat to move a first distance or rotate a first angle in response to a first adjustment signal; wherein the first adjustment signal is generated in response to the input of the adjustment switch of the first seat, the first distance is less than or equal to a distance threshold, and the first angle is less than or equal to an angle threshold.

[0006] In some implementations, the collision detection signal meeting the preset conditions may include any of the following: the collision detection signal indicates that the collision intensity is greater than or equal to the intensity threshold, or the collision detection signal indicates that a collision occurs to the side of the terminal and the collision intensity is greater than or equal to the intensity threshold.

[0007] The adjustment switch for the first seat can be understood as a physical button or virtual key used to adjust the position and / or posture angle of the first seat. The input to the adjustment switch for the first seat refers to the signal generated when the switch's original electrical or physical state is altered by external forces. For example, these external forces may include active pressing, tossing, or prolonged pressing of the adjustment switch by the occupant or rescue personnel.

[0008] In the event of a high-intensity collision, interior deformation can easily compress switches, causing continuous abnormal seat movement and forcibly trapping occupants between the cabin and the seat, resulting in severe secondary injuries. Common industry techniques typically cut off power to the seat adjustment system after a collision to prevent accidental switch activation. However, this also renders occupants unable to actively adjust the seat for self-rescue and escape, severely hindering external rescuers from adjusting the seat, expanding the rescue space, and quickly removing trapped occupants. The technical solution described in this application addresses this issue by controlling the seat adjustment only by a limited distance or angle upon receiving a signal from the adjustment switch after a collision. This effectively prevents prolonged abnormal seat movement caused by interior deformation or continuous accidental switch activation, thus avoiding severe secondary injuries caused by forcibly trapping occupants between the cabin and the seat. Furthermore, this control scheme retains the seat's adjustable capability, allowing occupants and external rescuers to actively adjust the seat position, thereby improving the efficiency of self-rescue and external rescue.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, when the collision detection signal meets preset conditions, controlling the first seat to move a first distance or rotate a first angle in response to the first adjustment signal includes: when the collision detection signal meets preset conditions, controlling the first seat to move or rotate in response to the first adjustment signal when the duration of the first adjustment signal is less than a first duration threshold; and controlling the posture of the first seat to stop changing when the following conditions are met: the duration of the first adjustment signal is greater than or equal to the first duration threshold, and the moving distance of the first seat reaches the first distance or the rotation angle of the first seat reaches the first angle.

[0010] In some implementations, if the first adjustment signal is used to adjust the movement of the first seat, the posture of the first seat is controlled to stop changing when the following conditions are met: the duration of the first adjustment signal is greater than or equal to a first duration threshold, and the movement distance of the first seat reaches a first distance; or, if the first adjustment signal is used to adjust any of the following of the first seat: backrest angle, seat cushion angle, leg rest angle, or rotation angle of the seat about the longitudinal axis of the end, the posture of the first seat is controlled to stop changing when the following conditions are met: the duration of the first adjustment signal is greater than or equal to the first duration threshold, and the rotation angle of the aforementioned components of the first seat reaches a first angle.

[0011] In the above technical solution, by limiting the duration, maximum movement distance, and maximum rotation angle of a single adjustment operation, the safety boundaries of seat control after a collision can be further clarified. Through this solution, even if the adjustment switch experiences mechanical jamming due to a collision or is subjected to continuous, unexpected prolonged pressing, the seat's drive motor will not continuously operate. This allows control over the seat's movement within confined spaces (such as interior deformation intruding into the space), collaboratively cutting off the risk of seat loss of control from both temporal and spatial dimensions, further reducing the risk of secondary injuries such as pinching, crushing, or fractures to occupants.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the seat controller of the terminal is in a silent state between the first moment and the second moment; wherein, the first moment is the moment of occurrence of the collision indicated by the collision detection signal, and the time interval between the first moment and the second moment is less than or equal to a second duration threshold; when the collision detection signal meets the preset conditions, controlling the first seat to move a first distance or rotate a first angle in response to the first adjustment signal includes: after the second moment, controlling the first seat to move a first distance or rotate a first angle in response to the first adjustment signal when the collision detection signal meets the preset conditions.

[0013] In some implementations, the seat controller being in a silent state can be understood as follows: the seat controller can receive signals from the adjustment switch, but does not adjust the seat's posture in response to signals from the adjustment switch.

[0014] In some implementations, the first moment can also be the moment when the collision detection signal meets the preset conditions, or the first moment can also be the moment when the collision detection signal is acquired.

[0015] The above technical solution enables the seat controller to remain silent in the initial stage of a collision, when the kinetic energy of the collision is released violently, the cabin structure is deformed and unstable, and the occupants are out of control due to the impact. This can prevent unexpected seat movements caused by accidental activation of the adjustment switch (such as being squeezed by the deformed cabin) from the source, thereby ensuring that the occupants will not suffer additional pinching or superimposed injuries due to abnormal seat movement when experiencing a collision impact, which helps to protect the personal safety of the occupants in the terminal during the most intense stage of the collision.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the terminal's motion speed at and / or after the third moment is less than or equal to a speed threshold; wherein the third moment is no later than the second moment.

[0017] In some implementations, the third time point and the second time point can be the same time point.

[0018] Following a collision, the vehicle often loses control and slides, rotates, or even rolls over. Before the vehicle's speed is less than or equal to a speed threshold, there is a dynamic risk of secondary collisions or continued rollover. The above-mentioned technical solution can restore the seat's controllable adjustment capability after eliminating the dynamic risks of the vehicle. This reduces the risk of accidental activation of adjustment switches due to unstable vehicle movement, which could lead to abnormal seat movement.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: acquiring electrical signal information of the adjustment switch within a first time period, the electrical signal information indicating the on-time and / or on-time duration of the adjustment switch; wherein the start time of the first time period is not earlier than a first moment; and controlling the first seat to move a first distance or rotate a first angle in response to the first adjustment signal when the collision detection signal meets preset conditions, including: when the collision detection signal meets preset conditions and it is determined from the electrical signal information that the adjustment switch has not been subjected to unexpected compression, controlling the first seat to move a first distance or rotate a first angle in response to the first adjustment signal.

[0020] In some implementations, the activation of the control switch can be understood as the electrical state change process of the internal electrical contacts of the control switch switching from open (OFF) to closed (ON). Activation of the control switch can be triggered by occupants or rescue personnel actively pressing the control switch; alternatively, activation can be caused by unexpected mechanical compression of the control switch due to deformation of cabin components (such as interior trim), resulting in the internal contacts of the switch forcibly closing and conducting without human intervention. The aforementioned unexpected compression of the control switch can be understood as: in accident scenarios such as external impact or rollover, abnormal mechanical compression and / or electrical interference behavior exerted on the control switch by a non-operator, caused by the intrusion of cabin structural collapse.

[0021] Through the above technical solution, the system can accurately identify faulty behaviors such as continuous pressure or abnormally high-frequency repeated triggering of switches caused by interior deformation after a collision, and implement electrical isolation or command suppression for faulty switches. This prevents the seat controller from responding to unexpected adjustment signals caused by mechanical pressure, thereby eliminating unexpected seat movement and helping to improve the active safety protection capabilities of the seat system after a collision.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, the first adjustment signal is used to request the first seat to adjust in a first direction. The method further includes: acquiring first perception information, the first perception information indicating whether there is an obstacle around the first seat; and controlling the first seat to move a first distance or rotate a first angle in response to the first adjustment signal when the collision detection signal meets a preset condition, including: when the collision detection signal meets the preset condition and the first perception information indicates that there is no obstacle in the first direction that would obstruct the adjustment of the first seat, controlling the first seat to move a first distance or rotate a first angle in response to the first adjustment signal.

[0023] In the above technical solution, the relative spatial relationship between the occupant, the seat, and obstacles (such as intruding structural components) can be assessed in real time through sensing information, thereby dynamically quantifying the occupant's current risk of being crushed. When there is an obstacle in the target adjustment direction of the seat, the system can actively block and intercept the seat movement command in that direction, thereby effectively preventing secondary injuries caused by the occupant's limbs or torso being crushed due to blind seat adjustment, which helps to ensure occupant safety.

[0024] In conjunction with the first aspect, in certain implementations of the first aspect, when the collision detection signal meets preset conditions and a second adjustment signal requesting adjustment of the first seat in the second direction is obtained, the method further includes: when the first perception information indicates that there is an obstacle in the second direction that hinders the adjustment of the first seat, controlling the first seat to remain stationary, and / or the prompting device of the control terminal prompts first information indicating the reason for the first seat remaining stationary; wherein the second adjustment signal is generated in response to the input of the adjustment switch.

[0025] The above technical solutions can avoid panic or misjudgment caused by the seat not moving, and help improve the effectiveness of human-computer interaction and on-site rescue efficiency in emergency situations.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: acquiring second sensing information, the second sensing information indicating whether there is a person in the first seat; and controlling the first seat to move a first distance or rotate a first angle in response to a first adjustment signal when the collision detection signal meets preset conditions, including: controlling the first seat to move a first distance or rotate a first angle in response to a first adjustment signal when the collision detection signal meets preset conditions and the second sensing information indicates that there is a person in the first seat.

[0027] In some implementations, the second sensing information and the first sensing information can be the same sensing information.

[0028] Through the above technical solution, for seats occupied by passengers, the system switches their adjustment mode to a controlled inching adjustment mode (i.e., an adjustment mode that limits the range of a single seat adjustment). This allows passengers or rescuers to achieve self-rescue or rescue by fine-tuning the seat posture, while limiting the range of a single seat adjustment to prevent secondary injuries to passengers caused by excessive seat posture adjustments. In conjunction with the first aspect, in some implementations of the first aspect, the terminal further includes a second seat, and the second sensing information further indicates that no one is in the second seat. The method further includes: when the collision detection signal meets preset conditions, controlling the second seat to move a second distance or rotate a second angle in response to a third adjustment signal; wherein the third adjustment signal is generated in response to the input of the adjustment switch of the second seat; the second distance is less than or equal to a first distance difference, the first distance difference being the distance difference between the first extreme position of the second seat and the position before the movement of the second seat, and the second angle is less than or equal to the first angle difference, the first angle difference being the angle difference between the second extreme position of the second seat and the position before rotation of the second seat.

[0029] Through the above technical solution, for unoccupied seats, the system actively removes the limitation on the single adjustment range of the seat, which allows occupants or rescuers to quickly and significantly move the unoccupied seat, thereby rapidly expanding the golden rescue space for trapped occupants and helping to achieve a synergistic improvement in safety and rescue efficiency.

[0030] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: during the process of controlling the first seat to move or rotate in response to the first adjustment signal, acquiring clamping indication information, the clamping indication information indicating whether there is abnormal resistance during the movement or rotation of the first seat; and when the clamping indication information indicates that there is abnormal resistance during the movement or rotation of the first seat, controlling the first seat to stop the posture adjustment.

[0031] By using the above technical solution, when abnormal resistance is detected in the seat during the seat adjustment process, the seat can be controlled to immediately stop the posture adjustment, which also helps to further reduce the chance of secondary pinching injuries.

[0032] In conjunction with the first aspect, in some implementations of the first aspect, the clamping indication information includes at least one of the following: operating current, the operating current being used to adjust the first seat; pressure information, the pressure information indicating the pressure borne by the first seat; and third sensing information, the third sensing information indicating the position of the person sitting in the first seat.

[0033] In some implementations, the third sensing information can be the same sensing information as the aforementioned first sensing information and / or second sensing information.

[0034] In the above technical solution, dynamic indicators such as the working current of the drive motor, the pressure of the seat, and the occupant's posture are used as feedback sources to enable the seat controller to have both tactile and visual perception capabilities. This allows for dynamic blocking of sudden clamping during seat movement, reducing the probability of secondary clamping or crushing injuries to the occupant's limbs caused by seat movement, and ensuring safety and controllability during seat adjustment after a collision.

[0035] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: after detecting the first operation, controlling the first seat to move a third distance or rotate a third angle in response to a fourth adjustment signal; wherein the first operation is used to request the seat of the terminal to be in a restricted release state, and the fourth adjustment signal is generated in response to the input of the adjustment switch of the first seat; the third distance is less than or equal to a second distance difference, the second distance difference being the distance difference between the third extreme position of the first seat and the position before the first seat was moved, and the third angle is less than or equal to a second angle difference, the second angle difference being the angle difference between the fourth extreme position of the first seat and the position before the first seat was rotated.

[0036] When there is an urgent need to make significant adjustments to the seat for escape, the above-mentioned technical solution allows occupants or rescuers to remove the limitation on the single adjustment range of the seat, thereby providing maximum space redundancy for occupants to escape on their own or for external rescuers to remove trapped occupants, which helps to improve the efficiency of escape and rescue in response to extreme accident scenarios.

[0037] In a second aspect, a seat control device is provided, the device including an acquisition unit and a processing unit, wherein the acquisition unit is used to: acquire a collision detection signal; the processing unit is used to: control a first seat to move a first distance or rotate a first angle in response to a first adjustment signal when the collision detection signal meets preset conditions; wherein the first adjustment signal is generated in response to the input of the adjustment switch of the first seat, the first distance is less than or equal to a distance threshold, and the first angle is less than or equal to an angle threshold.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, when the collision detection signal meets preset conditions, the processing unit is configured to: control the first seat to move or rotate in response to the first adjustment signal when the duration of the first adjustment signal is less than a first duration threshold; and control the posture of the first seat to stop changing when the following conditions are met: the duration of the first adjustment signal is greater than or equal to the first duration threshold, and the moving distance of the first seat reaches a first distance or the rotation angle of the first seat reaches a first angle.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the seat controller of the terminal is in a silent state between the first moment and the second moment; wherein, the first moment is the moment when the collision occurs as indicated by the collision detection signal, and the time interval between the first moment and the second moment is less than or equal to the second duration threshold; the processing unit is used to: when the collision detection signal meets the preset conditions, after the second moment, control the first seat to move a first distance or rotate a first angle in response to the first adjustment signal.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, the terminal's motion speed at and / or after the third moment is less than or equal to a speed threshold; wherein the third moment is no later than the second moment.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to: acquire electrical signal information of the adjustment switch within a first time period, wherein the electrical signal information indicates the on-time and / or on-time duration of the adjustment switch; wherein the start time of the first time period is not earlier than the first moment; the processing unit is configured to: control the first seat to move a first distance or rotate a first angle in response to the first adjustment signal when the collision detection signal meets the preset conditions and it is determined from the electrical signal information that the adjustment switch has not been subjected to unexpected compression.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, the first adjustment signal is used to request the first seat to adjust in the first direction, and the acquisition unit is further used to: acquire first perception information, the first perception information indicating whether there is an obstacle around the first seat; the processing unit is used to: when the collision detection signal meets the preset conditions and the first perception information indicates that there is no obstacle in the first direction that would hinder the adjustment of the first seat, control the first seat to move a first distance or rotate a first angle in response to the first adjustment signal.

[0043] In conjunction with the second aspect, in some implementations of the second aspect, when the collision detection signal meets the preset conditions and a second adjustment signal requesting the first seat to be adjusted in the second direction is obtained, the processing unit is further configured to: control the first seat to remain stationary when the first perception information indicates that there is an obstacle in the second direction that hinders the adjustment of the first seat, and / or the prompting device of the control terminal prompts the first information, the first information indicating the reason for the first seat to remain stationary; wherein the second adjustment signal is generated in response to the input of the adjustment switch.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to: acquire second sensing information, the second sensing information indicating whether there is a person in the first seat; the processing unit is configured to: when the collision detection signal meets the preset conditions and the second sensing information indicates that there is a person in the first seat, control the first seat to move a first distance or rotate a first angle in response to the first adjustment signal.

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the terminal further includes a second seat, and the second sensing information further indicates that no one is in the second seat. The processing unit is further configured to: control the second seat to move a second distance or rotate a second angle in response to a third adjustment signal when the collision detection signal meets preset conditions; wherein the third adjustment signal is generated in response to the input of the adjustment switch of the second seat; the second distance is less than or equal to a first distance difference, the first distance difference being the distance difference between the first extreme position of the second seat and the position before the movement of the second seat; the second angle is less than or equal to the first angle difference, the first angle difference being the angle difference between the second extreme position of the second seat and the position before the rotation of the second seat.

[0046] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to: acquire clamping indication information during the process of controlling the first seat to move or rotate in response to the first adjustment signal, wherein the clamping indication information indicates whether there is abnormal resistance during the movement or rotation of the first seat; and control the first seat to stop the posture adjustment when the clamping indication information indicates that there is abnormal resistance during the movement or rotation of the first seat.

[0047] In conjunction with the second aspect, in some implementations of the second aspect, the clamping indication information includes at least one of the following: operating current, the operating current being used to adjust the first seat; pressure information, the pressure information indicating the pressure borne by the first seat; and third sensing information, the third sensing information indicating the posture of the person sitting in the first seat.

[0048] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: after detecting the first operation, control the first seat to move a third distance or rotate a third angle in response to a fourth adjustment signal; wherein the first operation is used to request the seat of the terminal to be in a restricted release state, and the fourth adjustment signal is generated in response to the input of the adjustment switch of the first seat; the third distance is less than or equal to a second distance difference, the second distance difference being the distance difference between the third extreme position of the first seat and the position before the first seat was moved, and the third angle is less than or equal to a second angle difference, the second angle difference being the angle difference between the fourth extreme position of the first seat and the position before the first seat was rotated.

[0049] Thirdly, a seat control device is provided, the device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0050] In conjunction with the third aspect, in some implementations of the third aspect, the device also includes a memory.

[0051] Fourthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first aspect.

[0052] It should be noted that the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0053] Fifthly, a computer-readable storage medium is provided, the computer-readable medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0054] In a sixth aspect, a chip system is provided, the chip system including a processor for supporting the implementation of the functions involved in the first aspect above, such as transmitting or processing the data and / or information involved in the methods described above.

[0055] In some possible implementations, the chip system also includes a memory for storing necessary program instructions and data for the terminal or communication device. The chip system can consist of chips or include chips and other discrete components.

[0056] In a seventh aspect, a terminal is provided, the terminal including means as in any possible implementation of the second or third aspect, or the terminal including a computer-readable storage medium as in any possible implementation of the fifth aspect, or the terminal including a chip system as in any possible implementation of the sixth aspect, or the terminal loading a computer program product as in any possible implementation of the fourth aspect.

[0057] In conjunction with aspect seven, in some implementations of aspect seven, the terminal may include vehicles in a broad sense, such as transportation vehicles (e.g., commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (e.g., forklifts, trailers, tractors, etc.), engineering vehicles (e.g., excavators, bulldozers, cranes, etc.), agricultural equipment (e.g., lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. In practical implementations, the vehicle may also be a road vehicle, a water vehicle, an air vehicle, industrial equipment, agricultural equipment, or other intelligent driving equipment such as entertainment equipment. In some implementations, the aforementioned terminal may also be an intelligent terminal that can be used by humans, including unmanned boats and unmanned vehicles, or it may include unmanned intelligent terminals (e.g., drones, unmanned delivery vehicles, etc.), or the aforementioned terminal may also include mobile robots, smart home devices, and other intelligent terminals.

[0058] For the beneficial effects not described in detail in aspects two through seven, please refer to the description in aspect one, which will not be repeated here. Attached Figure Description

[0059] Figure 1 This is a functional schematic diagram of the terminal provided in the embodiments of this application; Figure 2 This is a schematic block diagram of the seat control system provided in an embodiment of this application; Figure 3 This is a schematic flowchart of the seat control method provided in the embodiments of this application; Figure 4 This is another schematic flowchart of the seat control method provided in the embodiments of this application; Figure 5 This is a schematic diagram illustrating the execution timing of each step of the seat control method provided in the embodiments of this application; Figure 6 This is a schematic diagram of the application scenarios and GUI involved in the embodiments of this application; Figure 7 This is a schematic diagram of the seat control device provided in the embodiments of this application. Detailed Implementation

[0060] In the event of a side collision, the mechanical power seat adjustment switch may be subjected to continuous pressure due to the impact, causing it to remain on for an extended period and continuously drive the seat motor, resulting in unexpected seat movement or rotation. To avoid this, a "one-size-fits-all" global power cut-off strategy is typically employed after a collision, switching the power transmission between the mains and the seat motor so that even if the power seat adjustment switch remains on for an extended period, it will not drive the seat to move or rotate. However, while this prevents abnormal seat movement, it also renders the occupant completely unable to actively adjust the seat for self-rescue and escape, and may also severely hinder external rescue efforts.

[0061] In view of this, this application provides a seat control solution that can prevent secondary compression caused by abnormal seat movement after a collision, while retaining the necessary seat adjustment capability to ensure escape and rescue efficiency.

[0062] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0063] Figure 1 This is a functional schematic block diagram of the terminal provided in an embodiment of this application. See also... Figure 1 Terminal 100 may include a sensing system 120, an interaction system 130, and a computing platform 150. The sensing system 120 may include several sensors for sensing information about the surrounding environment of terminal 100; and / or, the sensing system 120 may also include several sensors for sensing information within the cockpit of terminal 100. For example, the sensing system 120 may include a Global Positioning System (GPS), the BeiDou Navigation Satellite System, or other positioning systems. As another example, the sensing system 120 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0064] The interactive system 130 may include a device for receiving user instructions and a device for providing prompts to the user. The device for receiving user instructions may include at least one of the following: a sound receiving device for receiving user voice instructions, such as a microphone, transceiver, etc.; or a device for receiving instructions input by the user through a screen, such as a human-machine interface (HMI); or a camera device for receiving instructions such as user posture, such as an in-cabin camera. The prompting device may include one or more of a sound-emitting device, a display device, and a lighting device. The sound-emitting device may include a speaker, audio system, etc. The lighting device is used to display lighting, and may include ambient lighting or other lighting devices in the vehicle cabin.

[0065] Some or all of the functions of terminal 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement corresponding functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the relevant functions. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.

[0066] Figure 2 A schematic block diagram of the seat control system provided in an embodiment of this application is shown. See also: Figure 2 The system includes a sensing module 210, a control module 220, and a seat unit 230. In some implementations, the system may also include an interaction module 240. The functions of the sensing module 210 can be determined by... Figure 1 The sensing system 120 is implemented by one or more sensors, and the function of the control module 220 can be achieved by... Figure 1 The functionality of the interaction module 240 can be implemented by one or more processors in the computing platform 150. Figure 1The interactive system 130 implements the prompting device and / or the device for receiving user instructions. The functions of each module are as follows: 1) The perception module 210 may include a collision detection module for detecting whether a collision has occurred at the terminal. In some implementations, the perception module 210 may also include an occupant detection module and / or a motion state detection module, wherein the occupant detection module is used to detect whether there are any people in each seat in the terminal's cabin, or the occupant detection module may also be used to detect whether there are any obstacles within the adjustable range of each seat in the cabin; the motion state detection module is used to detect the speed of the terminal.

[0067] For example, the collision detection module may include an airbag control unit (ACU), also known as an airbag module (ABM); alternatively, the collision detection module may also include displacement sensors, pressure sensors, etc., installed at the front, sides (e.g., doors, B-pillars), rear, and chassis of the terminal. The occupant detection module may include an in-cabin camera device, or alternatively, pressure sensors installed at the seats. The motion state detection module may include, but is not limited to, sensors for detecting the terminal's speed, such as IMUs, wheel speed sensors, and accelerometers.

[0068] 2) The control module 220 is used to control the seat adjustment mode based on the detection results of the collision detection module. The control module 220 can also control the seat posture adjustment based on the detection results of the occupant detection module and / or motion state detection module.

[0069] For example, the seat adjustment modes of this application may include Mode 1 and Mode 2. Mode 1 (or inching adjustment mode) is a mode that limits the range of a single seat adjustment. A single adjustment can be understood as an adjustment performed in response to a valid trigger signal from the adjustment switch. A valid trigger signal refers to the continuous signal from when the adjustment switch switches from a non-on state (or off state) to an on state until it switches back to a non-on state. Mode 2 (or regular adjustment mode) is a mode that does not limit the range of a single seat adjustment. It is understood that, for Mode 1, before the seat adjustment range reaches a preset range, the seat adjustment range is positively correlated with the duration of the valid trigger signal; when and after the seat adjustment range reaches the preset range, the seat posture no longer changes. For Mode 2, before the seat adjustment range reaches its limit range (such as the limit distance or limit angle that the seat can adjust to), the seat adjustment range is positively correlated with the duration of the valid trigger signal; when and after the seat adjustment range reaches its limit range, the seat posture no longer changes. The aforementioned positive correlation can be understood as follows: the adjustment amplitude increases with the duration of the effective trigger signal.

[0070] For example, the control module 220 can be a cockpit domain controller (CDC) or a vehicle domain controller (VDC). The VDC is used to implement functions such as vehicle control. The VDC can be considered an integration of the powertrain domain, chassis domain, and body domain. In actual implementation, the VDC may also have other names, such as body domain controller (BDC), vehicle control server ICAS1, body super core (BSC), etc. The CDC is used to implement intelligent cockpit functions such as human-machine interaction. In actual implementation, the CDC may also have other names, such as media graphics unit (MGU), intelligent cockpit server ICAS3, cockpit super core (CSC), etc. The aforementioned ICAS stands for in-car application-server (ICAS). In some implementations, the control module 220 may also be a cockpit-driver integrated controller, which can be understood as a controller that integrates intelligent driving-related perception, decision-making and control functions, as well as cockpit intelligent functions; or, the control module 220 may also be a zone controller or a vehicle integration unit (VIU), which has gateway functions and electronic control functions. The VIU can perform data format conversion (or encapsulation) and forwarding, and can also provide some or all data processing functions and / or control functions for at least one vehicle component.

[0071] 3) The seat unit 230 includes an adjustment switch 231 and a drive motor 232. The adjustment switch 231 can be turned on or off in response to an external input. When the adjustment switch 231 is in the on state, it can send an electrical signal generated by the on state to the controller controlling the seat. The controller then controls the drive motor 232 to adjust the seat position. In actual implementation, one seat is equipped with one adjustment switch and one drive motor. The controller can be a control module 220, or it can be a controller 233 that communicates with the control module 220. For example, the controller 233 can be an electronic control unit (ECU), a microcontroller unit (MCU), etc.

[0072] In one implementation method (hereinafter referred to as implementation method a), see [link to implementation method a]. Figure 2 In (a), the aforementioned controller is controller 233 that communicates with control module 220. In this case, control module 220 can send relevant instructions to controller 233 based on the perception results of perception module 210 to control the seat adjustment mode and / or notify controller 233 to stop posture adjustment.

[0073] For example, when the terminal is operating normally (i.e., no collision occurs), the controller 233 adjusts the seat posture in mode two. When the control module 220 receives a collision detection signal from the collision detection module that meets preset conditions, the control module 220 sends a mode switching command 1 to the controller 233, causing the controller 233 to switch the adjustment mode to mode one. Furthermore, the control module 220 can also receive a function exit command from the interaction module 240, which requests to exit mode one. Then, the control module 220 can send a mode switching command 2 to the controller 233 according to the function exit command, causing the controller 233 to switch from mode one to mode two to adjust the seat posture.

[0074] In some scenarios of this implementation, the terminal includes multiple seats, each configured with a controller 233. In one example, when the control module 220 receives a collision detection signal that meets preset conditions, it can send a mode switching command 1 to each controller 233. In another example, before sending the mode switching command 1 to the controller 233, the control module 220 can acquire the electrical signal information of the adjustment switch associated with each seat. This electrical signal information indicates the on-time and / or on-time duration of the adjustment switch. Based on the aforementioned electrical signal information, the control module 220 can determine whether the adjustment switch of each seat has been subjected to unexpected pressure. If it is determined that the adjustment switches of one or more seats have not been subjected to unexpected pressure, the control module 220 sends the mode switching command 1 to the controller 233 used to control the aforementioned seats; if it is determined that the adjustment switch of a certain seat has been subjected to unexpected pressure, the control module 220 controls the controller 233 of that seat to be in a silent state.

[0075] For example, the control module 220 can obtain the aforementioned electrical signal information via the controller 233, or there may be a direct communication link (such as a point-to-point transmission channel) between the control module 220 and the regulating switch, and the control module 220 can obtain the aforementioned electrical signal information through the direct communication link.

[0076] In some other scenarios of this implementation, after a collision occurs and the motion state detection module indicates that the terminal's speed is greater than a speed threshold, the control module 220 can control each controller 233 of the seat terminal to be in a silent state. Furthermore, when the motion state detection module indicates that the terminal's speed is less than or equal to the speed threshold, the control module 220, based on the electrical signal information, sends a mode switching command 1 to one or more controllers 233 associated with adjustment switches that have not experienced unexpected compression.

[0077] In some further scenarios of this implementation, after a collision but before adjusting the seat's posture based on Mode 1 or Mode 2, the control module 220 can acquire perception information from the occupant detection module and, based on this perception information, determine the non-adjustable direction of the seat. This non-adjustable direction is the direction in which there are obstacles (such as people) around the seat that hinder seat adjustment. The control module 220 can then send a blocking command to the controller 233, indicating the aforementioned non-adjustable direction. Thus, when the controller 233 receives a signal from the adjustment switch requesting adjustment of the seat to the aforementioned non-adjustable direction, the controller 233 ignores the signal and keeps the seat stationary. Furthermore, during seat posture adjustment, the control module 220 can acquire perception information from the occupant detection module and / or information indicating changes in the drive motor's current. Based on this information, it can determine whether there is abnormal resistance during seat posture adjustment. If abnormal resistance is detected, the control module 220 sends a stop command to the seat's controller 233, which then responds to the stop command by controlling its associated drive motor to stop moving.

[0078] In another implementation method (hereinafter referred to as implementation method b), see [link to implementation method b]. Figure 2 In (b), the aforementioned controller is the control module 220. In this case, the control module 220 can switch the seat adjustment mode and / or stop the posture adjustment based on the perception results of the perception module 210 and / or the relevant instructions from the interaction module 240.

[0079] For example, when the terminal is operating normally, the control module 220 can adjust the seat posture in mode two; when the control module 220 receives a collision detection signal from the collision detection module that meets preset conditions, the control module 220 switches to mode one to adjust the seat posture. Furthermore, the control module 220 can also receive a function exit command from the interaction module 240 and, in response to the function exit command, switch the adjustment mode from mode one to mode two.

[0080] In some scenarios of this implementation, the terminal includes multiple seats. When the control module 220 receives a collision detection signal that meets preset conditions, the control module 220 can use different adjustment modes for different seats. For example, the control module 220 can determine whether the adjustment switch of each seat has been subjected to unexpected pressure based on the electrical signal information of the adjustment switch associated with each seat. If it is determined that the adjustment switches of one or more seats have not been subjected to unexpected pressure, the control module 220 adjusts the posture of the aforementioned seats based on mode one; if it is determined that the adjustment switch of a certain seat has been subjected to unexpected pressure, the control module 220 adjusts the posture of the seat in a silent state, that is, without responding to the signals of the adjustment switches associated with the aforementioned seat.

[0081] In some other scenarios of this implementation, after a collision occurs and the motion state detection module indicates that the terminal's speed is greater than a speed threshold, the control module 220 enters a silent state, that is, it does not adjust the seat's posture in response to signals from the adjustment switch. Then, when the motion state detection module indicates that the terminal's speed is less than or equal to the speed threshold, the control module 220 determines, based on the electrical signal information, which seats to adjust according to Mode 1 and which seats to keep silent.

[0082] In some further scenarios of this implementation, after a collision occurs and before adjusting the seat's posture based on Mode 1 or Mode 2, the control module 220 can acquire perception information from the occupant detection module and determine the non-adjustable direction of the seat based on the aforementioned perception information. Then, when the control module 220 receives a signal from the adjustment switch requesting adjustment of the seat to the aforementioned non-adjustable direction, the control module 220 ignores the signal and keeps the seat stationary. Furthermore, during seat posture adjustment, the control module 220 can acquire perception information from the occupant detection module and / or information indicating changes in the current of the drive motor. Based on this information, it can determine whether there is abnormal resistance during seat posture adjustment. If abnormal resistance is determined during seat posture adjustment, the control module 220 controls the drive motor associated with the aforementioned seat to stop moving.

[0083] Regarding the two implementation methods mentioned above, in certain scenarios, if the seat posture adjustment is stopped due to abnormal resistance detected during the seat movement process based on mode one, the control module 220 can also control the interaction module 240 to provide information prompts, the aforementioned prompts being used to indicate the reason why the seat adjustment was stopped; or, if an obstacle is detected before adjusting the seat posture based on mode one, the control module 220 can control the seat to remain stationary and control the interaction module 240 to provide information prompts, the aforementioned prompts being used to indicate the reason why the seat remains stationary.

[0084] In addition, under normal terminal operation, in implementation a, the control module 220 can also send a posture adjustment command to the controller 233, and the controller 233 will respond by controlling the drive motor to adjust the seat posture. In implementation b, the control module 220 can generate a posture adjustment command and control the drive motor to adjust the seat posture based on the command. The posture adjustment command indicates the target posture of the seat, and the command can be generated based on information such as the terminal's power-on / off state and motion state (e.g., speed, acceleration).

[0085] It should be noted that, Figure 2 The modules included in the system shown are for illustrative purposes only. In actual implementation, the seat control system may include more or fewer modules.

[0086] The seat control system provided in the embodiments of this application has been described in detail above. The seat control method based on the system is described in detail below.

[0087] Figure 3 This paper illustrates a schematic flowchart of a seat control method provided in an embodiment of the present application. This method can be applied to... Figure 1 In the terminal shown, for example, the method can be derived from... Figure 1 The method may be executed by one or more processors in the computing platform 150, or it may also be executed by... Figure 2 The system shown executes the method; for example, the method can be performed by... Figure 2 The control module 220 executes the method. The method 300 includes: S310, acquire collision detection signal.

[0088] For example, the collision detection signal may come from a collision detection module (such as an ACU or ABM), and the collision detection signal may include collision-related information such as collision intensity and collision location. For example, the collision intensity-related information may include one or more of the following: the duration of terminal deceleration, peak deceleration, or collision intensity classification (such as minor, moderate, or severe collision).

[0089] S320, when the collision detection signal meets the preset conditions, the first seat is controlled to move a first distance or rotate a first angle in response to the first adjustment signal; wherein, the first adjustment signal is generated in response to the input of the adjustment switch of the first seat, the first distance is less than or equal to a distance threshold, and the first angle is less than or equal to an angle threshold.

[0090] For example, a collision detection signal satisfying a preset condition may include: the collision intensity being greater than or equal to an intensity threshold. Considering that the door trim panel is more likely to deform and crush the seat switch when the collision location is on the side, the collision detection signal may also include the collision location being the side of the terminal. Taking the vehicle as an example, the side of the terminal refers to the peripheral structure located on the left and / or right side of the terminal, parallel to the longitudinal central plane of symmetry. The collision intensity being greater than or equal to the intensity threshold may include any of the following: the collision intensity is classified as a severe collision; or, the absolute value of the peak deceleration is greater than a preset value, and the duration of deceleration is greater than or equal to a preset duration; or, the collision intensity is high enough to cause the airbags to deploy. For example, the aforementioned preset value may be 30 m / s². 2 Up to 50m / s 2 The preset duration can be one of the values, or the aforementioned preset value can be other values; the preset duration can be one of the values ​​between 50ms and 100ms, or the preset duration can be other values.

[0091] For example, the seat may include a backrest and a seat cushion (or seat tray), and in some scenarios, the seat may also include a leg rest. The angle adjustment dimensions of the first seat mentioned above may include one or more of the following: backrest angle, seat cushion angle, leg rest angle, and rotation angle of the seat about its longitudinal axis. The backrest angle may be the angle between the seat back and the vertical or longitudinal axis of the seat or terminal; the seat cushion angle may be the angle between the seat cushion surface and the horizontal chassis of the terminal; and the leg rest angle may be the angle between the surface of the leg rest and the vertical or longitudinal axis of the terminal. In the aforementioned movement distance of the first seat to change its spatial geometric position within the terminal, the adjustment dimension of the spatial geometric position of the first seat may include at least one of the following: seat height (i.e., the position of the seat cushion along the vertical axis) and seat fore-aft position (i.e., the position of the seat cushion along the longitudinal axis). For example, taking a vehicle as the terminal, the vertical axis and longitudinal axis of the aforementioned terminal may be the z-axis and x-axis of the vehicle coordinate system, respectively; the longitudinal axis of the aforementioned seat may be an axis parallel to the x-axis of the vehicle coordinate system; and the vertical axis of the aforementioned seat may be an axis parallel to the z-axis of the vehicle coordinate system.

[0092] For example, when the collision detection signal meets the preset conditions, the posture of the first seat is adjusted based on mode one in the aforementioned embodiments, that is, the position and / or angle of the seat is adjusted based on mode one. In other words, S320 can be refined as follows: when the collision detection signal meets the preset conditions, the first seat is controlled to move or rotate in response to the first adjustment signal if the duration of the first adjustment signal is less than a first duration threshold; and the posture of the first seat is controlled to stop changing when the following conditions are met: the duration of the first adjustment signal is greater than or equal to the first duration threshold, and the moving distance of the first seat reaches a first distance or the rotation angle of the first seat reaches a first angle.

[0093] For example, the first duration threshold can be a value between 0.3 seconds and 0.5 seconds, the first distance can be a value between 8 mm and 12 mm, and the first angle can be a value between 4° and 6°. Alternatively, the first duration threshold, the first distance, and the first angle can each take other values.

[0094] It is understood that the first adjustment signal can be a valid trigger signal as described in the aforementioned embodiments. The specific implementation method for controlling the seat adjustment mode to switch to mode one for posture adjustment can be found in the descriptions of implementation methods a and b above, and will not be repeated here.

[0095] In implementation method 1, the first seat can be any seat in the terminal. That is, after a collision that meets the preset conditions occurs, the posture of each seat in the terminal is adjusted based on mode 1.

[0096] In implementation method 2, when a collision occurs that meets preset conditions, the posture of the seat in the terminal that meets the preset conditions is adjusted based on mode 1.

[0097] In one scenario, for implementation method 2, before executing S320, the method further includes: acquiring electrical signal information of the adjustment switches associated with each seat (including the first seat) in the terminal within a first time period, wherein the electrical signal information indicates the on-time and / or on-duty duration of the adjustment switch; then, if it is determined from the electrical signal information that the adjustment switch associated with the first seat has not been subjected to unexpected pressure, controlling the first seat to move a first distance or rotate a first angle in response to a first adjustment signal; or, if it is determined from the electrical signal information that the adjustment switch associated with the first seat has been subjected to unexpected pressure, controlling the controller associated with the first seat to be in a silent state, i.e., no longer adjusting the posture of the first seat in response to signals from the adjustment switch associated with the first seat. The aforementioned adjustment switch associated with the first seat can be understood as a component used to drive the posture adjustment of the first seat.

[0098] For example, the specific duration of the first time period can be a value between 3 and 5 seconds, or it can be any other duration. The start time of the first time period can be the moment when the terminal's velocity becomes zero after a collision, or it can be the moment when the time difference between the first time period and the first moment is a preset time threshold, which can be a value between 4 and 5 seconds, or it can be any other value. The first moment can be any of the following: the moment when the collision occurs as indicated by the collision detection signal, the moment when the collision detection signal meets a preset condition, or the moment when the collision detection signal is acquired.

[0099] For example, if the control module determines that the turn-on time falls within the first time period based on the electrical signal information, and no disconnection release edge (i.e., the signal transition edge corresponding to the switch from the on state to the off state) is detected within the first time period, then the control module determines that the regulating switch has been subjected to unexpected pressure; or, if the control module determines that the turn-on time is earlier than the start time of the first time period based on the electrical signal information, and no disconnection release edge is detected within the first time period, then the control module determines that the regulating switch has been subjected to unexpected pressure; or, if the control module starts a trigger counter within the first time period, and the trigger counter increments by 1 when the regulating switch completes one cycle from on to off, and the number of cycles recorded by the trigger counter is greater than a preset number, then the control module determines that the regulating switch has been subjected to unexpected pressure; or, if the control module determines that the regulating switch is always in the off state within the first time period based on the electrical signal information, then the control module determines that the regulating switch has not been subjected to unexpected pressure. The aforementioned preset number can be a value from 5 to 10, or it can be other values. The specific implementation of the control module acquiring the electrical signal information can be referred to the descriptions in the aforementioned implementation methods a and b, and will not be repeated here.

[0100] In another scenario, for implementation method 2, before executing S320, the method further includes: acquiring second sensing information, which indicates whether there are people in each seat; then, if the second sensing information indicates that there are people in the first seat, controlling the first seat to move a first distance or rotate a first angle in response to a first adjustment signal; or, if the second sensing information indicates that there are no people in the second seat in the terminal, adjusting the posture of the second seat based on mode two, for example, controlling the second seat to move a second distance or rotate a second angle in response to a third adjustment signal; wherein, the third adjustment signal is generated in response to the input of the adjustment switch of the second seat; the second distance is less than or equal to the first distance difference, which is the distance difference between the first extreme position of the second seat and the position before the movement of the second seat, and the second angle is less than or equal to the first angle difference, which is the angle difference between the second extreme position of the second seat and the position before the rotation of the second seat.

[0101] For example, the extreme position of the aforementioned seat can be a rigid physical stop position defined by the end of the guide rail, the limit block, or the hinge stop point; or, the extreme position of the aforementioned seat can also be a soft limit boundary preset by the seat controller, corresponding to the Hall count limit or the encoder target value.

[0102] It is understandable that the seat-associated adjustment switch not being subjected to unexpected pressure and / or the presence of a person in the seat can be considered as some examples of the aforementioned "pre-set conditions".

[0103] In some implementations, before the collision detection signal meets preset conditions and the seat posture is adjusted based on mode one or mode two, it can be determined whether there are obstacles (such as occupants) around the first seat that would hinder seat adjustment, thereby blocking the adjustment of the first seat towards the direction where the obstacle exists, and only allowing the seat to adjust towards the direction where there is no obstacle. For example, the method further includes: acquiring first perception information, the first perception information indicating whether there are obstacles around the first seat; when a first adjustment signal requests the first seat to be adjusted in a first direction, and the first perception information indicates that there are no obstacles hindering the adjustment of the first seat in the first direction, controlling the first seat to move a first distance or rotate a first angle in response to the first adjustment signal. When an adjustment signal (such as a second adjustment signal) from the adjustment switch of the first seat requests the seat to be adjusted in a second direction, and the first perception information indicates that there are obstacles hindering the adjustment of the first seat in the second direction, controlling the first seat to remain stationary, and / or the prompting device of the control terminal prompts first information indicating the reason why the first seat remains stationary. For example, the aforementioned first direction and second direction can be any one of the following directions: in front of the seat (e.g., the front of the vehicle), behind the seat (e.g., the rear of the vehicle), to the left of the seat, to the right of the seat, above the seat, or below the seat.

[0104] For a period of time after the collision, the terminal may be in a flipped or rotated state due to the impact, thus posing a risk of secondary collisions with obstacles around the terminal. During this stage, the kinetic energy of the collision is released violently, and the cabin structure is unstable due to deformation, which may cause the adjustment switch to be squeezed and turned on at any time, resulting in unexpected movement or rotation of the seat. To avoid the aforementioned situation, in this method, all seat controllers controlling the terminal are in a silent state from the first moment to the second moment, and then S320 is executed after the second moment. The seat controller here refers to a controller that can receive signals from the adjustment switch and control the drive motor associated with the seat in response to the signal, thereby realizing seat posture adjustment. It can be the controller 233 in the aforementioned implementation a, or it can be the control module 220 in the aforementioned implementation b.

[0105] For example, the time interval between the first moment and the second moment is less than or equal to a second duration threshold. This second duration threshold can be a value between 4 and 5 seconds, or it can be any other value. In some implementations, the second moment can be the moment when the terminal's movement speed is less than or equal to a speed threshold, which can be a value between 3 and 5 m / s, or it can be any other value. It should be noted that the second moment can be the start time of the first time period, or the start time of the first time period can be later than the second moment, and the time interval between them is less than a preset duration threshold (such as 0.5 seconds or other durations).

[0106] In some implementations, during the process of controlling the movement or rotation of the seat in response to the adjustment signal, the state of the seat can be monitored in real time to determine whether there is abnormal resistance during the seat movement, and when abnormal resistance is detected, the seat is controlled to stop the posture adjustment. For example, the method further includes: acquiring clamping indication information, which indicates whether there is abnormal resistance during the movement or rotation of the first seat; and controlling the first seat to stop the posture adjustment when the clamping indication information indicates that there is abnormal resistance during the movement or rotation of the first seat. The clamping indication information includes at least one of the following: operating current, which is used to adjust the first seat; pressure information, which indicates the pressure borne by the first seat; and third sensing information, which indicates the posture of the person sitting in the first seat.

[0107] For example, the operating current can be the real-time current of the drive motor that drives the posture adjustment of the first seat; the pressure information can come from pressure sensors installed on the seat cushion and / or backrest; the third sensing information can include visual information such as images captured by the camera device.

[0108] For example, an abnormal resistance is determined to exist during the movement or rotation of the first seat when the clamping indication information satisfies at least one of the following: the operating current is greater than or equal to a preset threshold; the pressure increment borne by the first seat is greater than or equal to a pressure threshold; the distance between the body part of the person in the first seat and the cabin is less than or equal to a distance threshold. For example, the preset threshold may be the sum of the rated current of the drive motor and x amperes, where x may be a value from 3 to 5, or the preset threshold may be other values; the pressure threshold may be a value from 40 N to 50 N, or the pressure threshold may be other values; the distance threshold may be a value from 3 cm to 5 cm, or the distance threshold may be other values.

[0109] For example, the risk of crushing to the occupant in the first seat can be assessed based on third-sensory information and by the following steps: Step 1, Human Spatial Geometric Feature Extraction: Based on image recognition algorithms, feature recognition is performed on the third-sensory information to extract the three-dimensional coordinates of key points of the human skeleton (including but not limited to the bone nodes of the shoulder, elbow, hip joint, knee joint and lower leg), and a three-dimensional bounding box of the outer contour of the human limb is established.

[0110] Step 2, Dynamic Safety Distance Calculation: Based on third-party sensing information or the sensing signals from deformation sensors installed in the terminal compartment, the real-time geometric features of the intrusion surface of interior components (such as door panels) that have collapsed and intruded into the compartment due to collision deformation are calculated in real time. Then, the shortest spatial distance between the occupant's three-dimensional bounding box (or limb skeleton nodes) and the intrusion surface of the interior component is calculated. Based on the comparison of this shortest spatial distance with a distance threshold, it is determined whether there is abnormal resistance during the movement or rotation of the first seat.

[0111] In some implementations, after the seat adjustment mode is switched to mode one, the terminal can also respond to a related operation to switch the adjustment mode of one or more seats from mode one to mode two. For example, method 300 may further include: after detecting a first operation, controlling the first seat to move a third distance or rotate a third angle in response to a fourth adjustment signal; wherein the first operation is used to request the terminal's seat to be in a restricted release state, and the fourth adjustment signal is generated in response to the input of the adjustment switch of the first seat; the third distance is less than or equal to a second distance difference, the second distance difference being the distance difference between the third extreme position of the first seat and the position before the first seat was moved, and the third angle is less than or equal to a second angle difference, the second angle difference being the angle difference between the fourth extreme position of the first seat and the position before the first seat was rotated. The meanings of the third extreme position and the fourth extreme position can be referred to the description in the foregoing embodiments, and will not be repeated here.

[0112] For example, the first operation may include any of the following operations: 1) Press and hold two specific switches simultaneously (e.g., move the seat forward + move the seat up) for more than 1 second; 2) Press the dedicated emergency switch (such as a lever, button, etc.); 3) The occupant issues a voice command for the first seat to exit mode one and / or activate mode two; 4) Click the virtual button on the central control screen. This virtual button is used to switch the adjustment mode of the first seat to mode two.

[0113] The seat control method provided in this application can effectively prevent the seat from undergoing prolonged abnormal movement due to interior deformation caused by collision or continuous accidental pressing of switches, thereby avoiding serious secondary injuries caused by occupants being forcibly squeezed between the cabin and the seat. In addition, the seat's controllable adjustment capability can still be retained, making it convenient for occupants and external rescue personnel to actively adjust the seat position, thereby improving the efficiency of self-rescue and external rescue.

[0114] To facilitate understanding of the application scenarios of this application, the following is combined with... Figures 4 to 6 The technical solution of this application will be described in more detail.

[0115] Figure 4 This illustration shows another schematic flowchart of the seat control method provided in an embodiment of this application. This method can also be implemented by... Figure 1 The method can be executed by one or more processors; or, the method can also be executed by... Figure 2 The control module 220 executes this. It should be understood that... Figure 3 The method shown can be considered an extension of method 300. Alternatively, some steps in this method can be executed synchronously with method 300, while others can be executed after method 300. For example, steps S401 to S408 can be executed synchronously with method 300, and steps S410 to S411 can be executed synchronously with method 300, or they can be executed after step S320 in method 300. This method includes some or all of the following steps: S401, acquire collision detection signal.

[0116] The meaning and acquisition method of the collision detection signal can be referred to the description in the foregoing embodiments, and will not be repeated here.

[0117] S402, determine whether the collision detection signal meets the preset conditions.

[0118] The method for determining whether the collision detection signal meets the preset conditions can be found in the description in method 300, and will not be repeated here.

[0119] For example, if the collision detection signal meets the preset conditions, S403 is executed; otherwise, the process ends.

[0120] S403, the seat controller is in silent mode.

[0121] The seat controller can be the controller 233 in the aforementioned implementation a, or it can be the control module 220 in the aforementioned implementation b. The specific meaning of the seat controller being in a silent state, and the specific implementation of controlling the seat controller to be in a silent state, can be referred to the description in the aforementioned embodiments, and will not be repeated here.

[0122] S404, determine whether the terminal is in a stationary state.

[0123] For example, based on signals from the IMU and / or wheel speed sensor, if it is determined that the terminal speed is less than or equal to a speed threshold within a certain period of time (e.g., 1 second or 2 seconds), and the terminal's angular velocity and acceleration of each axis are less than or equal to the corresponding threshold, then it is determined that the terminal is stationary, and S405 is executed; otherwise, it is determined that the terminal is not stationary, and S404 is executed.

[0124] S405, obtains the electrical signal information of each regulating switch.

[0125] For example, each adjustment switch is a switch in the terminal used to adjust the seat posture. The specific implementation method for obtaining the electrical signal information of the adjustment switches can be referred to the above. Figure 2 The descriptions of the corresponding parts will not be repeated here.

[0126] S406, determine whether the regulating switch has been subjected to unexpected pressure.

[0127] For a more specific implementation of determining whether the regulating switch has been subjected to unintended pressure, please refer to the description in method 300, which will not be repeated here.

[0128] For example, if it is determined that the adjustment switch has not been subjected to unexpected pressure, S407 is executed; otherwise, the seat controller is controlled to remain silent for the adjustment switch, or the seat controller associated with the adjustment switch is controlled to remain silent, and S405 is executed.

[0129] S407, Determine if there is anyone in the seat associated with the adjustment switch.

[0130] For example, if there is a person in the seat associated with the adjustment switch, S408 is executed; otherwise, S409 is executed.

[0131] S408, the seat adjustment mode is mode one.

[0132] For the specific implementation method of this step, please refer to Figure 2 The descriptions of the corresponding parts will not be repeated here.

[0133] S409, the seat adjustment mode is mode two.

[0134] It should be noted that S406 to S409 need to be executed for each adjustment switch in the terminal and its associated seat.

[0135] S410 detects whether there is abnormal resistance during seat movement.

[0136] Regardless of whether the seat adjustment mode is Mode 1 or Mode 2, during the seat adjustment process, it is necessary to detect whether there is any abnormal resistance hindering the seat adjustment. If abnormal resistance is detected, S411 is executed; otherwise, S410 is executed. The specific implementation of determining whether there is abnormal resistance hindering the seat adjustment can be found in the description in Method 300, and will not be repeated here.

[0137] S411, control the seat to stop position adjustment, and / or control the prompting device to provide information prompts.

[0138] It should be noted that, in actual implementation, the seat control method may include more or fewer steps, or the execution order of the steps in the seat control method may also be different. Figure 4 The order shown is different.

[0139] For example, at any time after a seat's adjustment mode is set to mode one, upon detecting the aforementioned first operation, the seat's adjustment mode can be switched back to mode two in response to the first operation.

[0140] For example, see Figure 5 In (a), time t1 is the time when S403 is executed, and time t2 is the time when S405 or S406 begins to be executed. Therefore, before executing S407 (i.e., time t5), the control module can first de-disable the adjustment switches that have not been subjected to unexpected compression at time t4. After the adjustment switches are de-disabled, the seat adjustment mode is uniformly set to either Mode 1 or Mode 2. The control module can subsequently switch the adjustment modes of one or more seats based on the occupant presence detection results. The aforementioned de-disabling of the adjustment switches can be understood as: releasing the seat controller from its silent state, that is, enabling the seat controller to adjust the seat posture in response to signals from the adjustment switches.

[0141] For example, see Figure 5 In (b), after switching the seat adjustment mode, the adjustment function in a certain direction can be disabled at time t7' based on the detection results of the perception information. For example, if there is an obstacle in the second direction of the seat, the seat is restricted from moving or rotating in the second direction. In actual implementation, the operation of disabling the adjustment function in a certain direction can also be performed at any time within a certain period of time (such as 1 second or 2 seconds) after time t4.

[0142] For example, see Figure 5In step (c), S407 can also be performed after S405 and S406, and before disabling the adjustment switch that has not been subjected to unexpected pressure. In this case, disabling the adjustment switch that has not been subjected to unexpected pressure and switching the adjustment mode can be performed simultaneously, that is, when disabling the adjustment switch that has not been subjected to unexpected pressure, the adjustment mode corresponding to the seat with occupants is switched to mode one, and / or the adjustment mode corresponding to the seat without occupants is switched to mode two.

[0143] Figure 6 This diagram illustrates the application scenarios and the graphical user interface (GUI) involved in the information prompts described in this application. For example, taking a vehicle as the terminal, if user A is in the driver's seat and user B is in the left seat of the second row, then after a collision, and assuming the driver's seat adjustment switch has not been unexpectedly compressed, if it is determined that user B will not obstruct the adjustment of the driver's seat towards the rear of the vehicle, the function of adjusting the seat towards the rear of the vehicle will not be disabled; if it is determined that user B will obstruct the adjustment of the driver's seat towards the rear of the vehicle, the function of adjusting the seat towards the rear of the vehicle will be disabled, and the prompting device will be controlled to provide information prompts, for example, by controlling the central control screen to display... Figure 6 The pop-up window 601 in the lower left image includes the text "Adjusting the seat backward may compress rear passengers; please be aware of the associated risks." Another example is controlling the vehicle's speakers to play similar audio. Furthermore, if abnormal resistance is detected during seat adjustment, a warning device can be activated to provide information. For instance, if abnormal resistance is detected during driver's seat adjustment, the central control screen can be controlled to display... Figure 6 The pop-up window 602 in the lower right image includes the text "Abnormal resistance hindering seat movement has been detected. Posture adjustment has been stopped. Please investigate." Alternatively, the vehicle's speakers may play an audio message similar to the aforementioned text. The information and related audio in pop-up window 602 can be considered an example of the aforementioned first information.

[0144] In the foregoing embodiments, taking a vehicle as an example, a seat control method after a collision is described. This application's embodiments can also be applied to terminals including robots, ships, drones, etc., that incorporate posture-adjustable seats. After a collision occurs at the aforementioned terminal, the method 300 and / or... Figure 4The method flow shown controls the posture of the seat in the aforementioned terminal. In one example, the aforementioned collision can be a collision parallel to the direction the seat faces, or a collision perpendicular to the direction the seat faces, or a collision at a preset angle to the direction the seat faces. The "seat orientation" can be the horizontal forward direction directly facing the person's face (or line of sight) after they sit in the seat. In another example, the aforementioned collision can be a collision occurring on the side of the switch that adjusts the seat posture. When the aforementioned method is applied to a robot, ship, or drone that includes a posture-adjustable seat, the general-purpose controller, core processor unit (MCU / CPU), or other control entity with data processing capabilities in the robot, ship, or drone can execute the aforementioned method to control the posture of the seat.

[0145] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0146] The above text combines Figures 1 to 6 The methods provided in the embodiments of this application are described in detail below. Figure 7 The apparatus provided in the embodiments of this application is described in detail. It should be understood that the description of the apparatus embodiments corresponds to the description of the method embodiments. Therefore, for content not described in detail, please refer to the method embodiments above. For the sake of brevity, it will not be repeated here.

[0147] This application provides a seat control device, in which each unit implements the corresponding process of the above-described method embodiment. The device includes an acquisition unit and a processing unit. The acquisition unit can be used to implement corresponding data acquisition or transmission / reception functions, and the processing unit can be used to implement corresponding processing functions.

[0148] Optionally, the device further includes a storage unit, which can be used to store instructions and / or data, and the processing unit can read the instructions and / or data in the storage unit so that the device can perform the relevant actions in the foregoing method embodiments.

[0149] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity. It should also be understood that the device described here is embodied in the form of a functional unit. The terms "module" or "unit" here may refer to an ASIC, electronic circuitry, a processor (e.g., a shared processor, a proprietary processor, or a group processor, etc.) and memory for executing one or more software or firmware programs, integrated logic circuitry, and / or other suitable components that support the described functions.

[0150] The apparatuses described above have the function of implementing the corresponding steps in the methods described above. These functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above; for example, the acquisition unit can be replaced by a transceiver, and other units, such as the processing unit, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0151] For example, the operations performed by the acquisition unit and the processing unit described above can be performed by a single processor, or they can be performed by different processors.

[0152] In the specific implementation process, the units in the above devices can be fully or partially integrated together, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0153] Figure 7 This is a schematic block diagram of the seat control device provided in the embodiments of this application. Figure 7 The illustrated device 2100 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are connected via internal interconnects. The memory 2130 stores instructions, and the processor 2110 executes the instructions stored in the memory 2130 to implement the methods described in the above embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0154] It should be noted that the transceiver 2120 mentioned above may include, but is not limited to, transceiver devices such as input / output interfaces, to realize communication between device 2100 and other devices or communication networks.

[0155] Memory 2130 can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes various forms such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0156] Transceiver 2120 uses a transceiver device, such as but not limited to a transceiver, to enable communication between device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0157] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.

[0158] This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.

[0159] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0160] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0161] In the description of the embodiments in this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0162] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0163] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0164] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0165] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0166] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A seat control method, characterized in that, Applied to a terminal including a first seat, the method includes: Acquire collision detection signals; When the collision detection signal meets the preset conditions, the first seat is controlled to move a first distance or rotate a first angle in response to the first adjustment signal. The first adjustment signal is generated in response to the input of the adjustment switch of the first seat, the first distance is less than or equal to a distance threshold, and the first angle is less than or equal to an angle threshold.

2. The method according to claim 1, characterized in that, When the collision detection signal meets preset conditions, controlling the first seat to move a first distance or rotate a first angle in response to a first adjustment signal includes: When the collision detection signal meets the preset condition, the first seat is controlled to move or rotate in response to the first adjustment signal if the duration of the first adjustment signal is less than a first duration threshold; and The posture of the first seat is controlled to stop changing when the following conditions are met: the duration of the first adjustment signal is greater than or equal to a first duration threshold, and the moving distance of the first seat reaches the first distance or the rotation angle of the first seat reaches the first angle.

3. The method according to claim 1 or 2, characterized in that, Between the first and second moments, the seat controller of the terminal is in a silent state; Wherein, the first moment is the moment when the collision occurs as indicated by the collision detection signal, and the time interval between the first moment and the second moment is less than or equal to the second duration threshold. When the collision detection signal meets preset conditions, controlling the first seat to move a first distance or rotate a first angle in response to a first adjustment signal includes: If the collision detection signal meets the preset conditions, after the second moment, the first seat is controlled to move the first distance or rotate the first angle in response to the first adjustment signal.

4. The method according to claim 3, characterized in that, The speed of the terminal at the third moment and / or after the third moment is less than or equal to the speed threshold. The third time is no later than the second time.

5. The method according to claim 3 or 4, characterized in that, The method further includes: Obtain electrical signal information of the regulating switch within a first time period, wherein the electrical signal information indicates the on-time and / or on-duration duration of the regulating switch; Wherein, the start time of the first time period is not earlier than the first moment; When the collision detection signal meets preset conditions, controlling the first seat to move a first distance or rotate a first angle in response to a first adjustment signal includes: When the collision detection signal meets the preset conditions, and it is determined from the electrical signal information that the adjustment switch has not been subjected to unexpected compression, the first seat is controlled to move the first distance or rotate the first angle in response to the first adjustment signal.

6. The method according to any one of claims 1 to 5, characterized in that, The first adjustment signal is used to request the first seat to adjust in a first direction, and the method further includes: Acquire first sensing information, which indicates whether there are obstacles around the first seat; When the collision detection signal meets preset conditions, controlling the first seat to move a first distance or rotate a first angle in response to a first adjustment signal includes: When the collision detection signal meets the preset condition and the first perception information indicates that there is no obstacle in the first direction that would obstruct the adjustment of the first seat, the first seat is controlled to move the first distance or rotate the first angle in response to the first adjustment signal.

7. The method according to claim 6, characterized in that, If the collision detection signal satisfies the preset condition and a second adjustment signal requesting the first seat to be adjusted in the second direction is received, the method further includes: If the first sensing information indicates that there is an obstacle in the second direction that hinders the adjustment of the first seat, the first seat is controlled to remain stationary, and / or the prompting device of the terminal is controlled to prompt the first information, which indicates the reason for the first seat remaining stationary; The second adjustment signal is generated in response to the input of the adjustment switch.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: Acquire second sensing information, which indicates whether there is a person in the first seat; When the collision detection signal meets preset conditions, controlling the first seat to move a first distance or rotate a first angle in response to the first adjustment signal includes: When the collision detection signal meets the preset conditions and the second perception information indicates that there is a person in the first seat, the first seat is controlled to move the first distance or rotate the first angle in response to the first adjustment signal.

9. The method according to claim 8, characterized in that, The terminal also includes a second seat, and the second sensing information further indicates that no one is in the second seat. The method further includes: When the collision detection signal meets the preset conditions, the second seat is controlled to move a second distance or rotate a second angle in response to the third adjustment signal; The third adjustment signal is generated in response to the input of the adjustment switch of the second seat; The second distance is less than or equal to the first distance difference, which is the distance difference between the first extreme position of the second seat and the position before the movement of the second seat; the second angle is less than or equal to the first angle difference, which is the angle difference between the second extreme position of the second seat and the position before rotation.

10. The method according to any one of claims 1 to 8, characterized in that, The method further includes: During the process of controlling the first seat to move or rotate in response to the first adjustment signal, clamping indication information is acquired, and the clamping indication information indicates whether there is abnormal resistance during the movement or rotation of the first seat; If the clamping indication information indicates that there is abnormal resistance during the movement or rotation of the first seat, the first seat is controlled to stop the posture adjustment.

11. The method according to claim 10, characterized in that, The clamping instruction information includes at least one of the following: Operating current, which is used to adjust the first seat; Pressure information, the pressure information indicating the pressure borne by the first seat; The third sensory information indicates the posture of the person sitting in the first seat.

12. The method according to any one of claims 1 to 11, characterized in that, The method further includes: After detecting the first operation, the first seat is controlled to respond to the fourth adjustment signal, moving a third distance or rotating a third angle. The first operation is used to request that the seat of the terminal be in a restricted release state, and the fourth adjustment signal is generated in response to the input of the adjustment switch of the first seat; The third distance is less than or equal to the second distance difference, which is the distance difference between the third extreme position of the first seat and the position before the first seat moves. The third angle is less than or equal to the second angle difference, which is the angle difference between the fourth extreme position of the first seat and the position before the first seat rotates.

13. A seat control device, characterized in that, Includes modules or units for performing the method according to any one of claims 1 to 12.

14. A seat control device, characterized in that, include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 12.

16. A chip system, characterized in that, The chip system includes circuitry for performing the method as described in any one of claims 1 to 12.

17. A computer program product, characterized in that, The computer program product includes: computer program code, which, when executed by a processor, implements the method as described in any one of claims 1 to 12.

18. A terminal, characterized in that, This includes the apparatus as described in claim 13 or 14, or the computer-readable storage medium as described in claim 15, or the chip system as described in claim 16, or the terminal loaded with the computer program product as described in claim 17.

Images