Motor vehicle with a vehicle seat compensating for driving movements and method for controlling movements of a vehicle seat

Abstract

Motor vehicle (10) with at least one vehicle seat (14) which is connected to the motor vehicle (10) in such a way that the vehicle seat (14) is movable in three mutually orthogonal main directions (X, Y, Z) and rotatable about the main directions (X, Y, Z), wherein the mobility of the vehicle seat (14) is effected by means of a plurality of seat drive elements (16), at least one control unit (18) which is configured to control the seat drive elements (16) individually or jointly; a plurality of sensor devices (20; 30a, 30i, 30k, 30r), of which at least one sensor device (20) is configured to acquire current internal vehicle data about the operating state of the motor vehicle (10), and at least one further sensor device (30) which is configured to prospectively acquire external vehicle data; wherein the control unit (18) is configured toto adjust a position of the vehicle seat (14) within the motor vehicle (10) based on the combination of current internal vehicle data and prospective, external vehicle data such that movements of the motor vehicle (10) due to vehicle operation are at least partially compensated, characterized in that an additional seat sensor device (50k) in the form of a camera is arranged in the motor vehicle (10), wherein the camera (50k) is configured to detect a positioning of the vehicle seat (14) and a person (40) located in the vehicle seat (14), wherein the position of the motor vehicle seat (14) compensated with respect to the movements of the motor vehicle (10) is related to the position of the head (40k) of the person (40), and in that a storage device (32) movable between a rest position and a working position is provided on the vehicle seat (14),which is moved together with the vehicle seat (14) when the position of the vehicle seat (14) is adjusted, wherein a touchscreen (34) is integrated into the storage device (32) as an input and output device, wherein the touchscreen (34) is moved together with the storage device (32) and the vehicle seat (14).

Description

The invention relates to a motor vehicle according to the preamble of claim 1 having at least one vehicle seat which is connected to the motor vehicle in such a way that the vehicle seat is mounted movably in three main directions orthogonal to one another and rotatably about the main directions, wherein the movability of the vehicle seat is effected by means of a plurality of seat drive elements, in particular electric seat motors; at least one control unit which is configured to actuate the seat drive elements individually or jointly; and having a plurality of sensor devices, of which at least one sensor device is configured to record current in-vehicle data about the operating state of the motor vehicle, and at least one further sensor device which is configured to record prospectively out-of-vehicle data.Such a motor vehicle is known, for example, from US 2020 / 0164771 A1. Furthermore, vehicle seats mounted within a vehicle are known from the prior art, which can be moved and adjusted in all spatial directions. Reference is made by way of example to the following documents: US 2004 / 0035347 A1, DE 10 2020 006 431 A1, DE 10 2017 009 090 A1, EP 3 888 958 A1 and DE 10 2016 220 997 A1. The known vehicle seats can be moved, for example, into a substantially horizontal rest position or execute movements in connection with multimedia experiences (VR spectacles) or into an optimized crash position. Furthermore, position adaptations of the vehicle seat on the basis of detected vehicle movements are also known, in particular on the basis of the detection of forces acting on the chassis of the vehicle during driving.The object underlying the invention is to specify a motor vehicle in which optimized positioning of the vehicle seat is made possible, in particular with regard to (partially) autonomous driving.This object is achieved by a motor vehicle having the features of the independent claim. Advantageous embodiments with expedient refinements are specified in the dependent patent claims.A motor vehicle is therefore proposed having at least one vehicle seat which is connected to the motor vehicle in such a way that the vehicle seat is mounted such that it can be moved in three main directions which are orthogonal to one another and can be rotated about the main directions, wherein the mobility of the vehicle seat is effected by means of a plurality of seat drive elements, in particular electric seat motors; at least one control unit which is configured to actuate the seat drive elements individually or jointly; a plurality of sensor devices, at least one sensor device of which is configured to record current in-vehicle data about the operating state of the motor vehicle, and at least one further sensor device which is configured to record prospectively out-of-vehicle data, wherein the control unit is configured to set a position of the vehicle seat within the motor vehicle on the basis of the combination of current in-vehicle data and prospective out-of-vehicle data in such a way that movements of the motor vehicle are at least partially compensated for on the basis of the vehicle operation.In such a motor vehicle, the vehicle seat can be held in a local reference system or relative to the surrounding motor vehicle substantially at the same spatial position, while the motor vehicle is subject to different force actions and movements due to external influences, such as road shape, road condition, etc. The compensation of movements of the motor vehicle by adjusting the position of the vehicle seat can be carried out particularly efficiently and efficiently if prospective data external to the vehicle are taken into account in addition to conventional data in the vehicle, such as chassis parameters. This makes it possible to determine and adjust the positioning of the vehicle seat in a predictive manner. Accordingly, the vehicle seat can be held in its spatial position very stably within the motor vehicle, so that a person located in the vehicle seat hardly or not perceives the forces acting on the motor vehicle.In the case of the motor vehicle, the further sensor device can be configured to receive communication data from at least one motor vehicle driving ahead and / or from at least one motor vehicle coming in the opposite direction, such that data external to the vehicle are provided to the control unit about situations which will arrive prospectively for the motor vehicle. In other words, the motor vehicle can communicate with another motor vehicle (Car2Car) or with a plurality of other motor vehicles (Car2X). For example, communication data can be received from a motor vehicle driving ahead, said communication data indicating unevenness in the road, for example, a keyhole, threshold or the like. Accordingly, the motor vehicle can adapt the driving behavior and / or the movement of the vehicle seat on the basis of these external prospective communication data.In the motor vehicle, the further sensor device can be configured to prospectively scan a ground on which the motor vehicle is moving. In particular, the at least one further sensor device can be an optical sensor device which is attached to the motor vehicle. By means of such a configuration, it is possible to determine in a predictive manner how the road condition is, so that the position of the vehicle seat can be adjusted taking into account an expected force effect.In the motor vehicle, the control unit can be configured to receive navigation data or / and meteorological data and to set the position of the vehicle seat within the motor vehicle taking into account the navigation data or / and meteorological data. For example, the expected road profile and / or wind conditions, in particular side wind, on the route being traveled can be taken into account in order to be able to optimally set the position of the vehicle seat. Furthermore, in this context, data about the topology of the terrain being traveled can also be taken into account, such as, for example, slopes or slopes. In particular, the at least one further sensor device can be an antenna for wirelessly receiving prospective data external to the vehicle, for example a GPS antenna, a mobile radio antenna and the like.In the motor vehicle, a storage device which is movable between a rest position and an operating position is provided on the at least one vehicle seat and is moved together with the vehicle seat when the position of the vehicle seat is adjusted. Such a storage device can be, for example, a table-like work surface on which a person located in the vehicle seat can support working means, such as a mobile computer or the like, and / or his arms / hands.In the motor vehicle, an input device and / or an output device is arranged on the at least one vehicle seat, which is moved together with the vehicle seat during a position setting of the vehicle seat. For example, a touchpad, a joystick, a trackball, a keyboard or the like can be provided as the input device on the vehicle seat. Furthermore, a touchscreen is provided on the vehicle seat, which serves in combination as an input and output device. By integrating an input and / or output device on the vehicle seat, undisturbed operation by a person located in the vehicle seat can be made possible; in particular, during operation, it can be substantially ruled out that the input and / or output device is moved relative to an operating hand of a person on account of forces acting on the motor vehicle.The vehicle seat can thus enable optimum operation, for example, wherein the person located in the vehicle seat does not perceive any vehicle or roadway movements, which is disruptive, for example, when controlling a computer mouse. As already explained above, sensor devices are positioned for this purpose in the motor vehicle, which record the forces introduced into the entire vehicle inside the vehicle (e.g. force introduction into the chassis / axles). A further sensor device (for example camera, radar, lidar, laser, etc.) can analyze the roadway in front of the vehicle for irregularities in the ground and, if necessary, send a counter-steering command to the chassis or the vehicle seat by means of the control unit. Optionally, a wind force sensor for crosswinds can also be provided in order to transmit a corresponding counter control signal by means of the control unit (for example for the steering angle of the vehicle and for the positioning of the vehicle seat).In summary, the vehicle seat is intended to level out all the movement changing the rest position for the person located in the vehicle seat by means of counter-steering by electric motor via the vehicle seat. These movements can be caused by (lateral) cornering, unevenness in the road surface, cornering. In particular in the case of lateral forces or forces acting in the height direction, the vehicle seat can level out or compensate the acting inertial or gravitational forces by rapid lateral or vertical displacement.According to the invention, the vehicle seat has at least one additional seat sensor device which is configured to detect a positioning of the vehicle seat and of the person located therein. Position settings for compensation are thereby related or optimized in particular to the position or position of the head of the person, because the perception center for movements is located in the head region of the person.The motor vehicle can be configured to drive autonomously, wherein the control unit is configured to set driving properties during autonomous driving such that forces acting on the motor vehicle are minimized such that movements of the vehicle seat are minimized for compensating movements of the motor vehicle. In this case, the control unit can be configured to bring about autonomous driving on the basis of navigation data and / or prospective data external to the vehicle. In particular, the control unit can be configured to select an optimum route with reference to the expected force effects on the motor vehicle, taking into account navigation data. Furthermore, the control unit can be configured to adjust the travel path of the motor vehicle briefly, for example in the prospective detection of unevenness in the road or the like.A method according to claim 9 for controlling movements of a vehicle seat in a motor vehicle is also proposed, wherein the vehicle seat is connected to the motor vehicle in such a way that the vehicle seat is mounted movably in three main directions orthogonal to one another and rotatably about the main directions, wherein the movability of the vehicle seat is effected by means of a plurality of seat drive elements, in particular electric seat motors, comprising the steps:driving the seat driving elements individually or jointly;acquiring current in-vehicle data on the operating state of the motor vehicle;prospectively acquiring data external to the vehicle,wherein a position of the vehicle seat within the motor vehicle is adjusted based on the combination of current in-vehicle data and prospective out-of-vehicle data such that movements of the motor vehicle due to vehicle operation are at least partially compensated.It is provided that a position of the head of a person located in the vehicle seat is detected, wherein the position of the motor vehicle seat compensated with respect to the movements of the motor vehicle is related to the detected position of the head of the person.Further optional features for such a method are also described in the features described above for the motor vehicle, so that these structurally formulated features can also be easily recognized as method features.Further advantages and details of the invention are evident from the following description of embodiments with reference to the figures. The following shows: FIG. 1 is a simplified and schematic view of a motor vehicle with at least one vehicle seat compensating for driving movements.FIG. 1 shows a motor vehicle 10 in a simplified and schematic manner. A vehicle seat 14 is shown in a simplified manner in an interior 12 of the motor vehicle 10. It is pointed out that a plurality of vehicle seats 14 may be present in the motor vehicle 10. It is also pointed out that the vehicle seat 14 described in more detail below can be combined with other vehicle seat types. For example, it is conceivable for two front seats to be designed in such a way, wherein a bench seat with molded seatings is present in a rear region (rear) of the motor vehicle 10.The vehicle seat 14 is connected to the motor vehicle 10 in such a way that the vehicle seat 14 is movable, in particular linearly movable, in three main directions X, Y, Z orthogonal to one another. Furthermore, the vehicle seat 14 is mounted rotatably about the main directions X, Y, Z. The movability of the vehicle seat 14 is effected by means of a plurality of seat drive elements 16, in particular electric seat motors, only one of which is shown by way of example.The motor vehicle 10 further comprises at least one control unit 18, which is configured to actuate the seat drive elements 16 individually or jointly. It is noted that the control unit 18 exemplary here can be part of a vehicle controller or a component of a vehicle controller.The motor vehicle 10 comprises a plurality of sensor devices, of which at least one sensor device 20 is configured to acquire current in-vehicle data about the operating state of the motor vehicle 10. As an example, chassis sensors 20 are shown in FIG. 1, which detect in particular relative movements between wheels 24 and body 26 of motor vehicle 10 in the Z direction. A sensor device which acquires data on the vehicle can also be understood to mean, for example, steering angle sensors for the steered (front) wheels or the like.Furthermore, the motor vehicle 10 comprises at least one further sensor device which is configured to record prospectively data external to the vehicle. In FIG. 1, the following sensor devices are illustrated by way of example: camera 30 k, radar 30 r, infrared sensor 30 i, antenna 30 a, this not being a final enumeration for sensor devices which can acquire data external to the vehicle.The control unit 18 is configured to adjust a position of the vehicle seat 14 within the motor vehicle 10 based on the combination of current in-vehicle data and prospective out-of-vehicle data such that movements of the motor vehicle 10 due to vehicle operation are at least partially compensated.The further sensor device can be configured in particular to receive communication data from at least one motor vehicle driving ahead and / or from at least one motor vehicle coming in the opposite direction. For this purpose, for example, the antenna 30 acan be used for wirelessly receiving prospective data external to the vehicle. This vehicle-external data about situations which will arrive prospectively for the motor vehicle 10 can be provided to the control unit 18.The further sensor device can also be configured to prospectively scan a ground on which the motor vehicle 10 is moving. For this purpose, the at least one further sensor device can be an optical sensor device, such as a camera 30 k, a radar 30 r, an infrared sensor 30 ior the like, which is mounted on the motor vehicle 10.The control unit 18 can furthermore be configured to receive navigation data or / and meteorological data and to set the position of the vehicle seat 14 within the motor vehicle 10 taking into account the navigation data or / and meteorological data. Navigation data can be taken, for example, from a navigation system (not shown) located in the vehicle 10. Furthermore, navigation data can also be acquired via satellite data or satellite signals (GPS, Galileo, etc.), which are received, for example, by means of a corresponding antenna 30 a.It can also be seen from FIG. 1 that a storage device 32 is provided on the at least one vehicle seat 14, which storage device is moved together with the vehicle seat 14 during a position setting of the vehicle seat 14. The storage device 32, which may also be referred to as a working surface or table, may be movable relative to the seat such that it may be arranged or fixed in a rest position or a working position shown in FIG. 1.An input device and / or an output device can be arranged on the vehicle seat 14, which is moved together with the vehicle seat 14 during a position setting of the vehicle seat 14. By way of example, FIG. 1 shows a touchscreen 34 integrated in the storage device 32, which touchscreen can serve both as an input device and as an output device. Of course, other input or output devices can also be provided, such as, for example, joysticks, a trackball, a touchpad, a normal display and the like.The motor vehicle 10 is configured in particular to drive autonomously, wherein the control unit 18 is configured during autonomous driving to set driving properties such that forces acting on the motor vehicle 10 are minimized, such that movements of the vehicle seat 14 are minimized for compensating movements of the motor vehicle 10. In this case, the control unit 18 can be configured to bring about autonomous driving on the basis of navigation data and / or prospective data external to the vehicle, which are detected by the further sensor devices described above.The vehicle seat 14 also has a foot rest 36 on which a person 40 located in the vehicle seat 14 can support his feet 40 fand / or his legs 40 b. This ensures that the person 40 is supported in the intended position by the vehicle seat 14 and no body part of the person 40 is in direct contact with the body 26 of the motor vehicle 10, so that the person 40 substantially only perceives what still arrives at the person 40 after compensation by the vehicle seat 14 with respect to movements of the motor vehicle 10.The vehicle seat 14 can, for example, enable optimum operation, wherein the person 40 located in the vehicle seat 14 does not perceive any vehicle or roadway movements, which is, for example, disruptive in the control of a computer mouse. For this purpose, sensor devices 20 are positioned in the motor vehicle 10, which record the forces introduced into the entire vehicle inside the vehicle (e.g. force introduction into the chassis / axles). A further sensor device (for example camera 30 k, radar 30 r, lidar, laser, infrared 30 i, etc.) can analyze the roadway in front of motor vehicle 10 for irregularities in the ground and, if necessary, send a counter-control command to chassis or vehicle seat 14 by means of control unit 18. Optionally, a wind force sensor 30 wfor crosswinds can also be provided in order to transmit a corresponding counter control signal by means of the control unit 18 (for example for the steering angle of the vehicle 10 and for the positioning of the vehicle seat 14).In summary, the vehicle seat 14 is intended to level out or compensate for all movements changing a rest position for the person 40 located in the vehicle seat 14 by means of electromotive counter-steering (seat motors 16) via the vehicle seat ( 14). These movements can be caused by (lateral) winch, unevenness in the road surface, cornering. In particular in the case of lateral forces (Y direction, i.e. orthogonally to the X and Z direction) or in the height direction (Z direction), the vehicle seat 14 can level out or compensate the acting inertial or gravitational forces by rapid lateral or vertical displacement.The vehicle seat 14 has at least one additional seat sensor device 50 kwhich is configured to detect a positioning of the vehicle seat 14 and of the person 40 located therein. This is illustrated purely by way of example as camera 50 k. However, further sensors can also be provided, such as force sensors, for example, which detect a force between the person 40 and the vehicle seat 14 (seat back, seat surface). In this case, position settings of the vehicle seat 14 are related or optimized for compensation, in particular, to the position or position of the head 40 kof the person 40, because the perception center for movements is located in the head region of the person 40.

Claims

Motor vehicle (10) having at least one vehicle seat (14) which is connected to the motor vehicle (10) in such a way that the vehicle seat (14) is mounted such that it can be moved in three main directions (X, Y, Z) which are orthogonal to one another and can be rotated about the main directions (X, Y, Z), wherein the movability of the vehicle seat (14) is effected by means of a plurality of seat drive elements (16), at least one control unit (18) which is designed to actuate the seat drive elements (16) individually or jointly; a plurality of sensor devices (20; 30a, 30i, 30k, 30r), at least one sensor device (20) of which is designed to record current in-vehicle data about the operating state of the motor vehicle (10), and at least one further sensor device (30) which is designed to record prospectively out-of-vehicle data; wherein the control unit (18) is designed to record current in-vehicle data, a position of the vehicle seat (14) within the motor vehicle (10) based on the combination of current in-vehicle data and prospective out-of-vehicle data in such a way that movements of the motor vehicle (10) due to the vehicle operation are at least partially compensated for, characterized in that an additional seat sensor device (50k) in the form of a camera is arranged in the motor vehicle (10), wherein the camera (50k) is configured to detect a positioning of the vehicle seat (14) and of a person (40) located in the vehicle seat (14), wherein the position of the motor vehicle seat (14) compensated with respect to the movements of the motor vehicle (10) is related to the position of the head (40k) of the person (40), and in that a storage device (32) movable between a rest position and an operating position is provided on the vehicle seat (14), which is moved together with the vehicle seat (14) during a position setting of the vehicle seat (14), wherein a touchscreen (34) is integrated as an input and output device in the storage device (32), wherein the touchscreen (34) is moved together with the storage device (32) and the vehicle seat (14).Motor vehicle (10) according to Claim 1, characterized in that the further sensor device (30a, 30i, 30k, 30r) is configured to receive communication data from at least one motor vehicle driving in front and / or from at least one motor vehicle coming in the opposite direction, such that data external to the vehicle are provided to the control unit (18) about situations which will arrive prospectively for the motor vehicle (10).Motor vehicle (10) according to Claim 1 or 2, characterized in that the further sensor device (30a, 30i, 30k, 30r) is configured to detect prospectively a subsurface on which the motor vehicle (10) is on the path.Motor vehicle (10) according to one of the preceding claims, characterized in that the control unit (18) is configured to receive navigation data or / and meteorological data and to set the position of the vehicle seat (14) within the motor vehicle (10) taking into account the navigation data or / and meteorological data.Motor vehicle (10) according to one of the preceding claims, characterized in that it is configured to drive autonomously, wherein the control unit (18) is configured to set driving properties during autonomous driving in such a way that forces acting on the motor vehicle (10) are minimized, such that movements of the vehicle seat (14) are minimized for compensating movements of the motor vehicle (10).Motor vehicle (10) according to Claim 5, characterized in that the control unit (18) is configured to bring about autonomous driving on the basis of navigation data and / or on the basis of prospective data external to the vehicle.Motor vehicle (10) according to one of the preceding claims, characterized in that the at least one further sensor device is an optical sensor device (30i, 30k, 30r) which is mounted on the motor vehicle (10).Motor vehicle (10) according to one of Claims 1 to 6, characterized in that one of the further sensor devices is an antenna (30a) for wirelessly receiving prospective data external to the vehicle.Method for controlling movements of a vehicle seat (14) in a motor vehicle (10), wherein the vehicle seat (14) is connected to the motor vehicle (10) in such a way that the vehicle seat (14) is mounted movably in three main directions (X, Y, Z) orthogonal to one another and rotatably about the main directions (X, Y, Z), wherein the movability of the vehicle seat (14) is effected by means of a plurality of seat drive elements (16), comprising the steps: controlling the seat drive elements (16) individually or jointly; acquiring current in-vehicle data about the operating state of the motor vehicle (10); prospectively acquiring data external to the vehicle; wherein a position of the vehicle seat (14) within the motor vehicle (10) is set based on the combination of current in-vehicle data and prospective out-of-vehicle data in such a way that movements of the motor vehicle (10) due to the vehicle operation are at least partially compensated for, characterized in that a positioning of the vehicle seat (14) and a person (40) located in the vehicle seat (14) is detected by means of an additional seat sensor device (50k) in the form of a camera arranged in the motor vehicle (10), wherein the position of the motor vehicle seat (14) compensated with respect to the movements of the motor vehicle (10) is referred to the position of the head (40k) of the person (40), and moving a storage device (32) and a touchscreen (34) integrated therein, which are connected to the vehicle seat (14), together according to the position setting of the vehicle seat (14).

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