Seat belt system control method and apparatus, seat belt system, vehicle, and medium

Abstract

A seat belt system control method, applied to a seat belt system. The seat belt system comprises a pretensioner motor and a retractor for retracting a seat belt. The method comprises: in response to a target clutch state between the pretensioner motor and the retractor being a clutch disengaged state, determining a clutch state between the pretensioner motor and the retractor on the basis of a first rotational speed of the pretensioner motor and / or a second rotational speed of the retractor; and on the basis of the clutch state, controlling the seat belt system to perform an adjustment to execute a corresponding clutch disengagement operation. The method improves the clutch disengagement success rate of the seat belt system. Also disclosed are a seat belt system control apparatus, a seat belt system, a vehicle, and a computer readable storage medium.

Description

Safety belt system control method and device, safety belt system, vehicle and medium

[0001] Cross-reference to Related Applications

[0002] The present application claims priority to the Chinese application No. 202411084426.X, filed on August 8, 2024, entitled "Safety belt system control method and device, safety belt system, vehicle and medium", the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] Embodiments of the present application relate to, but are not limited to, the field of safety belt control, and in particular, to a safety belt system control method and device, safety belt system, vehicle and medium. BACKGROUND

[0004] An active safety belt system for a vehicle is an intelligent safety device that can actively adjust the tightness of the safety belt according to the real-time situation of the vehicle to provide better protection. When performing a pre-tensioning task, the active safety belt will perform a disengagement operation after the safety belt is tensioned to a certain extent to stop providing power to the retractor of the safety belt to avoid over-tightening the webbing.

[0005] However, due to factors such as product aging, voltage fluctuations, and occupant operation of the webbing, the disengagement operation has a certain failure probability, which affects the pre-tensioning quality of the active safety belt. TECHNICAL SOLUTION

[0006] Embodiments of the present application provide a safety belt system control method and device, safety belt system, vehicle and medium, which improve the disengagement success rate of the safety belt system to at least partially solve the above technical problems.

[0007] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0008] To achieve the above-mentioned purpose, according to a first aspect of the embodiments of the present application, a safety belt system control method is provided, applied to a safety belt system, the safety belt system comprising a pre-tensioning motor and a retractor for winding a safety belt, the safety belt system control method comprising:

[0009] when the target clutch state of the pre-tensioning motor and the retractor is a disengagement state, determining the clutch state of the pre-tensioning motor and the retractor according to the first rotational speed of the pre-tensioning motor and / or the second rotational speed of the retractor; and

[0010] controlling the safety belt system to adjust and perform a corresponding disengagement operation according to the clutch state.

[0011] According to a second aspect of the present application, a safety belt system control device is provided, which is applied to a safety belt system including a pre-tightening motor and a retractor for winding a safety belt, and includes:

[0012] a determiner configured to determine a clutching state of the pre-tightening motor and the retractor according to a first rotational speed of the pre-tightening motor and / or a second rotational speed of the retractor when a target clutching state of the pre-tightening motor and the retractor is a disengaging state;

[0013] a controller configured to control the safety belt system to perform a corresponding disengaging operation according to the clutching state.

[0014] According to a third aspect of the present application, a safety belt system is also provided, which includes a pre-tightening motor and a retractor for winding a safety belt, and is controlled to perform the steps of any of the above-mentioned methods.

[0015] According to a fourth aspect of the present application, a vehicle is also provided, which includes a safety belt system as mentioned above, and a processor and a memory, wherein the memory stores computer instructions which, when executed by the processor, cause the processor to perform the steps of any of the above-mentioned methods.

[0016] According to a fifth aspect of the present application, a computer-readable storage medium is also provided, which includes computer instructions which, when executed on an electronic device, cause the electronic device to perform the steps of any of the above-mentioned methods.

[0017] The safety belt system control method provided by the present application is applied to a safety belt system including a pre-tightening motor and a retractor for winding a safety belt, and when a target clutching state of the pre-tightening motor and the retractor is a disengaging state, a clutching state of the pre-tightening motor and the retractor is determined according to a first rotational speed of the pre-tightening motor and / or a second rotational speed of the retractor; and the disengaging parameter is updated according to the clutching state, and the safety belt system is controlled to perform a disengaging operation corresponding to the updated disengaging parameter. In this way, when the pre-tightening motor and the retractor of the safety belt system need to be in a disengaging state, the rotational speed of the pre-tightening motor and / or the retractor is detected to determine the clutching state of the retractor in real time, so that the corresponding disengaging operation is performed according to the clutching state of the retractor, and the safety belt system can successfully reach the disengaging state, thereby improving the disengaging success rate of the safety belt system.

[0018] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the description of the embodiments of the present application. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0020] In order to more completely understand the present application and its beneficial effects, the following will be described in conjunction with the drawings, wherein the same reference numerals in the following description represent the same parts.

[0021] FIG. 1 is a flow diagram of an embodiment of the safety belt system control method provided in the present application;

[0022] FIG. 2 is a block diagram of the safety belt system provided in the present application;

[0023] FIG. 3 is a structural diagram of the safety belt system provided in the present application;

[0024] FIG. 4 is a timing diagram of the PWM signal related to the pre-tightening motor provided in the present application;

[0025] FIG. 5 is an example diagram of the operation flow of the safety belt system provided in the present application;

[0026] FIG. 6 is a structural diagram of the safety belt system control device provided in the present application;

[0027] FIG. 7 is a structural diagram of the vehicle provided in the present application.

[0028] Embodiments of the present application

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0030] According to the background description of the present application, in the related art, when the active safety belt performs the pre-tightening task, after the safety belt is tightened to a certain extent, the disengaging operation is performed to stop providing power for the retractor of the safety belt, so as to avoid over-tightening the belt. However, due to the factors such as product aging, voltage fluctuation, and passenger operation of the belt, the disengaging operation has a certain failure probability, which affects the pre-tightening quality of the active safety belt.

[0031] To solve the above problems, the embodiment of the present application proposes a safety belt system control method, device, safety belt system, vehicle and medium. When the pre-tightening motor and the winder need to be in the disengaged state, the embodiment of the present application detects the rotating speed of the pre-tightening motor and / or the winder, judges the disengaged state of the winder in real time, adjusts the corresponding disengaged operation according to the disengaged state of the winder, so that the safety belt system can successfully reach the disengaged state, and the disengaged success rate of the safety belt system can be improved.

[0032] Specifically, the safety belt system control method in the embodiment of the present application can be applied to a safety belt system, the safety belt system is controlled by the safety belt system control method, and the execution subject of the safety belt system control method can be the safety belt system, for example, the safety belt system includes a master controller for executing the method, and the execution subject can also be a device provided with the safety belt system, which can be a vehicle (such as a car, an electric car, a hybrid car) and the like, a safety seat (such as a child safety seat), an entertainment device or other safety protection device and the like.

[0033] Hereinafter, each embodiment will be described in detail with the execution subject of the safety belt system control method being the safety belt system as an example.

[0034] In the embodiment, as shown in FIG. 1, the safety belt system control method can include the following steps:

[0035] S10, when the target disengaged state of the pre-tightening motor and the winder is the disengaged state, determining the disengaged state of the pre-tightening motor and the winder according to the first rotating speed of the pre-tightening motor and / or the second rotating speed of the winder;

[0036] In the embodiment, the safety belt system includes a pre-tightening motor and a winder for winding a safety belt. The disengaged state between the pre-tightening motor and the winder can be a disengaged state and an engaged state. The safety belt system can perform an engaged operation to adjust the disengaged state between the pre-tightening motor and the winder to the engaged state, or perform a disengaged operation to adjust the disengaged state between the pre-tightening motor and the winder to the disengaged state.

[0037] In the engaged state, the pre-tightening motor and the winder interact with each other, the active rotation of the pre-tightening motor can drive the rotation of the winder, and the active rotation of the winder can also drive the rotation of the pre-tightening motor. When the pre-tightening motor and the winder are in the engaged state, the rotation of the winder can be controlled by controlling the rotation of the pre-tightening motor, so as to actively control the winding of the safety belt and improve the safety protection effect.

[0038] In the disengaged state, the pre-tightening motor can be prevented from interacting with the retractor, and rotation of the pre-tightening motor will not affect rotation of the retractor, and vice versa, so as not to increase the resistance of the user to adjust the safety belt and improve the user experience.

[0039] In some embodiments, referring to FIG. 2, the safety belt system 100 includes a controller system 110, a pre-tightening motor 120, a retractor 150, and a safety belt 160, which is generally a woven belt. A transmission mechanism 130 and a clutch 140 are arranged between the pre-tightening motor 120 and the retractor 150, and the clutch state of the clutch 140 is also the clutch state between the pre-tightening motor 120 and the retractor 150. The safety belt system 100 can be installed beside a vehicle, a safety seat, or the like.

[0040] The controller system 110 can be used to implement the method provided in the embodiments, and the controller system 110 includes a CAN message 210, a power supply 220, and a master controller 230, as shown in FIG. 3.

[0041] The safety belt system 100 can be applied to a vehicle, and the CAN message 210 can be a vehicle chassis network message, which contains information such as power supply gear, seat state, safety belt buckle state, driver state, whole vehicle pre-collision state, vehicle speed, brake pedal depth, and the like, which are sent by other sensors or devices on the whole vehicle.

[0042] The power supply gear can have three types, namely, ON gear, ACC gear, and OFF gear.

[0043] The seat state can have two types, namely, with a person and without a person.

[0044] The safety belt buckle state can have two types, namely, the safety belt is buckled and the safety belt is not buckled.

[0045] The driver state can have two types, namely, the driver is tired and the driver is not tired.

[0046] The whole vehicle pre-collision state can have two types, namely, the whole vehicle is pre-collision and the whole vehicle is not pre-collision.

[0047] The power supply 220 input can be a constant power supply of the whole vehicle to supply power to each device of the safety belt system.

[0048] As shown in FIG. 3, the master controller 230 includes a CAN signal transceiver 231, a master control chip 232, a motor driver 233, a motor speed detector 234, and a retractor 150 speed detector 235.

[0049] The CAN signal transceiver 231 is used for communication between the main control chip 232 and the whole vehicle.

[0050] The main control chip 232 is used for storing important information such as software code and fault code, and communicates with the whole vehicle through the CAN signal transceiver 231 in working time, processes the signals transmitted by the motor speed detector 234 and the retractor speed detector 235, and informs the motor driver 233 to perform the corresponding engagement or disengagement operation. According to the pretensioning requirement of the safety belt system 100, these operations can be performed to achieve the target engagement state between the pretensioning motor 120 and the retractor 150. The target engagement state is the engagement state that needs to be achieved between the pretensioning motor 120 and the retractor 150, but may not be achieved at present.

[0051] When the safety belt system needs to perform the pretensioning task, the target engagement state is the engagement state, and the engagement operation will be performed accordingly, so that the pretensioning motor can drive the retractor to rotate when the engagement state between the pretensioning motor and the retractor is the engagement state, thereby achieving active control of the retractor of the safety belt.

[0052] When the safety belt system does not need to perform the pretensioning task, the target engagement state is the disengagement state, and if the engagement state is not the disengagement state, the disengagement operation needs to be performed and adjusted in real time until the engagement state is the disengagement state.

[0053] Further, as shown in FIG. 2, one end of the clutch 140 is connected to the transmission mechanism 130, and the other end is connected to the retractor 150. When the pretensioning motor 120 rotates forward, the transmission mechanism 130 drives one end of the clutch 140 to rotate, and the clutch 140 is engaged to be in the engagement state. When the pretensioning motor 120 continues to rotate forward, the retractor 150 also starts to rotate and retracts the safety belt 160. When the safety belt 160 is retracted to the expected position, the pretensioning task of the safety belt system is also completed, at this time, the pretensioning motor 120 is reversed to disengage the clutch 140, so that the clutch 140 is in the disengagement state, and the retractor 150 and the safety belt 160 no longer rotate with the pretensioning motor 120.

[0054] As shown in FIG. 3, the motor driver 233 can forward the PWM signal and the steering signal received from the main control chip 232 to the pretensioning motor, so that the pretensioning motor rotates forward or reverses according to the duty cycle of the received PWM signal and the steering, thereby realizing the engagement operation, the retractor and the disengagement operation of the safety belt system.

[0055] The motor speed detector 234 is used to obtain the first speed of the pretensioning motor or information related to the first speed, and send it to the main control chip 232. The motor speed detector 234 can be a position sensor or a device that calculates the speed through motor characteristic parameters.

[0056] The reel rotation speed detector 235 comprises a sensor assembly for detecting the reel rotation speed and a magnetic disk fixed on the reel, and the sensor assembly comprises a Hall sensor for identifying the rotation of the magnetic disk and a Hall sensor driving circuit. The reel drives the magnetic disk to rotate, so that the sensor generates a square wave and sends it to the master control chip 232, so that the master control chip 232 can obtain the rotation speed of the reel.

[0057] In order to ensure successful disengagement, the first rotation speed of the pretensioning motor and / or the second rotation speed of the reel need to be obtained in real time or at intervals when the target engagement state of the pretensioning motor and the reel is the disengagement state, so as to determine the engagement state of the pretensioning motor and the reel, which refers to the real or current engagement state of the pretensioning motor and the reel.

[0058] Optionally, if the pretensioning motor receives the disengagement control signal or the pretensioning motor is in a shutdown state, it is determined that the target engagement state of the safety belt system is the disengagement state.

[0059] In the embodiment, when the safety belt system is in the process of performing the disengagement operation, the disengagement control signal can be sent to the pretensioning motor, and the disengagement control signal can include a PWM signal and a steering signal. The execution process of the disengagement operation is a continuous process, and in this process, the pretensioning motor also continuously receives the disengagement control signal to make the pretensioning motor continuously perform the disengagement operation, such as continuous reverse rotation. When the pretensioning motor receives the disengagement control signal, the target engagement state is the disengagement state, so it is necessary to continuously monitor the engagement state of the pretensioning motor and the reel by obtaining the first rotation speed of the pretensioning motor and / or the second rotation speed of the reel.

[0060] Optionally, the safety belt system sends the disengagement control signal to the pretensioning motor, which can be after judging that the safety belt system completes the pretensioning task, and the pretensioning task includes the pre-tightening task, the emergency pretensioning task, the pre-impact pretensioning task, and the safety belt auxiliary recovery task. For example, when the user just buckles the safety belt buckle, the safety belt auxiliary recovery task can be performed to quickly tighten the safety belt and improve the protection efficiency, or when an accident occurs, the emergency pretensioning task or the pre-impact pretensioning task can be performed to slow down the user's diving caused by inertia. The pretensioning task needs to be completed in the disengagement state.

[0061] Specifically, as shown in FIG. 3, the safety belt system is applied to a vehicle, a CAN signal transceiver 231 receives a CAN message 210 from the vehicle, and sends to a master control chip 232, the master control chip 232 processes the received CAN message information, and determines whether there is a pre-tightening task trigger through vehicle state, if there is a task trigger, the pre-tightening task needs to be executed. When the pre-tightening task is executed, the master control chip 232 sends the clutch control signal including the steering signal and the PWM signal to the motor driver 233, the motor driver 233 converts it into an electrical signal, and sends it to the pre-tightening motor 120 to drive it to rotate in a positive direction, so that the safety belt system performs the clutching operation, the safety belt recovery operation and the safety belt pre-tightening operation, etc.

[0062] More specifically, the motor driver 233 can be a VNHD7008AY chip, the master control chip 232 sets the INA pin high and the INB pin low, and inputs the PWM signal to the PWM pin to drive the pre-tightening motor to rotate in a positive direction. The pre-tightening motor rotates in a positive direction, driving the clutch to rotate in a positive direction, completing the clutching operation, the pre-tightening motor continues to rotate in a positive direction, completing the safety belt recovery operation, when the safety belt is fully recovered, the second rotation speed of the winder will be zero, then the pre-tightening motor continues to rotate in a positive direction, further tightening the safety belt to complete the pre-tightening operation.

[0063] Exemplarily, when the pre-tightening task is executed, the steering signal in the control signal sent by the master control to the pre-tightening motor can be a positive rotation corresponding signal, and the duty ratio setting curve of the PWM signal in the control signal is as shown in FIG. 4, the task makes the pre-tightening motor contain actions such as initialization waiting (401), clutching (402), safety belt recovery (403), pre-tightening (404), slow stop (405), reverse delay (406), disengaging (407) and slow stop (408).

[0064] The duty cycle of the initialization waiting (401) action is 0, and the action duration is T1, which can be determined according to actual needs. The duty cycle of the on-off (402) action is a smooth ramp, the starting value is D1, the ending value is D2, and the action duration is (T2-T1). The noise during on-off needs to be considered, and the specific value is subject to the calibration effect. The duty cycle of the safety belt recovery (403) action is D2, and the action duration is (T3-T2). The greater the value of D2, the faster the safety belt recovery speed, and the greater the noise. The duty cycle of the pre-tightening (404) action is D3, and the action duration is (T4-T3). The greater the value of D3, the greater the pre-tightening force. Different tasks have different requirements for the pre-tightening force and duration, and the specific value is subject to the calibration effect. The duty cycle of the slow stop (405) action is a smooth ramp, and the action duration is (T5-T4). The starting value is D3, and the ending value is 0. The purpose is to let the motor stop slowly, reduce noise and impact. The duty cycle of the reversing delay (406) action is 0, and the action duration is (T6-T5). The purpose is to let the motor stop completely and prepare for reverse operation. The duty cycle of the disengagement (405) action smoothly rises to D4 and then remains at D4, and the action duration is (T7-T6). The effect of disengagement and overall noise need to be considered. The specific values involved above are subject to the calibration effect. Whether the pre-tightening task is completed is determined by judging whether the pre-tightening time of the safety belt reaches a set threshold or not. For example, after detecting that the first rotating speed of the retractor is zero, the pre-tightening motor will run at a fixed duty cycle for a preset time. When the preset time is reached, the pre-tightening task is determined to be completed.

[0065] Optionally, after the pre-tightening task is completed, the safety belt system will perform a disengagement operation and send a disengagement control signal to the pre-tightening motor through the master control chip. The disengagement control signal can include a reversing signal and a PWM signal. At this time, the reversing signal will be a reverse signal, so that the pre-tightening motor reverses to perform a disengagement action. When the disengagement state of the pre-tightening motor and the retractor is reached, the retractor no longer rotates with the pre-tightening motor. At this time, the pre-tightening motor can be controlled to stop.

[0066] In some embodiments, the motor driver can be a VNHD7008AY chip. The master control chip sets the INA pin low and the INB pin high, and inputs a PWM signal to the PWM pin to drive the pre-tightening motor to reverse.

[0067] In the embodiment, another object is to provide a method for passively detecting whether the disengagement is successful, which can effectively solve the problem that in extreme cases, the user can find that the disengagement is not successful, but the seat belt system cannot identify and respond. Specifically, when the pretensioning motor is in a shutdown state, i.e., the pretensioning motor does not actively rotate, for example, when the pretensioning task is completed, the pretensioning motor is controlled to be in a shutdown state, at this time, the target clutch state of the pretensioning motor and the retractor in the seat belt system should also be in a disengaged state, so that the user's initiative to adjust the seat belt is higher, and the user experience is improved. Furthermore, whether the clutch state of the pretensioning motor and the retractor is in a disengaged state can be determined according to the first rotation speed of the pretensioning motor and / or the second rotation speed of the retractor, so as to avoid the extreme case that the two are still in a clutch state, indicating that the disengagement is not successful, and the parameters need to be adjusted to perform the disengagement operation again.

[0068] In step S20, the seat belt system is controlled according to the clutch state to perform a corresponding disengagement operation.

[0069] In the embodiment, if the clutch state is a disengaged state, the seat belt system does not need to be controlled to perform a disengagement operation, if the seat belt system is currently performing a disengagement operation, and the pretensioning motor is receiving a disengagement control signal, the seat belt system needs to be adjusted to end the currently performed disengagement operation, including slowly stopping the pretensioning motor at a certain acceleration or time, or immediately stopping.

[0070] If the clutch state is a disengaged state, the seat belt system does not need to be controlled to perform a disengagement operation, if the seat belt system is not performing a disengagement operation, the process of detecting the clutch state can be closed.

[0071] If the clutch state is a clutch state, the seat belt system needs to be controlled to perform a disengagement operation, if the seat belt system is currently performing a disengagement operation, and the pretensioning motor is receiving a disengagement control signal, the corresponding disengagement operation needs to be continued, the disengagement control signal needs to be continuously sent to the pretensioning motor, or the parameters of the disengagement operation need to be adjusted, including adjusting the duty cycle, amplitude, etc. of the disengagement control signal sent to the pretensioning motor, so as to achieve better disengagement effect.

[0072] If the clutch state is a clutch state, the seat belt system needs to be controlled to perform a disengagement operation, if the seat belt system is not performing a disengagement operation, i.e., the seat belt system is not running, the parameters corresponding to the disengagement operation currently stored need to be adjusted, including adjusting the duty cycle, amplitude, etc. of the disengagement control signal that can be sent to the pretensioning motor, and then controlling the seat belt system to perform the disengagement operation after the parameters are adjusted, including sending the disengagement control signal with adjusted duty cycle, amplitude, etc. to the pretensioning motor, so as to achieve better disengagement effect.

[0073] In the technical solution disclosed in the embodiment, when the target clutching state of the pre-tightening motor and the retractor is the disengaging state, i.e., the pre-tightening motor and the retractor of the safety belt system need to be in the disengaging state, the clutching state of the retractor is determined in real time by detecting the rotation speed of the pre-tightening motor and / or the retractor, so that the corresponding disengaging operation is adjusted and performed according to the clutching state of the retractor, so that the safety belt system can successfully reach the disengaging state, and the disengaging success rate of the safety belt system is improved.

[0074] Based on any of the above embodiments, in yet another embodiment, the step S20 of "controlling the safety belt system to adjust and perform the corresponding disengaging operation according to the clutching state" comprises:

[0075] obtaining the running state of the pre-tightening motor;

[0076] determining the clutching state according to the first rotation speed and / or the second rotation speed and the running state.

[0077] In the embodiment, the running state of the pre-tightening motor is obtained, and the running state can be divided into a stop state and a running state. When the pre-tightening motor is in the stop state, the pre-tightening motor will not rotate any more. If the first rotation speed of the pre-tightening motor is greater than a threshold value, it may be due to that the user pulls the safety belt to provide power to the retractor in the clutching state, and the kinetic energy is transmitted to the pre-tightening motor, causing it to rotate. Therefore, if the running state of the pre-tightening motor is the stop state, the clutching state is determined according to whether the first rotation speed is greater than the first preset rotation speed, and further, the clutching state can be determined according to whether the first rotation speed is greater than the first preset rotation speed and whether the second rotation speed is greater than the second preset rotation speed, so as to improve the determination accuracy.

[0078] When the pre-tightening motor is in the running state, the pre-tightening motor has different effects on the retractor in different clutching states. If the pre-tightening motor is in the running state, whether the second rotation speed is greater than the fourth rotation speed is determined to determine the clutching state, and the clutching state can also be determined in combination with the first rotation speed and the second rotation speed, so as to improve the determination accuracy.

[0079] Based on any of the above embodiments, in yet another embodiment, the step S20 of "controlling the safety belt system to adjust and perform the corresponding disengaging operation according to the clutching state" comprises:

[0080] determining the idling coefficient of the safety belt system according to the first rotation speed and the second rotation speed and the transmission ratio between the pre-tightening motor and the retractor;

[0081] determining the clutching state according to the idling coefficient and the preset idling coefficient.

[0082] In the embodiment, the transmission ratio between the pre-tightening motor and the retractor is obtained, and the transmission ratio is determined according to the mechanical mechanism between the pre-tightening motor and the retractor, and represents the degree of interaction between the pre-tightening motor and the retractor in the engaged or disengaged state. As shown in FIG. 1, the transmission ratio can be the transmission ratio of the transmission mechanism 130 between the pre-tightening motor 120 and the retractor 150. After the first rotational speed and the second rotational speed are obtained, the idling coefficient of the safety belt system can be calculated according to the following formula:

[0083] γ = S1 - N * S2

[0084] wherein S1 is the first rotational speed, S2 is the second rotational speed, N is the transmission ratio, and γ is the idling coefficient, which represents the degree of influence of the pre-tightening motor or the retractor on the other. If the idling coefficient is greater than a preset idling coefficient, for example, 0, it indicates that there is a high possibility of stable interaction between the pre-tightening motor and the retractor, and the pre-tightening motor or the retractor is not actively idling, that is, the pre-tightening motor and the retractor are in the engaged state, and vice versa.

[0085] In this way, the idling coefficient with a specific numerical value is calculated by the first rotational speed and the second rotational speed and the transmission ratio between the pre-tightening motor and the retractor, so that the engaged or disengaged state of the pre-tightening motor and the retractor can be more accurately determined.

[0086] Based on any of the above embodiments, in another embodiment of the present application, the engaged or disengaged state is determined according to the idling coefficient and the preset idling coefficient, which includes:

[0087] If the pre-tightening motor receives the disengaged control signal, the first number of times when the idling coefficient is greater than the preset idling coefficient and the second number of times when the idling coefficient is less than the preset idling coefficient are counted.

[0088] If the value of the first number of times exceeding the second number of times is greater than a first preset value, the engaged or disengaged state is determined to be the disengaged state.

[0089] In the embodiment, as shown in FIG. 5, when the end condition of the current pre-tightening task is met, the safety belt system starts to perform the disengaged operation and sends the disengaged control signal to the pre-tightening motor. If the pre-tightening motor receives the disengaged control signal, the first rotational speed S1 and the second rotational speed S2 are obtained in real time or at intervals of a preset period, and the idling coefficient is calculated by the formula (S1 - N * S2). After the idling coefficient is detected for the first time to be greater than the preset idling coefficient, the condition of the idling coefficient is counted.

[0090] Specifically, the difference between the first number of times when the idling coefficient is greater than the preset idling coefficient and the second number of times when the idling coefficient is less than the preset idling coefficient can be counted. The process can be implemented by a counter. After the first time the idling coefficient is detected to be greater than the preset idling coefficient, the counter makes a judgment every interval. If the idling coefficient is not less than the preset idling coefficient in the current period, the counter is increased by 1. If the idling coefficient is less than the preset idling coefficient in the current period, the counter is decreased by 1. At this time, the value counted by the counter is the first number of times when the idling coefficient is greater than the preset idling coefficient minus the second number of times when the idling coefficient is less than the preset idling coefficient. If the value recorded by the counter is greater than the first preset value, that is, the value of the first number of times minus the second number of times is greater than the first preset value, it can be determined that the system has entered the stable disengaged state.

[0091] Optionally, a first time threshold can also be set. If the value recorded by the counter within the first time threshold after starting counting does not exceed the first preset value, it indicates that the disengaging operation currently performed has poor disengaging effect. The disengaging parameters of the disengaging operation can be updated, and the seat belt system can be controlled to perform the disengaging operation after the disengaging parameters are updated.

[0092] Optionally, in some specific embodiments, if the pretensioning motor is in a shutdown state, the current risk of not being in the disengaged state can be determined according to the first rotational speed. If the first rotational speed is greater than the preset rotational speed, it indicates that the pretensioning motor can be passively rotating. Therefore, the idling coefficient of the seat belt system can be further determined according to the first rotational speed and the second rotational speed, and the transmission ratio between the pretensioning motor and the retractor. The clutch state can be determined according to the idling coefficient and the preset idling coefficient. In this way, the accuracy of determining the clutch state can be ensured while the calculation amount can be saved.

[0093] It can be understood that if the target clutch state is the disengaged state because the pretensioning motor receives the disengaging control signal, only whether the current clutch state is the disengaged state can be determined as a condition for stopping the disengaging operation. Through the above statistical process, the accuracy of determining the disengaging success after the pretensioning motor receives the disengaging control signal can be further improved, thereby improving the disengaging success rate.

[0094] Based on any of the above embodiments, in another embodiment of the present application, "determining the clutch state according to the idling coefficient and the preset idling coefficient" includes:

[0095] If the pretensioning motor is in a shutdown state, the third number of times when the idling coefficient is less than the preset idling coefficient is counted.

[0096] If the third number of times is greater than the second preset value, it is determined that the clutch state is the engaged state.

[0097] In the embodiment, referring to FIG. 5, when the disengaging operation is stopped, the pre-tightening motor is in a stop state. When the pre-tightening motor is in the stop state, the target clutch state is the disengaging state, and in some extreme cases, the real clutch state can not be the disengaging state. Therefore, the safety belt system continues to acquire the first rotation speed S1 and the second rotation speed S2 in real time or at intervals of a preset period, and calculates the idling coefficient through the formula (S1-N*S2). After the idling coefficient is detected for the first time to be less than the preset idling coefficient, the case of the idling coefficient is counted.

[0098] Specifically, the third number of times that the idling coefficient is less than the preset idling coefficient can be counted. This process can be realized by a counter. The counter makes a judgment once every interval of a period after the idling coefficient is detected for the first time to be less than the preset idling coefficient. If the idling coefficient greater than the preset idling coefficient does not occur in the current period, the counter is incremented by 1. If the idling coefficient greater than the preset idling coefficient occurs in the current period, the current process is ended. At this time, the value counted by the counter is the third number of times that the idling coefficient is less than the preset idling coefficient. If the value counted by the counter is greater than a second preset value, that is, the third number of times is greater than the second preset value, it can be accurately determined that the current clutch state is the engaging state.

[0099] Optionally, a second time threshold can also be set. If the value recorded by the counter does not exceed the second preset value within the second time threshold after the counter starts counting, it indicates that the current clutch state is still the disengaging state, and the case that the idling coefficient is greater than the preset coefficient is accidental. Therefore, the current process is ended. After the current process is ended, the counter can be emptied, and the clutch state is determined again according to the first rotation speed and the second rotation speed. Before the step of determining the clutch state according to the first rotation speed and the second rotation speed is re-executed, the step can also be executed again after a determination result that the first rotation speed is greater than a preset rotation speed is obtained, or after a preset interval of a preset time is set, so as to reduce the amount of calculation.

[0100] It can be understood that if the target clutch state is the disengaging state because the pre-tightening motor is in the stop state, it can be determined only whether the current clutch state is the engaging state, which is used as a condition for re-executing the disengaging operation. Through the above counting process, the accuracy of determining the extreme case of the engaging state when the pre-tightening motor is in the stop state can be further improved, so as to improve the success rate of disengaging.

[0101] Based on any of the above embodiments, in another embodiment of the present application, the step S30 of determining the clutch state according to the idling coefficient and the preset idling coefficient comprises:

[0102] If the pre-tightening motor receives the disengaging control signal and the clutch state is the disengaging state, the disengaging operation is stopped;

[0103] If the pre-tightening motor is in the stop state and the clutch state is the engaged state, the disengaging parameter of the disengaging operation is updated, and the safety belt system is controlled to perform the disengaging operation after the disengaging parameter is updated.

[0104] In this embodiment, as shown in FIG. 5, when the safety belt system starts to perform the disengaging operation, a disengaging control signal is sent to the pre-tightening motor to control the pre-tightening motor to reverse the disengaging. When the pre-tightening motor receives the disengaging control signal, it indicates that the safety belt system is performing the disengaging operation. If the current clutch state is detected as the disengaging state at this time, it indicates that the disengaging operation is successful, and the disengaging operation can be stopped, and the disengaging control signal is stopped from being sent to the pre-tightening motor, so that the pre-tightening motor stops. Specifically, the stop time of the disengaging control signal can be adjusted, and the safety belt system is controlled to stop sending the disengaging control signal to the pre-tightening motor according to the stop time.

[0105] If the current clutch state is detected as the engaged state after the disengaging operation is stopped and the pre-tightening motor is in the stop state, it indicates that the current engaged state is illegal and needs to be re-executed. The illegal engaged state is probably caused by the unsuccessful disengaging operation last time, so the disengaging parameter of the disengaging operation stored is updated, and the safety belt system is controlled to perform the disengaging operation after the disengaging parameter is updated. The disengaging parameter of the disengaging operation can include the duty cycle, amplitude, and counter threshold of the disengaging control signal, and the safety belt system is controlled to perform the disengaging operation after the disengaging parameter is updated, so as to further improve the success rate of the disengaging operation.

[0106] This embodiment also provides a safety belt system control device, which can be integrated in the safety belt system. For example, as shown in FIG. 6, the safety belt system control device can include:

[0107] The determiner 1001 is configured to determine the clutch state of the pre-tightening motor and the retractor according to the first rotation speed of the pre-tightening motor and / or the second rotation speed of the retractor when the target clutch state of the pre-tightening motor and the retractor is the disengaging state.

[0108] The controller 1002 is configured to control the safety belt system to adjust to perform a corresponding disengaging operation according to the clutch state.

[0109] Optionally, the determiner 1001 is further configured to:

[0110] If the pre-tightening motor receives the disengaging control signal or the pre-tightening motor is in the stop state, the target clutch state of the safety belt system is determined as the disengaging state.

[0111] Optionally, the determiner 1001 is further configured to:

[0112] acquire an operating state of the pre-tightening motor;

[0113] determine the clutch state according to the first rotational speed and / or the second rotational speed and the operating state.

[0114] Optionally, the determiner 1001 is further configured to:

[0115] determine an idling coefficient of the safety belt system according to the first rotational speed and the second rotational speed and a transmission ratio between the pre-tightening motor and the retractor;

[0116] Optionally, the determiner 1001 is further configured to:

[0117] if the pre-tightening motor receives the disengaging control signal, count a first number of times that the idling coefficient is greater than a preset idling coefficient and a second number of times that the idling coefficient is less than the preset idling coefficient;

[0118] if a value of the first number of times exceeding the second number of times is greater than a first preset value, determine that the clutch state is the disengaging state.

[0119] Optionally, the determiner 1001 is further configured to:

[0120] if the pre-tightening motor is in the shutdown state, count a third number of times that the idling coefficient is less than the preset idling coefficient;

[0121] if the third number of times is greater than a second preset value, determine that the clutch state is the engaging state.

[0122] Optionally, the determiner 1001 is further configured to:

[0123] if the pre-tightening motor is in the shutdown state and the first rotational speed is greater than a preset rotational speed, perform the step of determining the idling coefficient of the safety belt system according to the first rotational speed and the second rotational speed and the transmission ratio between the pre-tightening motor and the retractor.

[0124] Optionally, the controller 1002 is further configured to:

[0125] if the pre-tightening motor receives the disengaging control signal and the clutch state is the disengaging state, stop performing the disengaging operation;

[0126] if the pre-tightening motor is in the shutdown state and the clutch state is the engaging state, update a disengaging parameter of the disengaging operation and control the safety belt system to perform the disengaging operation with the updated disengaging parameter.

[0127] The embodiment is applied to a safety belt system including a pre-tightening motor and a retractor for winding a safety belt. When a target clutching state of the pre-tightening motor and the retractor is a disengaging state, a clutching state of the pre-tightening motor and the retractor is determined according to a first rotating speed of the pre-tightening motor and / or a second rotating speed of the retractor. A disengaging parameter is updated according to the clutching state, and the safety belt system is controlled to perform a disengaging operation corresponding to the updated disengaging parameter. In this way, when the pre-tightening motor and the retractor of the safety belt system need to be in the disengaging state, the clutching state of the retractor is determined in real time by detecting the rotating speed of the pre-tightening motor and / or the retractor, so that the corresponding disengaging operation is adjusted and performed according to the clutching state of the retractor, and the safety belt system can successfully reach the disengaging state, thereby improving the disengaging success rate of the safety belt system.

[0128] The specific implementation of each operation can refer to the foregoing embodiments, which will not be described herein again.

[0129] Correspondingly, the embodiment of the application further provides a safety belt system. The safety belt system can be provided with any safety belt system as described in the foregoing embodiments. The safety belt system further includes a processor having one or more processing cores, a memory having one or more computer readable storage media, and computer instructions stored in the memory and executable on the processor. The processor is electrically connected to the memory. The processor is the control center of the safety belt system, and is connected to each part of the safety belt system through various interfaces and lines. The processor executes various functions of the safety belt system and processes data by running or loading software programs stored in the memory and calling data stored in the memory, thereby monitoring the safety belt system as a whole. The processor can be a processor CPU, a graphics processor GPU, a network processor (NP), etc., and can implement or execute each method, step and logic block disclosed in the embodiments of the application. In the embodiments of the application, the processor in the safety belt system loads the instructions corresponding to the processes of one or more application programs into the memory, and runs the application programs stored in the memory by the processor, thereby implementing various functions, for example: when a target clutching state of the pre-tightening motor and the retractor is a disengaging state, a clutching state of the pre-tightening motor and the retractor is determined according to a first rotating speed of the pre-tightening motor and / or a second rotating speed of the retractor; and the safety belt system is controlled to adjust and perform a corresponding disengaging operation according to the clutching state.

[0130] The specific implementation of each operation can refer to the foregoing embodiments, which will not be described herein again.

[0131] Correspondingly, the embodiment of the present application also provides a vehicle, as shown in Figure 7, which is a structural schematic diagram of the vehicle provided by the embodiment of the present application. The vehicle 1100 can be provided with any safety belt system as described in the above embodiments, and the vehicle 1100 further comprises a processor 1101 having one or more processing cores, a memory 1102 having one or more computer readable storage media, and computer instructions stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. Those skilled in the art can understand that the vehicle structure shown in the figure does not constitute a limitation on the vehicle, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0132] The processor 1101 is the control center of the vehicle 1100, and connects various parts of the entire vehicle 1100 through various interfaces and lines, executes various functions of the vehicle 1100 and processes data by running or loading software programs and / or devices stored in the memory 1102, and calling data stored in the memory 1102, thereby monitoring the vehicle 1100 as a whole. The processor 1101 can be a processor CPU, a graphics processor GPU, a network processor (NP), etc., and can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0133] In the embodiments of the present application, the processor 1101 in the vehicle 1100 will load the instructions corresponding to the processes of one or more application programs into the memory 1102, and run the application programs stored in the memory 1102 by the processor 1101, thereby realizing various functions, for example:

[0134] When the target clutching state of the pre-tightening motor and the retractor of the safety belt system is disengaged, the clutching state of the pre-tightening motor and the retractor is determined according to the first rotational speed of the pre-tightening motor and / or the second rotational speed of the retractor;

[0135] The safety belt system is controlled according to the clutching state to adjust and perform the corresponding disengaging operation.

[0136] The specific implementation of each operation can refer to the above embodiments, which will not be repeated here.

[0137] Optionally, as shown in FIG. 7, the vehicle 1100 further includes a touch display screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input device 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch display screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input device 1106, and the power supply 1107, respectively. Those skilled in the art can understand that the vehicle structure shown in FIG. 7 does not constitute a limitation on the vehicle, and can include more or fewer components than shown, or combine certain components, or different component arrangements.

[0138] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by user acting on the graphical user interface. The touch display screen 1103 can include a display panel and a touch panel. The display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the vehicle, which can be composed of graphics, text, icons, videos, and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. The touch panel can be used to collect touch operations (such as user operations on or near the touch panel using a finger, a stylus, or any suitable object or accessory) of the user thereon or therearound, and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel can include two parts, a touch detection device and a touch controller. The touch detection device detects the touch position of the user and detects the signals brought by the touch operation, and transmits the signals to the touch controller; the touch controller receives the touch information from the touch detection device, and converts it into touch coordinates, and then sends it to the processor 1101, and can also receive commands from the processor 1101 and execute them. The touch panel can cover the display panel, and when the touch panel detects a touch operation thereon or therearound, it transmits to the processor 1101 to determine the type of the touch event, and then the processor 1101 provides corresponding visual output on the display panel according to the type of the touch event. In the embodiments of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can realize the input and output functions as two independent components. That is, the touch display screen 1103 can also realize the input function as part of the input device 1106.

[0139] The radio frequency circuit 1104 can be used to transceive radio frequency signals to establish wireless communication with network medical devices or other vehicles, and transceive signals between the network medical devices or other vehicles.

[0140] The audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and a microphone. The audio circuit 1105 can convert received audio data into an electrical signal and transmit the electrical signal to the speaker for conversion into a sound signal output by the speaker. On the other hand, the microphone can collect a sound signal and convert the sound signal into an electrical signal, which is received by the audio circuit 1105 and converted into audio data. The audio data is output to the processor 1101 for processing, and then transmitted to another vehicle, for example, through the radio frequency circuit 1104, or output to the memory 1102 for further processing. The audio circuit 1105 can also include a jack for a headset to provide communication between the headset and the vehicle.

[0141] The input device 1106 can be used to receive input digital, character information or user feature information (such as fingerprint, iris, face information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls.

[0142] The power supply 1107 is used to supply power to various components of the vehicle 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so that the power management device can be used to manage charging, discharging and power consumption management, etc. The power supply 1107 can also include one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, etc.

[0143] Although not shown in FIG. 7, the vehicle 1100 can also include a camera, a sensor, a wireless fidelity device, a Bluetooth device, etc., which will not be described here.

[0144] In the above embodiments, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0145] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions or by instructions controlling related hardware, which can be stored in a computer readable storage medium and loaded and executed by a processor.

[0146] To this end, an embodiment of the present application provides a computer readable storage medium, which stores a plurality of computer instructions. The computer instructions can be loaded by a processor to execute any of the safety belt system control methods provided by the embodiments of the present application. The computer instructions can execute the steps of the safety belt system control method as follows:

[0147] When the target clutching state of the pre-tightening motor and the winder is disengaged, the clutching state of the pre-tightening motor and the winder is determined according to the first rotational speed of the pre-tightening motor and / or the second rotational speed of the winder.

[0148] According to the clutch state control safety belt system adjustment to perform the corresponding disengagement operation.

[0149] The specific implementation of the above operations can refer to the previous embodiments, which will not be repeated here.

[0150] The computer readable storage medium can include read only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc.

[0151] Since the computer readable storage medium can realize the beneficial computer instructions stored by any safety belt system control method provided in the embodiments of the present application, and can execute any safety belt system control method provided in the embodiments of the present application, the effects are detailed in the previous embodiments, which will not be repeated here.

Claims

1. A seat belt system control method in which, The application is applied to a safety belt system, the safety belt system comprises a pre-tightening motor and a retractor for winding a safety belt, and the safety belt system control method comprises: In response to the target clutching state of the pre-tightening motor and the retractor being disengaged, determining the clutching state of the pre-tightening motor and the retractor according to the first rotating speed of the pre-tightening motor and / or the second rotating speed of the retractor; and Controlling the safety belt system to adjust and execute a corresponding disengaging operation according to the clutching state.

2. The safety belt system control method according to claim 1, wherein Before the step of determining the clutching state of the pre-tightening motor and the retractor according to the first rotating speed of the pre-tightening motor and / or the second rotating speed of the retractor, the method further comprises: In response to the pre-tightening motor receiving a disengaging control signal or the pre-tightening motor being in a shutdown state, determining that the target clutching state of the safety belt system is disengaged.

3. The safety belt system control method according to claim 1 or 2, wherein The step of determining the clutching state between the pre-tightening motor and the retractor according to the first rotating speed and / or the second rotating speed, comprises: Obtaining the operating state of the pre-tightening motor; and Determining the clutching state according to the first rotating speed and / or the second rotating speed and the operating state.

4. The seat belt system control method according to any one of claims 1 to 3, wherein The step of determining the clutching state of the pre-tightening motor and the retractor according to the first rotating speed of the pre-tightening motor and / or the second rotating speed of the retractor, comprises: Determining the idling coefficient of the safety belt system according to the first rotating speed and the second rotating speed and the transmission ratio between the pre-tightening motor and the retractor; and Determining the clutching state according to the idling coefficient and a preset idling coefficient.

5. The safety belt system control method according to claim 4, wherein The step of determining the clutching state according to the idling coefficient and a preset idling coefficient, comprises: In response to the pre-tightening motor receiving a disengaging control signal, counting a first number of times when the idling coefficient is greater than the preset idling coefficient and a second number of times when the idling coefficient is less than the preset idling coefficient; In response to the first number of times being greater than the second number of times by a value greater than a first preset value, determining that the clutching state is disengaged.

6. The safety belt system control method according to claim 4 or 5, wherein The step of determining the clutching state according to the idling coefficient and a preset idling coefficient, comprises: In response to the pre-tightening motor being in a shutdown state, counting a third number of times when the idling coefficient is less than the preset idling coefficient; In response to the third number of times being greater than a second preset value, determining that the clutching state is engaged.

7. The seat belt system control method according to any one of claims 4 to 6, wherein The method further comprises: In response to the pre-tightening motor being in a shutdown state and the first rotating speed being greater than a preset rotating speed, executing the step of determining the idling coefficient of the safety belt system according to the first rotating speed and the second rotating speed and the transmission ratio between the pre-tightening motor and the retractor.

8. The seat belt system control method according to any one of claims 1 to 7, wherein The step of controlling the safety belt system to adjust and execute a corresponding disengaging operation according to the clutching state, comprises: In response to the pre-tightening motor receiving a disengaging control signal and the clutching state being disengaged, stopping the execution of the disengaging operation.

9. The seat belt system control method according to any one of claims 1 to 7, wherein The step of controlling the safety belt system to adjust and execute a corresponding disengaging operation according to the clutching state, comprises: In response to satisfying that the pre-tightening motor is in a stop state, and the clutch state is in a connected state, updating a disengaging parameter of the disengaging operation, and controlling the safety belt system to perform the disengaging operation after updating the disengaging parameter.

10. A seat belt system control device, wherein, The application is applied to a safety belt system, which comprises a pre-tightening motor and a retractor for winding a safety belt, and the safety belt system control device comprises: A determiner is configured to determine a clutch state of the pre-tightening motor and the retractor according to a first rotating speed of the pre-tightening motor and / or a second rotating speed of the retractor in response to the target clutch state of the pre-tightening motor and the retractor being a disengaging state. A controller is configured to control the safety belt system to adjust to perform a corresponding disengaging operation according to the clutch state.

11. A seat belt system, wherein, The application is applied to a safety belt system, which comprises a pre-tightening motor and a retractor for winding a safety belt, and the safety belt system control device comprises:

12. A vehicle, wherein, The application is applied to a safety belt system, which comprises a pre-tightening motor and a retractor for winding a safety belt, and the safety belt system control device comprises:

13. A computer readable storage medium, wherein, The application is applied to a safety belt system, which comprises a pre-tightening motor and a retractor for winding a safety belt, and the safety belt system control device comprises:

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