A control system and method for controlling a seat recliner system of a vehicle

Abstract

A control system 100 for a motorised vehicle reclining seat back 130 driven through gearing 126 (e.g. an eccentric gear mechanism 400, fig 4B), in which when an inclination command 200 has finished outputs a command (141, fig 3) to drive the motor 122 in the opposite direction for fraction of a revolution to reduce play. The fraction can be a preset value (e.g. less than a quarter), and the motor have reducer gearing (520, fig 5).

Description

TECHNICAL FIELD The present disclosure relates to a control system and method for controlling a seat recliner system of a vehicle. Aspects of the invention relate to a control system for controlling a seat recliner system of a vehicle, a method for controlling a seat recliner system of a vehicle, a vehicle, and computer readable instructions. BACKGROUND It is known to provide a seat recliner system in a vehicle which is arranged to adjust the inclination of a seat back of a seat of the vehicle relative to the seat base of the seat. Non-electric or “manual” seat recliner systems typically use gearing and a manually actuated rotating knob or lever to enable the user to adjust the inclination. Electric seat recliner systems typically use an electric motor to adjust the inclination, which is actuated via switch buttons provided in the vehicle. It is an aim of the present invention to address one or more of the disadvantages associated with the prior art. SUMMARY OF THE INVENTION Aspects and embodiments of the invention provide a control system for controlling a seat recliner system of a vehicle, a method for controlling a seat recliner system of a vehicle, a vehicle, and computer readable instructions as claimed in the appended claims. According to an aspect of the present invention there is provided a control system for controlling a seat recliner system of a vehicle having a motor arranged to rotate in a first direction to cause inclining of a seat back relative to a seat base, and in a second direction to cause reclining of the seat back relative to the seat base, the motor having a rotary output being connected to gearing of the seat recliner system that translates the rotational movement of the rotary output into adjustment of the inclination of the seat back, the control system comprising one or more processors collectively configured to: receive a command to adjust an inclination of a seat back relative to a seat base to raise the seat back relative to the seat base; output a first control signal, in response to receiving the command, to actuate the motor of the seat recliner system in the first direction; determine the adjustment of the inclination of the seat back has finished; output a second control signal in response to determining the adjustment has finished, to cause the motor to perform a play reduction adjustment. Optionally, the play reduction adjustment comprises actuating the motor in the second direction to cause a fraction of a revolution of the rotary output. Advantageously, by actuating the motor in the second direction to cause a fraction of a revolution of the rotary output after an adjustment to raise the seat back relative to the seat base, it has been discovered during the devising of this invention that this reduces or eliminates playing of the seat back which could otherwise occur after a raising of the seat back. Playing of the seat back, sometimes referred to as “free-play”, can be noticeable by the user. For example, whilst driving and more particularly when the vehicle is accelerating / deceleration, there can be noticeable oscillation of the seat back if there is free-play. Also, the user may notice playing of the seat if they pull the seat back when the seat is unoccupied. Advantageously, by actuating the motor in the second direction to cause a fraction of a revolution of the rotary output, there is no perceptible reclining movement of the seat back, and in some examples no movement of the seat back. Optionally, the fraction of the revolution of the rotary output has a pre-set value. Advantageously the same play reduction adjustment can therefore be applied after any amount of adjustment of the seat back. Optionally the fraction of the revolution of the rotary output is less than a quarter. Other fractions of revolutions of the rotary output are envisaged. Optionally, the control system additionally comprises the seat recliner system. Optionally, the gearing comprises an eccentric gear mechanism comprising an inner gear and an outer annular ring gear, wherein the outer annular ring gear is an internal gear and the inner gear is located within the outer annular ring gear. The manufacturing tolerances of the seat recliner system and / or inner gear and / or outer gear may cause the inner gear and outer gear to not be engaged as in a nominal condition. Advantageously, the play reduction adjustment ensures that the inner gear and outer annular gear are always in a touch condition to avoid free-Play. Optionally, the inner gear is connected to the rotary output. Alternatively, the outer annular gear is connected to the rotary output. Advantageously the play reduction adjustment is therefore directly applied to the inner gear (or alternatively the outer annular ring gear) to move into a touch condition with the outer annular ring gear (or alternatively the innergear). Optionally, the outer annular ring gear is fixed to the seat back. Alternatively the inner gear is fixed to the seat back. The outer annular ring gear (or inner gear) being fixed to the seat back means that relative movement of the inner gear and outer annular ring gear as the inner gear rotates within the outer annular gear in the touch condition causes the seat back to rotate (change its inclination) relative to the seat back. Advantageously, the outer annular ring gear (or inner gear) being fixed to the seat back means that when the inner gear is brought into a touch condition with the outer annular ring gear provides rigidity in the gearing that reduces or eliminates playing of the seat back. Optionally, the rotary output is a shaft. Optionally, the shaft is connected to the inner gear (or alternatively the outer annular gear), wherein the shaft is connected to the inner gear (or alternatively the outer annular gear) at a location which is offset from the geometric centre of the innergear (or alternatively the outer annular gear). Advantageously the shaft being connected at the location offset from the geometric centre of the inner gear (or alternatively the outer annular gear) not only provides the eccentric movement required to cause adjustment of the inclination of the seat back, but also advantageously ensures that when the play reduction adjustment is applied that the inner gear and the outer annular ring gear will relatively move towards each other, so that the outer annular ring gear and the inner gear enter into the touch condition. Optionally, the motor comprises motor gearing, wherein the motor gearing provides a reducer gear mechanism such that the rotary speed of the rotary output is lower than the rotary speed of a rotor of the motor. The motor may be an electric motor. Advantageously, the reducer gear mechanism therefore provides a high torque output which will ensure that the play reduction adjustment will put the gearing into a rigid condition to prevent playing of the seat back. In some examples, the play reduction adjustment rotor rotates the rotor of the motor 20-30 times. Other numbers of rotations of the rotor of the motor are envisaged. Optionally, the one or more processors receive the command from one or more seat adjustment switch buttons, or the one or more processors receive the command via a touchscreen. The touchscreen may be part of the vehicle, or can be a touchscreen of a portable device. Advantageously, the play reduction adjustment is therefore applied after a user operates the one or more seat adjustment buttons or the touchscreen but does not require any further input from the user. As the play reduction adjustment does not cause any perceptible movement of the seat back, if any movement at all, the play reduction adjustment therefore takes place without any interaction from the user and does not disturb the user. Optionally, the control system comprises the one or more seat adjustment switch buttons or the touchscreen. Advantageously, the control system is therefore arranged to perform the play reduction adjustment altera user has adjusted the inclination of the seat back using the one or more seat adjustment buttons or the touchscreen. Optionally, the one or more processors receive the command from one or more controllers of the vehicle. The one or more controllers may send the command in response to determining, for example, that the vehicle has just been unlocked and / or approached and / or that a user is predicted to be using the seat in due course. Advantageously, the play reduction adjustment may therefore be applied before the user is sitting in the seat. The control system of any of the preceding paragraphs can comprises one or more controllers collectively comprising at least one electronic processor having an electrical input for receiving an input signal; and at least one memory device electrically coupled to the at least one electronic processor and having instructions stored therein; and wherein the at least one electronic processor is configured to access the at least one memory device and execute the instructions thereon so as to perform: receiving a command to adjust an inclination of the seat back relative to the seat base to raise the seat back relative to the seat base; outputting a first control signal, in response to receiving the command, to actuate the motor of the seat recliner system in the first direction; determining the adjustment of the inclination of the seat back has finished; outputting a second control signal in response to determining the adjustment has finished, to cause the motor to perform a play reduction adjustment, wherein the play reduction adjustment comprises actuating the motor in the second direction to cause a fraction of a revolution of the rotary output. According to yet another aspect of this invention, there is provided a method for controlling a seat recliner system of a vehicle having a motor arranged to rotate in a first direction to cause inclining of a seat back relative to a seat base, and in a second direction to cause reclining of the seat back relative to the seat base, the motor having a rotary output being connected to gearing of the seat recliner system that translates the rotational movement of the rotary output into adjustment of the inclination of the seat back, the method comprising: receiving a command to adjust an inclination of the seat back relative to the seat base to raise the seat back relative to the seat base; outputting a first control signal, in response to receiving the command, to actuate the motor of the seat recliner system in the first direction; determining the adjustment of the inclination of the seat back has finished; outputting a second control signal in response to determining the adjustment has finished, to cause the motor to perform a play reduction adjustment, wherein the play reduction adjustment comprises actuating the motor in the second direction to cause a fraction of a revolution of the rotary output. According to yet another aspect of this invention, there is provided computer readable instructions which, when executed by a computer, are arranged to perform a method according to the preceding paragraph. According to yet another aspect of this invention, there is provided a control system for controlling a seat recliner system of a vehicle having a motor arranged to rotate in a first direction to cause inclining of a seat back relative to a seat base, and in a second direction to cause reclining of the seat back relative to the seat base, the motor having a rotary output being connected to gearing of the seat recliner system that translates the rotational movement of the rotary output into adjustment of the inclination of the seat back, the control system comprising one or more processors collectively configured to: receive a command to adjust an inclination of a seat back relative to a seat base to recline the seat back relative to the seat base; output a first control signal, in response to receiving the command, to actuate the motor of the seat recliner system in the second direction; determine the adjustment of the inclination of the seat back has finished; output a second control signal in response to determining the adjustment has finished, to cause the motor to perform a play reduction adjustment, wherein the play reduction adjustment comprises actuating the motor in the first direction to cause a fraction of a revolution of the rotary output. Advantageously a control system according to examples disclosed herein can be applied in situations where playing of the seat would otherwise occur after reclining the seat back, by actuating the motor in the first direction to cause a fraction of a revolution of the rotary output after an adjustment to recline the seat back relative to the seat base. Advantageously, any control system according to the preceding paragraphs or described herein can be arranged to reduce playing (“free-play”) after a reclining adjustment of the seat back. According to a further aspect of this invention, there is provided a vehicle comprising the control system of any preceding paragraph. According to yet another aspect of this invention, there is provided a method for controlling a seat recliner system of a vehicle having a motor arranged to rotate in a first direction to cause inclining of a seat back relative to a seat base, and in a second direction to cause reclining of the seat back relative to the seat base, the motor having a rotary output being connected to gearing of the seat recliner system that translates the rotational movement of the rotary output into adjustment of the inclination of the seat back, the method comprising: receiving a command to adjust an inclination of the seat back relative to the seat base to recline the seat back relative to the seat base; outputting a first control signal, in response to receiving the command, to actuate the motor of the seat recliner system in the second direction; determining the adjustment of the inclination of the seat back has finished; outputting a second control signal in response to determining the adjustment has finished, to cause the motor to perform a play reduction adjustment, wherein the play reduction adjustment comprises actuating the motor in the first direction to cause a fraction of a revolution of the rotary output. According to yet another aspect of this invention, there is provided computer readable instructions which, when executed by a computer, are arranged to perform a method according to the preceding paragraph. Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and / or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and / or features of any embodiment can be combined in anyway and / or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and / or incorporate any feature of any other claim although not originally claimed in that manner. BRIEF DESCRIPTION OF THE DRAWINGS One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 shows a schematic representation of a control system and a seat recliner system; Figure 2 shows a schematic representation of a control system during a inclination adjustment of a seat back to raise the seat back relative to a seat base; Figure 3 shows a schematic representation of a control system during a play reduction adjustment of the seat back; Figure 4A shows part of an example seat recliner system according to embodiments of the invention; Figure 4E3 shows part of an example seat recliner system according to embodiments of the invention; Figure 5 shows part of an example seat recliner system according to embodiments of the invention; Figure 6 shows a schematic representation of a control system and a seat recliner system; Figure 7 shows a schematic representation of a control system and a seat recliner system; Figure 8 shows a flow chart illustrating an example method according to embodiments of the invention; Figure 9 shows an example processor according to embodiments of the invention; Figure 10 shows a vehicle in accordance with an embodiment of the invention. DETAILED DESCRIPTION A control system in accordance with an embodiment of the present invention is described herein with reference to the accompanying Figure 1. As shown in Figure 10, the control system 100 is installed in a vehicle 1000. With reference to Figure 1, there is illustrated a control system 100 for controlling a seat recliner system 120 of a vehicle 1000. The control system 100 comprises one or more processors 110. Figure 1 illustrates a seat recliner system 120 having a motor 122 arranged to rotate in a first direction to cause inclining of a seat back 130 relative to a seat base 132, and in a second direction to cause reclining of the seat back 130 relative to the seat base 132. The control system 100 is arranged to control the motor 122 to change the inclination of the seat back 130 via a first control signal 140. The motor 122 has a rotary output 124 being connected to gearing 126 of the seat recliner system 120. As illustrated by arrow 150, the gearing 126 translates the rotational movement of the rotary output 124 into adjustment of the inclination of the seat back 130. The inclination of the seat back 130 can either be raised relative to the seat base 132, as illustrated by arrow 160, or the inclination of the seat back 130 can be reclined relative to the seat base 132, as illustrated by arrow 162. As illustrated in Figure 1, reclining of the seat back 130 increases the angle between seat back 130 and seat base 132, and raising the seat back 130 reduces the angle between the seat back 130 and the seat base 132. In Figure 1, arrow 170 shows the direction towards the back of the vehicle 1000 and arrow 172 shows the direction towards the front of the vehicle 1000. Therefore in the example of Figure 1, reclining of the seat back 130 rotates the seat back 130 towards the back of the vehicle 1000, and inclining of the seat back 130 rotates the seat back 130 towards the front of the vehicle 1000. It is to be appreciated that this can be the case for the other embodiments discussed herein, however it is also possible in other embodiments within the scope of this application that the seat may be facing another direction apart from the front of the vehicle 1000. For example it is known to provide vehicles which have revolving seats which can revolve to face the back of the vehicle 1000 ora position therebetween. Therefore in such embodiments, when the seat back 130 reclines it does not have to be in the direction 170, and when the seat back 130 inclines it does not have to be in the direction 172. Figure 2 shows a schematic representation of a control system 100 during an inclination adjustment of a seat back 130 to raise the seat back 130 relative to a seat base 132. The one or more processors 110 of the control system 100 are configured to receive a command 200 to adjust an inclination of the seat back 130 relative to the seat base 132 to raise the seat back 130 relative to the seat base 132. As shown in Figure 2, in response to receiving the command 200, the one or more processors 110 output a first control signal 140 to actuate the motor 122 of the seat recliner system 120 in a first direction to cause inclining of the seat back 130. The actuation of the motor 122 of the seat recliner system 120 in the first direction causes the rotary output 124 to rotate in a first rotary output direction 210, which is then translated by the gearing 126 into inclination of the seat back 120, as illustrated by arrow 160. Figure 3 shows a schematic representation of the control system 100 during a play reduction adjustment of the seat back 130. In particular, following the output of the first control signal 140 (as described herein and shown in Figure 2), the control system 100 determines that the adjustment of the seat back 130 has finished. The control system 100 can determine the adjustment has finished by, for example, determining that the command 200 (as described herein and shown in Figure 2) is no longer being received. Alternatively, for example, the command 200 may have instructed that the inclination adjustment is carried out for a certain period of time, or a certain amount of inclination angle change. The one or more processors 110 may be arranged to translate an amount of motor actuation into an amount of inclination angle change, for example by computer program instructions executed by the one or more processors 110. In response to determining the adjustment has finished, the one or more processors 110 are configured to output a second control signal 141 to cause the motor 122 to perform a play reduction adjustment. The play reduction adjustment comprises actuating the motor 122 in the second direction to cause a fraction of a revolution of the rotary output 124. As shown in Figure 3, the actuation of the motor 122 in the second direction causes the rotary output 124 to rotate in a second rotary output direction 300, which is opposite to the first rotary output direction 210 (as described herein and shown in Figure 2). The size and shape of the arrow representing the second rotary output direction 300 is not necessarily representative of the amount the rotary output rotates by due to the play reduction adjustment. The fraction can have a pre-set value, which can be stored in memory of the control system 100 or stored in memory accessible by the one or more processors 110 of the control system 100. In some examples, the fraction is less than a quarter. Other fraction amounts are envisaged. As shown in Figures 2 and 3, the control system 100 additionally comprises the seat recliner system 120. The dashed line illustrates that the seat recliner system 120 is optionally part of the control system 100. The seat recliner system 120 can be part of the control system 100 in the other embodiments of the control system 100 discussed herein. By actuating the motor 122 to provide the play reduction adjustment, it has been discovered during the devising of this invention that this reduces or eliminates playing of the seat back 130 which could otherwise occur after a raising of the seat back 130. Playing of the seat back 130, sometimes referred to as “free-play , can be noticeable by users of vehicle. For example, whilst driving and more particularly when the vehicle 1000 is accelerating or decelerating, there can be noticeable oscillation of the seat back 130 if there is free-play. Also, the user may notice playing of the seat if they pull the seat back 130 when the seat is unoccupied. Figure 3 does not show arrow 150 or any reclining movement of the seat back 130. This is because, despite the motor 122 actuating in the second direction, the fraction of the revolution of the rotary output 124 causes no perceptible reclining movement of the seat back 130 in this example. In some examples no movement of the seat back 130 occurs due to the play reduction adjustment. This is advantageous because free-play in the seat back 130 can be reduced or eliminated without any noticeable adjustment of the inclination angle of the seat back 130, which may have otherwise been off-putting for a user. Figures 4A and 4B show part of an example seat recliner system 120 according to embodiments of the invention. In particular, Figures 4A and 4B show example gearing 126 of the seat recliner system 120. In Figures 4A and 4B, the gearing 126 comprises an eccentric gear mechanism 400 comprising an inner gear 410 and an outer annular ring gear 420. The outer annular ring gear 420 is an internal gear and the inner gear 410 is located within the outer annular ring gear 420. The inner gear 410 in Figures 4A and 4B is connected to the rotary output 124. The outer annular ring gear 420 in the examples of Figures 4A and 4B is fixed to the seat back 130. Therefore, the rotation of the rotary output 124 causes rotation of the inner gear 410. The engagement of the inner gear 410 and outer annular ring gear 420, as shown in Figure 4B, causes translation of the rotation of the inner gear 410 into adjustment of the inclination of the seat back 130, due to the outer annular ring gear 420 being fixed to the seat back 130. The outer annular ring gear 420 is for example bolted or otherwise fixedly attached to the seat back 130 so that no relative movement between the outer annular ring gear 420 and the seat back 130 can occur. The rotary output 124 is illustrated by the circle cutout within the inner gear 410 shown in Figures 4A and 4B. In the examples shown in Figures 4A and 4B, the rotary output 124 is a shaft. The longitudinal axis of the shaft goes into / out of the page in Figures 4A and 4B. As shown in Figures 4A and 4B, the shaft is connected to the inner gear 410, and is connected to the inner gear 410 at a location which is offset from the geometric centre of the inner gear 410. This causes eccentric movement of the inner gear 410 so that it engages the teeth of the outer annular ring gear 420 as the rotary output 124 rotates. Figure 4A shows the teeth of the inner gear 410 and the teeth of the outer annular ring gear 420 not fully engaged. During the devising of the invention it was discovered that this situation could occur in the seat recliner system 120 after an adjustment of the inclination of the seat back 130 to raise the seat back 130 relative to the seat base 132. This lack of full engagement of the teeth as in a nominal condition can be due to manufacturing tolerances of the parts. It is to be understood that the relative location of the inner gear 410 and the outer annular ring gear 420 is for illustration purposes only and that in reality they can be closer, but lack the engagement of the teeth. The lack of the engagement of the teeth is exhibited in the seat back 130 as playing, or “free-play” of the seat back 130, where a user can pull and push the seat back 130 causing it to move back and forth (recline and incline). Free-play movement can also occur when the vehicle 1000 is accelerating or decelerating with a user sat in the seat, which can cause the seat back 130 to oscillate whilst the user of the seat is sat in it, due to the weight of the user being pushed against the seat back 130. The playing occurs because of the lack of teeth engagement, so that that when seat back 130 is pushed or pulled, it will move a certain amount before the outer annular ring gear 420 is pushed into a touch condition with the inner gear 410 where the teeth are engaged, causing the seat back 130 to become rigid due to the engagement of the inner gear 410 and outer annular ring gear 420. When the inner gear 410 and the outer annular ring gear 420 are engaged in the touch condition, the resistance of the mechanism and / or gearing of the motor 122 prevents the rotary output 124 from rotating, which prevents rotating of the innergear 410 and thus prevents further playing of the seat back 130. Figure 4A shows the eccentric gear mechanism 400 after an inclination adjustment to raise the seat back 130, and Figure 4E3 shows the eccentric gear mechanism 400 after the play reduction adjustment has been performed. It was discovered during the devising of the invention that movement of the inner gear 410 in the direction to cause reclining of the seat back 130 caused the teeth of the inner gear 410 and the outer annular ring gear 420 to engage in a touch condition, thereby reducing the playing of the seat back 130. It was also discovered during the devising of the invention that only a small amount of rotation of the inner gear 410 was required to reduce the playing, and it was realised that this was because the playing was due to a slight misalignment of the inner gear 410 relative to the outer annular gear 420 due to manufacturing tolerances of the parts. Figure 4E3 shows the teeth of the inner gear 410 and the outer annular gear 420 to be in a touch condition, preventing playing of the seat back 130. Advantageously therefore, the control system 100 provides a play reduction adjustment after raising of the seat back 130 which involves a fractional rotation of the rotary output 124 which causes the necessary movement of the inner gear 410 to engage with the outer annular ring gear 420 to bring the inner gear 410 and the outer annular ring gear 420 into a touch condition. The play reduction adjustment is therefore advantageously performed straight after a raising adjustment of the seat back 130 and is not perceptible by the user. This is because the movement of the innergear 410 to engage the teeth with the teeth of the outer annular ring gear 420 concludes before any significant movement of the seat back 130 could occur. In some instances there will be no movement of the seat back 130 at all. Figure 5 shows part of an example seat recliner system 120 according to embodiments of the invention. In particular, Figure 5 shows an example motor 122. The motor 122 comprises a rotor 500 and a stator 510. The motor 122 also comprises motor gearing 520. The motor gearing 520 provides a reducer gear mechanism such that the rotary speed of the rotary output 124 is lower than the rotary speed of the rotor 500 of the motor 122. The motor gearing 520 in this example connects the rotation of the rotor 500 to the rotary output 124. The reducer gear mechanism therefore provides a high torque output which will ensure that the play reduction adjustment will put the gearing 126 into a rigid condition to prevent playing of the seat back 130. In some examples, the second control signal 141 to perform the play reduction adjustment commands the motor to rotate the rotor 500 20-30 times. Other numbers of rotations are envisaged. Figure 6 shows a schematic representation of a control system 100 and seat recliner system 120. In this example, the one or more processors 110 receive the command 200 from one or more seat adjustment switch buttons 600. For example, the one or more seat adjustment buttons 600 can be provided on the side of the seat base 132 and / or the seat back 130, and can be used by a user of the seat to adjust the inclination of the seat back 130, as well as other seat adjustments and / or functions. In other examples, the switch buttons are provided via a touchscreen, such as a capacitive touch screen. The touchscreen can be within the vehicle and may be part of the centre console of the vehicle, or may be part of an infotainment system, for example. Alternatively the touchscreen is part of a portable device. In some examples, the control system 100 comprises the one or more switch adjustment buttons 600 and / or comprises the touchscreen. Advantageously, the control system 100 is therefore arranged to perform the play reduction adjustment after a user has adjusted the inclination of the seat back 130 using the one or more seat adjustment buttons 600 or via the touchscreen. Figure 7 shows a schematic representation of a control system 100 and seat recliner system 120. In this example, the one or more processors 110 receive the command 200 from one or more controllers 700 of the vehicle 1000. For example, the one or more controllers 700 can be an electronic control unit (ECU) of the vehicle 1000. The one or more controllers 700 may receive information which causes the command 200 to be sent. For example, the command 200 to adjust an inclination of the seat back 130 may be due to the one or more controllers 700 receiving information indicative of the vehicle 1000 being unlocked and / or that a user is approaching or has approached the vehicle. The one or more controllers 700 may recognise or obtain seat settings from memory stored in the vehicle 1000 associated with the user that has unlocked and / or is approaching the vehicle. For example key fobs and / or portable devices can be associated with a particular user of the vehicle 1000 with associated seat settings. The adjustment of the inclination of the seat back 130 may therefore be carried out automatically in response to determining that the vehicle 1000 has been unlocked and / or has been approached before the user enters the vehicle 1000. Advantageously therefore the play reduction adjustment can be applied before a user is sat in the seat of the vehicle 1000. As well as seat inclination adjustment, other seat adjustments and / or functions may be carried out prior to the user sitting in the seat, in response to the one or more processors 700 determining that the user has unlocked and / or approached the vehicle 1000. The seat settings described herein can also be referred to as saved seat configurations. Seat settings can also be accessed via infotainment devices or other control devices of the vehicle 1000. Figure 8 shows a flow chart illustrating an example method 800 according to embodiments of the invention. The method 800 is a method of controlling a seat recliner system 120 of a vehicle 1000, such as the vehicle 1000 illustrated in Figure 10. The method 800 may be performed by the control system 100 illustrated in Figures 1 to 3. The method 800 is a method for controlling a seat recliner system 120 of a vehicle 1000 having a motor 122 arranged to rotate in a first direction to cause inclining of a seat back 130 relative to a seat base 132, and in a second direction to cause reclining of the seat back 130 relative to the seat base 132, the motor 122 having a rotary output 124 being connected to gearing 126 of the seat recliner system 120 that translates the rotational movement of the rotary output 124 into adjustment of the inclination of the seat back 130. The method comprises: receiving 810, a command 200 to adjust an inclination of the seat back 130 relative to the seat base 132 to raise the seat back 130 relative to the seat base 132; outputting 820 a first control signal 140, in response to receiving the command 200, to actuate the motor 122 of the seat recliner system 120 in the first direction; determining 830 the adjustment of the inclination of the seat back 130 has finished; outputting 840 a second control signal 141 in response to determining the adjustment has finished, to cause the motor 122 to perform a play reduction adjustment, wherein the play reduction adjustment comprises actuating the motor 122 in the second direction to cause a fraction of a revolution of the rotary output 124. In the method 800, the fraction can have a pre-set value, and can be less than a quarter. The receiving 810 of the command 200 can be from one or more seat adjustment switch buttons 600 pr cam be via a touchscreen. The receiving 810 of the command 200 can be from one or more controllers 700 of the vehicle 1000. The method 800 can include any additional steps which can be performed by the control system 100 and the seat recliner system 120. Figure 9 shows an example processor 110 according to embodiments of the invention. The control system 100 as illustrated in Figure 1 and throughout the Figures comprises one processor 110, although it will be appreciated that this is merely illustrative. The processor 110 comprises processing means 900 and memory means 910. The processing means 900 may be one or more electronic processing device 900 which operably executes computer-readable instructions. The memory means 910 may be one or more memory device 910. The memory means 910 is electrically coupled to the processing means 900. The memory means 910 is configured to store instructions, and the processing means 900 is configured to access the memory means 910 and execute the instructions stored thereon. In particular, the memory means 910 may comprise computer-readable instructions which, when executed by the processor 900, perform the method 800 according to an embodiment of the invention. The computer-readable instructions can be executed by a computer to perform the method 800 as described herein. The controller 110 comprises an input-output means 920. In other examples the controller 110 comprises separate input means and output means. The input-output means 920 may comprise an electrical input-output 930 of the controller 110. The input-output means 920 is arranged to receive a command signal 200 as described herein. The command signal 200 is indicative of an adjustment to be carried out on an inclination of a seat back 130 relative to a seat base 132 to raise the seat back 130 relative to the seat base 132. The input-output means 920 is arranged to output a first control signal 140 and a second control signal 141 as described herein. Figure 10 illustrates a vehicle 1000 according to an embodiment of the present invention. The vehicle 1000 comprises a control system 100 as illustrated in Figure 1 and discussed throughout herein. According to other examples of the disclosure described herein, there is provided a control system 100, method(s), controller(s) 110, computer readable instructions and a vehicle 1000 which can eliminate playing of the seat back 130 that occurs after an adjustment of the inclination of the seat back 130 relative to the seat base 132 to recline the seat back 130. According to these examples, playing of the seat back 130 may only occur after a reclining adjustment of the seat back 130 instead of an inclining adjustment. Alternatively, playing may occur after both inclining and reclining adjustments. According to examples in which a control system 100 is provided for reducing playing that occurs after reclining adjustment, a control system 100 for controlling a seat recliner system 120 of a vehicle 1000 is provided having a motor 122 arranged to rotate in a first direction to cause inclining of a seat back 130 relative to a seat base 132, and in a second direction to cause reclining of the seat back 130 relative to the seat base 132, the motor having 122 a rotary output 124 being connected to gearing 126 of the seat recliner system 120 that translates the rotational movement of the rotary output 124 into adjustment of the inclination of the seat back 130. The control system 100 comprises one or more processors 110 collectively configured to: receive a command 140 to adjust an inclination of a seat back 130 relative to a seat base 132 to recline the seat back 130 relative to the seat base 132; output a first control signal 140, in response to receiving the command, to actuate the motor 122 of the seat recliner system 100 in the second direction; determine the adjustment of the inclination of the seat back 130 has finished; output a second control signal 141 in response to determining the adjustment has finished, to cause the motor 122 to perform a play reduction adjustment, wherein the play reduction adjustment comprises actuating the motor 122 in the first direction to cause a fraction of a revolution of the rotary output 124. According to examples disclosed herein for control systems 100 which eliminate free play after a reclining adjustment, any features of control systems 100, seat recliner systems 120, vehicles 1000, seats, portable devices described herein apply in a corresponding manner to these examples as well. According to examples in which a seat recliner system exhibits playing of the seat back 132 after a reclining adjustment, there is provided a method for controlling a seat recliner system 120 of a vehicle 1000 having a motor 122 arranged to rotate in a first direction to cause inclining of a seat back 130 relative to a seat base 132, and in a second direction to cause reclining of the seat back 130 relative to the seat base 132, the motor 122 having a rotary output 124 being connected to gearing 126 of the seat recliner system 120 that translates the rotational movement of the rotary output 124 into adjustment of the inclination of the seat back 130, the method comprising: receiving a command 200 to adjust an inclination of the seat back 130 relative to the seat base 132 to recline the seat back 130 relative to the seat base 132; outputting a first control signal 140, in response to receiving the command 200, to actuate the motor 122 of the seat recliner system 120 in the second direction; determining the adjustment of the inclination of the seat back 130 has finished; outputting a second control signal 141 in response to determining the adjustment has finished, to cause the motor 122 to perform a play reduction adjustment, wherein the play reduction adjustment comprises actuating the motor 122 in the first direction to cause a fraction of a revolution of the rotary output 126. According to another example, there is provided computer readable instructions which, when executed by a computer, are arranged to perform a method according to the preceding paragraph. According to examples disclosed herein for methods and computer program instructions which eliminate free play after a reclining adjustment, any features of methods and computer program instructions described herein apply in a corresponding manner to these examples as well. According to alternative examples to examples described herein, the outer annular gear is connected to the rotary output (which can be a shaft in some examples) instead of the inner gear. Accordingly, in these examples, the outer annular ring gear is fixed to the seat back, and the innergear is fixed to the seat back. It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application.

Claims

1. A control system for controlling a seat recliner system of a vehicle having a motor arranged to rotate in a first direction to cause inclining of a seat back relative to a seat base, and in a second direction to cause reclining of the seat back relative to the seat base, the motor having a rotary output being connected to a gearing of the seat recliner system that translates the rotational movement of the rotary output into adjustment of the inclination of the seat back, the control system comprising one or more processors collectively configured to:receive a command to adjust an inclination of the seat back relative to a seat base to raise the seat back relative to the seat base;output a first control signal, in response to receiving the command, to actuate the motor of the seat recliner system in the first direction;determine the adjustment of the inclination of the seat back has finished;output a second control signal in response to determining the adjustment has finished, to cause the motor to perform a play reduction adjustment, wherein the play reduction adjustment comprises actuating the motor in the second direction to cause a fraction of a revolution of the rotary output.

2. A control system as claimed in claim 1, wherein the fraction of the revolution of the rotary output has a pre-set value.

3. A control system as claimed in claim 2, wherein the fraction of the revolution of the rotary output is less than a quarter.

4. A control system as claimed in any preceding claim, wherein the control system additionally comprises the seat recliner system.

5. A control system as claimed in any preceding claim, wherein the gearing comprises an eccentric gear mechanism comprising an inner gear and an outer annular ring gear, wherein the outer annular ring gear is an internal gear and the inner gear is located within the outer annular ring gear.

6. A control system as claimed in claim 5, wherein the inner gear is connected to the rotary output.

7. A control system as claimed in claim 5 or 6, wherein the outer annular ring gear is fixed to the seatback.

8. A control system as claimed in any preceding claim, wherein the rotary output is a shaft.

9. A control system as claimed in claim 8, when dependent upon claim 5, wherein the shaft is connectedto the inner gear, wherein the shaft is connected to the inner gear at a location which is offset from the geometric centre of the innergear.

10. A control system as claimed in any preceding claim, wherein the motor comprises motor gearing, wherein the motor gearing provides a reducer gear mechanism such that the rotary speed of the rotary output is lower than the rotary speed of a rotor of the motor.

11. A control system as claimed in any preceding claim, the one or more processors receive the command from one or more seat adjustment switch buttons or the one or more processors receive the command via a touchscreen.

12. A control system as claimed in any preceding claim, wherein the one or more processors receive the command from one or more controllers of the vehicle.

13. A vehicle comprising the control system of any preceding claim.

14. A method for controlling a seat recliner system of a vehicle having a motor arranged to rotate in afirst direction to cause inclining of a seat back relative to a seat base, and in a second direction to cause reclining of the seat back relative to the seat base, the motor having a rotary output being connected to gearing of the seat recliner system that translates the rotational movement of the rotary output into adjustment of the inclination of the seat back,the method comprising:receiving a command to adjust an inclination of the seat back relative to the seat base to raise the seat back relative to the seat base;outputting a first control signal, in response to receiving the command, to actuate the motor of the seat recliner system in the first direction;determining the adjustment of the inclination of the seat back has finished;outputting a second control signal in response to determining the adjustment has finished, to cause the motor to perform a play reduction adjustment, wherein the play reduction adjustment comprises actuating the motor in the second direction to cause a fraction of a revolution of the rotary output.

15. Computer readable instructions which, when executed by a computer, are arranged to perform a method according to claim 14.16

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