CN113547959A - Seat control method and device, readable storage medium and vehicle - Google Patents
Seat control method and device, readable storage medium and vehicle Download PDFInfo
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- CN113547959A CN113547959A CN202110797127.0A CN202110797127A CN113547959A CN 113547959 A CN113547959 A CN 113547959A CN 202110797127 A CN202110797127 A CN 202110797127A CN 113547959 A CN113547959 A CN 113547959A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/0224—Non-manual adjustments, e.g. with electrical operation
- B60N2/0244—Non-manual adjustments, e.g. with electrical operation with logic circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/0224—Non-manual adjustments, e.g. with electrical operation
- B60N2/0244—Non-manual adjustments, e.g. with electrical operation with logic circuits
- B60N2/0272—Non-manual adjustments, e.g. with electrical operation with logic circuits using sensors or detectors for detecting the position of seat parts
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Abstract
The invention provides a seat control method, a seat control device, a readable storage medium and a vehicle, wherein the seat control method comprises the following steps: responding to the received adjusting instruction, and acquiring the current pose of the seat in a seat position coordinate system and the position of any point on the interior trim panel close to the seat in the seat position coordinate system; calculating the maximum safe backrest adjusting stroke of the seat according to the current pose and the backrest adjusting parameters; calculating the maximum safe lateral adjustment stroke of the seat according to the position of any point on the interior trim panel of the vehicle and the lateral adjustment parameters of the seat; and adjusting the seat to a target pose according to the maximum safe backrest adjusting stroke and the maximum safe lateral adjusting stroke. Through setting up the maximum safe back and adjusting stroke and the maximum safe side direction stroke of adjusting, can make the seat obtain more spacious car inner space gradually at the in-process of adjusting, avoid the seat to adjust in-process and other parts in the car and interfere, improve the seat and adjust the scope to promote the travelling comfort of seat.
Description
Technical Field
The invention relates to the technical field of automobile seat control, in particular to a seat control method, a seat control device, a readable storage medium and a vehicle.
Background
The vehicle seat is a very important automobile part which is closely contacted with passengers for a long time, and the safety and the comfort of the vehicle seat directly influence the vehicle using experience of the passengers. In order to meet the riding requirements of passengers, an electric seat capable of adjusting the position of the seat is installed in the vehicle at present, and the passengers can adjust the level, the backrest, the height, the lateral direction, the leg support and other directions as required. However, since the inner space of the vehicle is irregular and not in a standard rectangular shape, the inner space of the vehicle is limited when the vehicle seat is adjusted in various directions, and the seat cannot be directly adjusted to the maximum adjustable position in the corresponding direction.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a seat control method, a seat control apparatus, a readable storage medium, and a vehicle, which can avoid interference with other components in the vehicle during the seat adjustment process, and improve the seat adjustment range, thereby improving the comfort of the seat.
In a first aspect, an embodiment of the present invention provides a seat control method, including:
responding to the received adjusting instruction, and acquiring the current pose of the seat in a preset seat position coordinate system and the position of any point on the interior trim panel close to the seat in the seat position coordinate system; the adjusting instruction is used for adjusting the position of a corresponding seat of the vehicle;
calculating the maximum safe backrest adjusting stroke of the seat according to the current pose and preset backrest adjusting parameters;
calculating the maximum safe lateral adjustment stroke of the seat according to the position of any point on the interior trim panel and preset lateral adjustment parameters of the seat;
and adjusting the seat to a target pose corresponding to the adjusting instruction according to the maximum safe backrest adjusting stroke and the maximum safe lateral adjusting stroke.
As an improvement of the above scheme, the calculating a maximum safe backrest adjustment stroke of the seat according to the current pose and preset backrest adjustment parameters includes:
acquiring the interference distance of a backrest corresponding to the seat in the current pose; the interference distance is the distance from the point where the backrest interferes with the automotive trim panel to the connecting edge of the backrest;
establishing a backrest objective function for any point outside the backrest of the seat according to the current pose, the interference distance and the backrest adjusting parameter, and solving the backrest objective function to obtain the maximum safe backrest adjusting stroke of the seat;
wherein the backrest adjustment parameters include: a backrest inclination angle constraint condition, an interference distance constraint condition, a seat fore-and-aft adjustment constraint condition and a seat lateral adjustment constraint condition.
As an improvement of the above scheme, the calculating a maximum safe lateral adjustment stroke of the seat according to a position of any point on the interior trim panel of the vehicle and a preset lateral adjustment parameter of the seat includes:
according to the position of any point on the interior trim panel and the lateral adjustment parameter of the seat, establishing an interior trim panel target function for any point on the interior trim panel close to the seat;
solving the objective function of the interior trim panel of the vehicle to obtain the maximum safe lateral adjustment stroke of the seat;
wherein the seat lateral adjustment parameters include: and the lateral position constraint condition and the longitudinal position constraint condition of any point on the automotive interior trim panel.
As a refinement of the above solution, the backrest adjustment parameters include: adjusting a stroke mapping relation by the backrest;
the calculating the maximum safe backrest adjusting stroke of the seat according to the current pose and preset backrest adjusting parameters comprises:
acquiring the current lateral adjustment position and the front-back adjustment position of the seat according to the current pose;
and determining the maximum safe backrest adjusting stroke corresponding to the current pose according to the current lateral adjusting position and the front and back adjusting position through the backrest adjusting stroke mapping relation.
As an improvement of the above, the seat lateral adjustment parameters include: laterally adjusting a stroke mapping relation;
according to the position of any point on the automotive interior trim panel and the preset lateral adjustment parameters of the seat, the maximum safe lateral adjustment stroke of the seat is calculated, and the method comprises the following steps:
and determining the maximum safe lateral adjustment travel corresponding to the current pose according to the current lateral adjustment position and the front and back adjustment positions through the lateral adjustment travel mapping relation.
As an improvement of the above solution, the adjusting the seat to the target pose corresponding to the adjustment instruction according to the maximum safe backrest adjustment stroke and the maximum safe lateral adjustment stroke includes:
judging whether the current backrest inclination angle reaches a preset maximum backrest adjusting stroke or not;
when the current backrest inclination angle does not reach the maximum backrest adjusting stroke, judging whether the current backrest inclination angle reaches the maximum safe backrest adjusting stroke;
if not, adjusting the inclination angle of the backrest of the seat;
if so, laterally adjusting the seat until a preset maximum lateral adjustment stroke or the maximum safe lateral adjustment stroke is reached, and adjusting the backrest inclination angle of the seat until the target pose is reached;
and when the current backrest inclination angle reaches the maximum backrest adjusting stroke, laterally adjusting the seat according to the maximum safe lateral adjusting stroke until the target pose is reached.
As an improvement of the above, said laterally adjusting said seat in accordance with said maximum safe lateral adjustment travel comprises:
judging whether the seat reaches the maximum lateral adjustment stroke;
ending adjustment when the seat reaches the maximum lateral adjustment travel;
when the seat does not reach the maximum lateral adjustment stroke, judging whether the seat reaches the maximum safe lateral adjustment stroke;
if yes, ending the adjustment;
if not, continuing to laterally adjust the seat until the maximum lateral adjustment stroke or the maximum safe lateral adjustment stroke is reached.
As an improvement of the above solution, the backrest objective function is:
wherein (X)1，Y1，Z1And θ) represents the current pose of the seat, (X)1，Y1，Z1) Representing a coordinate position of the seat in the vehicle seat coordinate system, theta representing a backrest inclination angle of the seat, C representing a distance from an origin of the seat position coordinate system to an intersection line of a backrest and a seat cushion of the seat, r representing the interference distance, and L representing a backrest outer side length; [0, L ]]Represents an interference distance constraint, [ C ]1，C2]Indicates the seat front-rear adjustment constraint, [ theta ]1，θ2]Representing backrest adjustment constraints, [ a, b ]]Indicating seat lateral adjustment constraints.
As an improvement of the above scheme, the objective function of the interior trim panel of the vehicle is as follows:
wherein (X)2，Y2，Z2) Represents the coordinate position of any point of the vehicle interior trim board close to the seat in the vehicle seat coordinate system, d, f and e respectively represent preset adjusting parameters, [ i, j]Represents a longitudinal position constraint condition of any point of the interior trim panel, [ k, m ]]And represents a lateral position constraint condition of any point of the vehicle interior trim panel.
In a second aspect, an embodiment of the present invention provides a seat control apparatus, including:
the pose acquisition module is used for responding to the received adjustment instruction, and acquiring the current pose of the seat in a preset seat position coordinate system and the position of any point on the interior trim panel close to the seat in the seat position coordinate system; the adjusting instruction is used for adjusting the position of a corresponding seat of the vehicle;
the backrest adjusting stroke calculating module is used for calculating the maximum safe backrest adjusting stroke of the seat according to the current pose and preset backrest adjusting parameters;
the lateral adjustment stroke calculation module is used for calculating the maximum safe lateral adjustment stroke of the seat according to the position of any point on the automotive trim panel and preset seat adjustment parameters;
and the pose adjusting module is used for adjusting the seat to a target pose corresponding to the adjusting instruction according to the maximum safe backrest adjusting stroke and the maximum safe lateral adjusting stroke.
In a third aspect, an embodiment of the present invention provides a vehicle including a plurality of seats and a seat control apparatus, wherein the seat control apparatus includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the seat control method according to any one of the first aspect when executing the computer program.
In a fourth aspect, the embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, an apparatus in which the computer-readable storage medium is located is controlled to execute the seat control method according to any one of the first embodiment.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the seat control method includes: responding to an adjusting instruction for adjusting the position of a corresponding seat of a vehicle, and acquiring the current pose of the seat in a preset seat position coordinate system and the position of any point on a vehicle interior trim panel close to the seat in the seat position coordinate system; calculating the maximum safe backrest adjusting stroke of the seat according to the current pose and preset backrest adjusting parameters; calculating the maximum safe lateral adjustment stroke of the seat according to the position of any point on the interior trim panel and preset lateral adjustment parameters of the seat; and adjusting the seat to a target pose corresponding to the adjusting instruction according to the maximum safe backrest adjusting stroke and the maximum safe lateral adjusting stroke. Through setting up the maximum safe back and adjusting stroke and the maximum safe side direction and adjusting the stroke, can make the seat obtain more spacious car inner space gradually at the in-process of adjusting, avoid because the car inner space is irregular to lead to the problem that the maximum control scope of seat can not obtain rational use to the demand is adjusted to the fully provided user's seat, provides more comfortable user and experiences by bus.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a seat control method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a seat position coordinate system provided by an embodiment of the present invention;
FIG. 3 is a flow chart of seat adjustment provided by an embodiment of the present invention;
FIG. 4 is a schematic flow chart of seat back adjustment provided by an embodiment of the present invention;
FIG. 5 is a schematic flow chart of a seat side adjustment provided by an embodiment of the present invention;
FIG. 6 is a schematic view of a seat control apparatus provided in accordance with a second embodiment of the present invention;
fig. 7 is a schematic diagram of a seat control apparatus provided in a third embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Please refer to fig. 1, which is a flowchart illustrating a seat control method according to a first embodiment of the present invention, the seat control method includes:
s1: responding to the received adjusting instruction, and acquiring the current pose of the seat in a preset seat position coordinate system and the position of any point on the interior trim panel close to the seat in the seat position coordinate system; the adjusting instruction is used for adjusting the position of a corresponding seat of the vehicle;
s2: calculating the maximum safe backrest adjusting stroke of the seat according to the current pose and preset backrest adjusting parameters;
s3: calculating the maximum safe lateral adjustment stroke of the seat according to the position of any point on the interior trim panel and preset lateral adjustment parameters of the seat;
s4: and adjusting the seat to a target pose corresponding to the adjusting instruction according to the maximum safe backrest adjusting stroke and the maximum safe lateral adjusting stroke.
For example, the adjustment instruction may be sent to the seat control device by a remote control device (e.g., a mechanical button, a touch screen, etc.) configured on the corresponding seat, and specifically, when the user adjusts the seat from the sitting posture to the lying posture or from the lying posture to the sitting posture according to the user's own needs, the adjustment instruction including the target posture of the seat is triggered by touching and pressing the corresponding button of the remote control device; or the adjustment instruction may be that an in-vehicle camera is sent to the seat control device, specifically, an in-vehicle camera captures a user image and identifies a human body posture according to the user image, and determines whether the posture of the seat taken by the user needs to be adjusted according to the human body posture, and if so, generates an adjustment instruction including a target posture; or a plurality of pressure sensors are arranged on a cushion and a backrest of the seat, whether the pose of the seat needs to be adjusted or not is judged according to the pressure data of each pressure sensor on the seat in the manned state, and if yes, an adjusting instruction comprising a target pose is triggered. Wherein different body pose/pressure data has a unique mapping relationship with different target poses of the seat. It should be noted that the seat control method according to the embodiment of the present invention is executed by a seat control device, and the seat control device may be a hardware controller with a data processing function configured independently for a seat, or an integrated functional module in a vehicle control unit VCU.
In the embodiment of the present invention, a seat position coordinate system is established in advance, for example, as shown in fig. 2, the seat position coordinate system is established with an arbitrary point in front of the interior trim panel of the vehicle as an origin, a front-back movement direction of the seat as an X axis, a lateral movement direction of the seat as a Y axis, and a longitudinal movement direction of the seat as a Z axis; at this time, the position of the middle point of the intersection line of the cushion and the backrest of the seat is taken as the position of the corresponding seat, the inclination angle theta of the backrest is the included angle between the backrest and the Z axis, and the posture of the seat can be understood as (X, Y, Z, theta). Then according to the current position of the seat, the position of any point on an interior trim panel close to the seat, a preset backrest adjusting parameter and a preset seat lateral adjusting parameter, calculating the maximum safe stroke of the seat under the condition of not interfering (rubbing) with the interior trim panel under the current position, wherein the maximum safe backrest adjusting stroke and the maximum safe lateral adjusting stroke are included, and based on the maximum safe backrest adjusting stroke and the maximum safe lateral adjusting stroke, the backrest inclination angle of the seat and the lateral position of the seat are adjusted in a linkage manner to adjust the seat to a target position, so that the whole seat position adjusting process is not interfered/limited by other parts in the vehicle, and compared with the problem that the adjusting range of the existing seat is small, the invention can adjust the seat to the maximum extent, and meet the stroke adjustment of the direction required by a user, thereby improve the comfort level of seat, improve the user and experience by bus.
In an optional embodiment, the calculating a maximum safe backrest adjustment stroke of the seat according to the current pose and preset backrest adjustment parameters includes:
acquiring the interference distance of a backrest corresponding to the seat in the current pose; the interference distance is the distance from the point where the backrest interferes with the automotive trim panel to the connecting edge of the backrest;
establishing a backrest objective function for any point outside the backrest of the seat according to the current pose, the interference distance and the backrest adjusting parameter, and solving the backrest objective function to obtain the maximum safe backrest adjusting stroke of the seat;
wherein the backrest adjustment parameters include: a backrest inclination angle constraint condition, an interference distance constraint condition, a seat fore-and-aft adjustment constraint condition and a seat lateral adjustment constraint condition.
Further, the backrest objective function is:
wherein (X)1，Y1，Z1And θ) represents the current pose of the seat, (X)1，Y1，Z1) Representing a coordinate position of the seat in the vehicle seat coordinate system, θ representing a backrest inclination angle of the seat, C representing a distance from an origin of the seat position coordinate system to a connecting edge of a backrest of the seat, r representing the interference distance, and L representing a backrest outside length; [0, L ]]Represents an interference distance constraint, [ C ]1，C2]Indicates the seat front-rear adjustment constraint, [ theta ]1，θ2]Representing backrest adjustment constraints, [ a, b ]]Indicating seat lateral adjustment constraints. It can be understood that the connecting edge of the seat back is the connecting edge of the seat back and the seat cushion.
Specifically, L, a, b, C1，C2，θ1，θ2Are all constant, [ C1，C2]Can be understood as the X-axis direction of the seatAdjustable range of [ theta ]1，θ2]Can be understood as the angular range over which the backrest can be rotated, [ a, b ]]Can be understood as the adjustable orientation of the seat in the Y-axis direction, [ C ]1，C2]、[a，b]、[θ1，θ2]Depending on the mechanical structure of the seat.
As shown in fig. 2, a backrest objective function is constructed based on the point of interference between the backrest and the interior trim panel of the vehicle, and the interference distance constraint condition, the seat front-back adjustment constraint condition, the backrest adjustment constraint condition and the seat lateral adjustment constraint condition are combined to solve, so that the maximum safe backrest adjustment stroke of the seat in the current pose can be obtained, and the backrest of the seat cannot generate friction with the interior trim panel of the vehicle when the backrest inclination angle is adjusted in the maximum safe backrest adjustment stroke.
In an optional embodiment, the calculating a maximum safe lateral adjustment stroke of the seat according to a position of any point on the interior trim panel and a preset lateral adjustment parameter of the seat includes:
according to the position of any point on the interior trim panel and the lateral adjustment parameter of the seat, establishing an interior trim panel target function for any point on the interior trim panel close to the seat;
solving the objective function of the interior trim panel of the vehicle to obtain the maximum safe lateral adjustment stroke of the seat;
wherein the seat lateral adjustment parameters include: and the lateral position constraint condition and the longitudinal position constraint condition of any point on the automotive interior trim panel.
Further, the objective function of the interior trim panel is as follows:
wherein (X)2，Y2，Z2) Represents the coordinate position of any point of the vehicle interior trim board close to the seat in the vehicle seat coordinate system, d, f and e respectively represent preset adjusting parameters, [ i, j]Any of the interior panels of the vehicleConstraint of longitudinal position of one point, [ k, m ]]And represents a lateral position constraint condition of any point of the vehicle interior trim panel.
d. f, e are preset constants. It can be understood that the surface of the interior trim panel may be regarded as a set of points, each point has a corresponding position in the seat position coordinate system, the longitudinal position constraint [ i, j ] may be obtained by taking the minimum value i and the maximum value j of the Z-axes of all the points, and the lateral position constraint [ k, m ] may be obtained by taking the minimum value k and the maximum value m of the Z-axes of all the points.
An automotive trim panel objective function is constructed based on any point on the automotive trim panel close to the seat, and solution is carried out by combining longitudinal position constraint conditions and lateral position constraint strips, so that the maximum safe lateral adjustment stroke of the seat in the current pose can be obtained, and the backrest of the seat cannot generate friction with the automotive trim panel when the seat is laterally adjusted in the maximum safe lateral adjustment stroke.
In an alternative embodiment, the backrest adjustment parameters include: adjusting a stroke mapping relation by the backrest;
the calculating the maximum safe backrest adjusting stroke of the seat according to the current pose and preset backrest adjusting parameters comprises:
acquiring the current lateral adjustment position and the front-back adjustment position of the seat according to the current pose;
and determining the maximum safe backrest adjusting stroke corresponding to the current pose according to the current lateral adjusting position and the front and back adjusting position through the backrest adjusting stroke mapping relation.
In an alternative embodiment, the seat lateral adjustment parameter comprises: laterally adjusting a stroke mapping relation;
according to the position of any point on the automotive interior trim panel and the preset lateral adjustment parameters of the seat, the maximum safe lateral adjustment stroke of the seat is calculated, and the method comprises the following steps:
and determining the maximum safe lateral adjustment travel corresponding to the current pose according to the current lateral adjustment position and the front and back adjustment positions through the lateral adjustment travel mapping relation.
In the embodiment of the invention, based on the maximum backrest adjusting stroke, the maximum lateral adjusting stroke and the maximum front-back adjusting stroke of the seat, the backrest adjustment, the lateral adjustment and the front-back adjustment of the seat are equally divided into N parts, then the lateral adjusting position is defined, the corresponding maximum safe backrest adjusting stroke is measured at each front-back adjusting position, and so on, so as to obtain the backrest adjusting stroke mapping relation of the corresponding maximum safe backrest adjusting stroke at each lateral adjusting position and front-back adjusting position, wherein the maximum backrest adjusting stroke, the maximum lateral adjusting stroke and the maximum rear-back adjusting stroke of the seat are determined by the mechanical structure of the seat. The backrest adjustment travel mapping may be found in the following table:
| maximum safe backrest adjusting stroke | Position of lateral adjustment | Position of fore-and-aft adjustment |
| z％ | [0，y％) | [0，x％) |
| z*1％ | [0，y％) | [x％，2x％) |
| ... | ... | ... |
| z*n％ | [0，y％) | [nx％，100％] |
Wherein x, y, z represent the position of backrest adjustment, lateral adjustment, fore-aft adjustment of the seat, respectively.
And the lateral adjustment stroke mapping relation is the same, the adjustment position of the backrest is limited, the corresponding maximum safe lateral adjustment stroke is measured at each front-back adjustment position, and the like, so that the lateral adjustment stroke mapping relation of the maximum safe lateral adjustment stroke corresponding to each back adjustment position and the front-back adjustment position is obtained.
As shown in the following table, a backrest adjustment stroke mapping relation and a lateral adjustment stroke mapping relation are given, in which the inclination angle of the backrest, the lateral adjustment of the seat, and the fore-and-aft adjustment are equally divided into 100 parts, and each part is 1%:
| maximum safe backrest adjusting stroke | Position of lateral adjustment | Position of fore-and-aft adjustment |
| z1％ | [0，1％) | [0，1％) |
| z2％ | [0，1％) | [1％，2％) |
| ... | ... | ... |
| z100％ | [0，1％) | [99％，100％] |
| Maximum safe lateral adjustment stroke | Position of lateral adjustment | Position of fore-and-aft adjustment |
| y1％ | [0，1％) | [0，1％) |
| y2％ | [0，1％) | [1％，2％) |
| ... | ... | ... |
| y100％ | [0，1％) | [99％，100％] |
Through a pre-established backrest adjusting stroke mapping relation/lateral adjusting stroke mapping relation, the maximum safe backrest adjusting stroke/maximum safe lateral adjusting stroke corresponding to the current pose of the seat can be inquired, so that the backrest of the seat cannot generate friction with an interior trim panel when the inclination angle of the backrest is adjusted/the seat is laterally adjusted in the maximum safe backrest adjusting stroke/the maximum safe lateral adjusting stroke.
In an alternative embodiment, as shown in fig. 3, the adjusting the seat to the target pose corresponding to the adjustment instruction according to the maximum safe backrest adjustment stroke and the maximum safe lateral adjustment stroke includes:
s11: judging whether the current backrest inclination angle reaches a preset maximum backrest adjusting stroke or not;
s12: when the current backrest inclination angle does not reach the maximum backrest adjusting stroke, judging whether the current backrest inclination angle reaches the maximum safe backrest adjusting stroke;
s13: if not, adjusting the inclination angle of the backrest of the seat;
s14: if so, laterally adjusting the seat until a preset maximum lateral adjustment stroke or the maximum safe lateral adjustment stroke is reached, and adjusting the backrest inclination angle of the seat until the target pose is reached;
s15: and when the current backrest inclination reaches the maximum backrest adjusting stroke, the backrest adjustment is quitted.
In the embodiment of the present invention, the process of laterally adjusting the seat in step S14 may refer to steps S21-S25, which are not described herein again.
In the embodiment of the invention, when the seat is required to be adjusted, the seat is adjusted based on the maximum safe back adjusting stroke corresponding to the current pose of the seat, then the seat is adjusted laterally after the maximum safe back adjusting stroke is reached, and the back is adjusted continuously based on the maximum safe back adjusting stroke corresponding to the current pose of the seat until the maximum back adjusting stroke is reached, so that the in-vehicle space can be avoided during the adjustment of the seat, the adjusting range of the seat can reach the maximum back adjusting stroke limited by a corresponding mechanical structure, and the adjusting range of the seat is utilized to the maximum extent.
It should be noted that the maximum lateral adjustment stroke is determined by the slide rail of the seat bottom, and the maximum backrest adjustment stroke is determined by the rotation mechanism between the backrest and the seat cushion of the seat, and can be calculated by actually measuring the corresponding start position and end position of the seat at the time of the whole lateral movement/backrest rotation, and will not be described in detail herein. The maximum safe backrest adjusting stroke is less than or equal to the maximum backrest adjusting stroke, and the maximum safe lateral adjusting stroke is less than or equal to the maximum lateral adjusting stroke.
Before the adjusting the backrest inclination angle of the seat, further comprising:
judging whether the backrest of the seat interferes with the automotive trim panel or not according to the currently calculated maximum safe backrest adjusting stroke;
if so, laterally adjusting the seat according to the maximum safe lateral adjustment stroke;
and if not, adjusting the inclination angle of the backrest of the seat.
In the embodiment of the invention, whether the backrest can be directly adjusted is determined according to the currently calculated maximum safe backrest adjusting stroke, if the maximum safe backrest adjusting stroke is larger than zero, the current seat is not interfered with an automotive trim panel, the backrest has a certain moving space, and at the moment, the backrest can be adjusted firstly; if the maximum safe backrest adjustment stroke is equal to zero, it indicates that the current seat interferes with the interior trim panel of the vehicle, and the backrest adjustment of the above steps S11-S16 is performed after the seat is moved laterally and the vehicle interior space is moved later.
In an alternative embodiment, said laterally adjusting said seat in accordance with said maximum safe lateral adjustment travel comprises:
s21: judging whether the seat reaches the maximum lateral adjustment stroke;
s22: ending adjustment when the seat reaches the maximum lateral adjustment travel;
s23: when the seat does not reach the maximum lateral adjustment stroke, judging whether the seat reaches the maximum safe lateral adjustment stroke;
s24: if yes, ending the adjustment;
s25: if not, continuing to laterally adjust the seat until the maximum lateral adjustment stroke or the maximum safe lateral adjustment stroke is reached.
In the embodiment of the invention, the seat can also independently execute the lateral adjusting process of the step S21-25, and the user can conveniently get off the vehicle by adjusting the seat to be close to the outer side of the vehicle door; because the car roof is a curved surface structure, will the seat is adjusted to the car inboard for the user can obtain good headroom, can conveniently communicate or take care of the passenger of adjacent seat with the passenger of adjacent seat simultaneously.
For convenience of understanding, the following description is briefly made on the posture adjustment of two scenes, namely, the adjustment of a certain seat in the two rows of the vehicle from the sitting posture to the lying posture and the adjustment of the lying posture to the sitting posture:
the lying posture is adjusted into a sitting posture: since the backrest of the seat is laid down, the seat is positioned on the inner side of the vehicle, the space in the vehicle at the current position is enough for the backrest of the seat to be adjusted, at the moment, the maximum safe backrest adjusting stroke is equal to the maximum backrest adjusting stroke, and the maximum safe lateral adjusting stroke is equal to the maximum lateral adjusting stroke; adjusting the backrest inclination angle of the seat to the maximum backrest adjustment stroke to stow the backrest according to the above-mentioned steps S11-S15; then, according to the above steps S21-S25, the seat is laterally adjusted to the maximum lateral adjustment stroke along one side of the corresponding door so as to be in a sitting position as approaching the door, so as to facilitate the user getting off and the user passing on the rear seat.
The sitting posture is adjusted to the lying posture: the seat in the sitting posture is generally positioned at one side close to the vehicle door, because the vehicle interior trim panel is of an uneven curved surface structure, the adjustment of the backrest of the seat is limited by the vehicle interior trim panel, the maximum safe backrest adjustment stroke calculated based on the current posture of the seat is smaller than the maximum backrest adjustment stroke, and the backrest inclination angle of the seat is adjusted to the maximum safe backrest adjustment stroke to meet the adjustment of the small backrest stroke according to the steps S11-S15; then, according to the above steps S21-S25, the seat is laterally adjusted to the maximum lateral adjustment stroke along the inner side of the corresponding vehicle door, so that the seat moves to the innermost side of the vehicle, the maximum safe backrest adjustment stroke corresponding to the seat at the moment is recalculated, and then the steps S11-S16 are repeatedly executed, so that the backrest of the seat is adjusted to the maximum backrest adjustment stroke to completely fall down, thereby facilitating the user to lie down for rest.
The control strategy for the backrest adjustment and the lateral adjustment of the seat in the above steps S11-15 and steps S21-S25 can be simplified as follows, as shown in fig. 4 and 5:
the backrest adjusting process comprises the following steps:
(1) after receiving a backward adjusting instruction of the backrest, judging whether the backrest of the seat reaches the maximum backrest adjusting stroke;
(2) if yes, the backrest adjustment is quitted; when the backrest adjustment is needed, the seat can be turned to the lateral adjustment of the seat, and the step (1) is turned after the lateral adjustment is finished;
(3) if not, judging whether the backrest of the seat reaches the maximum safe backrest adjusting stroke or not;
(4) if yes, adjusting the seat transversely towards the inner side of the vehicle, then adjusting the backrest of the seat backwards, and going to the step (1);
if not, directly adjusting the backrest of the seat backwards, and going to the step (1).
And (3) a lateral adjusting process:
(a) after receiving an adjusting instruction of lateral outward, judging whether the seat reaches the maximum lateral adjusting stroke;
(b) if so, exiting the lateral adjustment;
(c) if not, judging whether the backrest of the seat reaches the maximum safe lateral adjustment stroke or not;
(d) if so, exiting the lateral adjustment;
(e) if not, continuing to adjust the seat transversely and going to the step (a).
The seat and the backrest thereof are adjusted in opposite directions, and the change of different poses of the seat can be controlled in a linkage manner by adopting backrest adjustment and lateral adjustment according to needs.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the maximum safe backrest adjusting stroke and the maximum safe lateral adjusting stroke of the seat are calculated at different poses (which can be understood as the maximum adjustable range which does not interfere with an interior trim panel when the backrest is adjusted to the next position and the seat is laterally adjusted), so that the seat can gradually obtain wider space in the vehicle in the adjusting process, the sectional adjustment of the seat is realized, the problem that the maximum adjusting range of the seat cannot be reasonably used due to irregular space in the vehicle is avoided, the seat adjusting requirement of a user is fully met, and more comfortable riding experience of the user is provided; meanwhile, the automation of the adjustment of the seat in the vehicle can be improved.
Referring to fig. 6, a seat control device according to a second embodiment of the present invention includes:
the pose acquisition module 1 is used for responding to the received adjustment instruction, and acquiring the current pose of the seat in a preset seat position coordinate system and the position of any point on a vehicle interior trim panel close to the seat in the seat position coordinate system; the adjusting instruction is used for adjusting the position of a corresponding seat of the vehicle;
the backrest adjusting stroke calculating module 2 is used for calculating the maximum safe backrest adjusting stroke of the seat according to the current pose and preset backrest adjusting parameters;
the lateral adjustment stroke calculation module 3 is used for calculating the maximum safe lateral adjustment stroke of the seat according to the position of any point on the vehicle interior trim panel and preset seat adjustment parameters;
and the pose adjusting module 4 is used for adjusting the seat to the target pose corresponding to the adjusting instruction according to the maximum safe backrest adjusting stroke and the maximum safe lateral adjusting stroke.
In an alternative embodiment, the backrest adjustment stroke calculation module includes:
the distance acquisition unit is used for acquiring the interference distance of the backrest corresponding to the seat in the current pose; the interference distance is the distance from the point where the backrest interferes with the automotive trim panel to the connecting edge of the backrest;
the first function processing unit is used for establishing a backrest objective function for any point outside the backrest of the seat according to the current pose, the interference distance and the backrest adjusting parameter, and solving the backrest objective function to obtain the maximum safe backrest adjusting stroke of the seat;
wherein the backrest adjustment parameters include: a backrest inclination angle constraint condition, an interference distance constraint condition, a seat fore-and-aft adjustment constraint condition and a seat lateral adjustment constraint condition.
In an alternative embodiment, the lateral adjustment travel calculation module 3 comprises: a second function processing unit for
According to the position of any point on the interior trim panel and the lateral adjustment parameter of the seat, establishing an interior trim panel target function for any point on the interior trim panel close to the seat;
solving the objective function of the interior trim panel of the vehicle to obtain the maximum safe lateral adjustment stroke of the seat;
wherein the seat lateral adjustment parameters include: and the lateral position constraint condition and the longitudinal position constraint condition of any point on the automotive interior trim panel.
In an alternative embodiment, the backrest adjustment parameters include: adjusting a stroke mapping relation by the backrest;
the backrest adjustment stroke calculation module 2 includes:
the position acquisition unit is used for acquiring the current lateral adjustment position and the front-back adjustment position of the seat according to the current pose;
and the maximum safe backrest adjusting stroke calculating unit is used for determining the maximum safe backrest adjusting stroke corresponding to the current pose according to the current lateral adjusting position and the front and back adjusting position through the backrest adjusting stroke mapping relation.
In an alternative embodiment, the seat lateral adjustment parameter comprises: laterally adjusting a stroke mapping relation;
the lateral adjustment stroke calculation module 3 includes:
and the maximum safe lateral adjustment stroke is used for determining the maximum safe lateral adjustment stroke corresponding to the current pose according to the current lateral adjustment position and the front and back adjustment positions through the lateral adjustment stroke mapping relation.
In an alternative embodiment, the pose adjustment module 4 includes:
the first judgment unit is used for judging whether the current backrest inclination angle reaches the preset maximum backrest adjustment stroke or not;
the second judgment unit is used for judging whether the current backrest inclination angle reaches the maximum safe backrest adjustment stroke or not when the current backrest inclination angle does not reach the maximum backrest adjustment stroke;
the backrest adjusting unit is used for adjusting the inclination angle of the backrest of the seat if the backrest is not adjusted;
the lateral adjusting unit is used for adjusting the seat laterally until a preset maximum lateral adjusting stroke or the maximum safe lateral adjusting stroke is reached if the seat is in the target pose, and the backrest inclination angle of the seat is adjusted until the target pose is reached by the backrest adjusting unit;
and when the current backrest inclination reaches the maximum backrest adjusting stroke, the backrest adjustment is quitted.
In an alternative embodiment, the lateral adjustment unit is used for
Laterally adjusting the seat and judging whether the seat reaches the maximum lateral adjustment stroke;
ending adjustment when the seat reaches the maximum lateral adjustment travel;
when the seat does not reach the maximum lateral adjustment stroke, judging whether the seat reaches the maximum safe lateral adjustment stroke;
if yes, ending the adjustment;
if not, continuing to laterally adjust the seat until the maximum lateral adjustment stroke or the maximum safe lateral adjustment stroke is reached.
In an alternative embodiment, the backrest objective function is:
wherein (X)1，Y1，Z1And θ) represents the current pose of the seat, (X)1，Y1，Z1) Representing a coordinate position of the seat in the vehicle seat coordinate system, theta representing a backrest inclination angle of the seat, C representing a distance from an origin of the seat position coordinate system to an intersection line of a backrest and a seat cushion of the seat, r representing the interference distance, and L representing a backrest outer side length; [0, L ]]Represents an interference distance constraint, [ C ]1，C2]Indicates the seat front-rear adjustment constraint, [ theta ]1，θ2]Representing backrest adjustment constraints, [ a, b ]]Indicating seat lateral adjustment constraints.
In an alternative embodiment, the objective function of the interior trim panel is:
wherein (X)2，Y2，Z2) Represents the coordinate position of any point of the vehicle interior trim board close to the seat in the vehicle seat coordinate system, d, f and e respectively represent preset adjusting parameters, [ i, j]Represents a longitudinal position constraint condition of any point of the interior trim panel, [ k, m ]]And represents a lateral position constraint condition of any point of the vehicle interior trim panel.
It should be noted that the principle and technical effects of the seat control device according to the embodiment of the present invention are the same as those of the first embodiment, and are not described herein again.
A third embodiment of the invention provides a vehicle comprising a number of seats and a seat control device, wherein, as shown in fig. 7, the seat control device comprises at least one processor 11, such as a CPU, at least one network interface 14 or other user interface 13, a memory 15, at least one communication bus 12, the communication bus 12 being used to enable connection communication between these components. The user interface 13 may optionally include a USB interface, and other standard interfaces, wired interfaces. The network interface 14 may optionally include a Wi-Fi interface as well as other wireless interfaces. The memory 15 may comprise a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 15 may optionally comprise at least one memory device located remotely from the aforementioned processor 11.
In some embodiments, memory 15 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof:
an operating system 151, which contains various system programs for implementing various basic services and for processing hardware-based tasks;
and (5) a procedure 152.
Specifically, the processor 11 is configured to call the program 152 stored in the memory 15 to execute the seat control method according to the above embodiment, for example, step S1 shown in fig. 1. Alternatively, the processor, when executing the computer program, implements the functions of the modules/units in the above-described apparatus embodiments, such as the pose acquisition module.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the seat control apparatus.
The seat control device may be a computing device such as a VCU, ECU, BMS, etc. The seat control apparatus may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the schematic illustrations are merely examples of seat control devices and are not intended to be limiting and may include more or fewer components than those shown, or some components in combination, or different components.
The Processor 11 may be a Microprocessor (MCU) Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 11 is the control center of the seat control apparatus and connects the various parts of the entire seat control apparatus by various interfaces and lines.
The memory 15 may be used to store the computer programs and/or modules, and the processor 11 implements various functions of the seat control apparatus by running or executing the computer programs and/or modules stored in the memory and calling up data stored in the memory. The memory 15 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 15 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein the integrated module/unit of the seat control device may be stored in a computer readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
A fourth embodiment of the present invention provides a computer-readable storage medium, which is characterized by comprising a stored computer program, wherein when the computer program runs, the computer-readable storage medium is controlled by an apparatus to execute the seat control method according to any one of the first embodiment.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (12)
1. A seat control method, comprising:
responding to the received adjusting instruction, and acquiring the current pose of the seat in a preset seat position coordinate system and the position of any point on the interior trim panel close to the seat in the seat position coordinate system; the adjusting instruction is used for adjusting the position of a corresponding seat of the vehicle;
calculating the maximum safe backrest adjusting stroke of the seat according to the current pose and preset backrest adjusting parameters;
calculating the maximum safe lateral adjustment stroke of the seat according to the position of any point on the interior trim panel and preset lateral adjustment parameters of the seat;
and adjusting the seat to a target pose corresponding to the adjusting instruction according to the maximum safe backrest adjusting stroke and the maximum safe lateral adjusting stroke.
2. The seat control method of claim 1, wherein the calculating a maximum safe backrest adjustment travel of the seat according to the current pose and preset backrest adjustment parameters comprises:
acquiring the interference distance of a backrest corresponding to the seat in the current pose; the interference distance is the distance from the point where the backrest interferes with the automotive trim panel to the connecting edge of the backrest;
establishing a backrest objective function for any point outside the backrest of the seat according to the current pose, the interference distance and the backrest adjusting parameter, and solving the backrest objective function to obtain the maximum safe backrest adjusting stroke of the seat;
wherein the backrest adjustment parameters include: a backrest inclination angle constraint condition, an interference distance constraint condition, a seat fore-and-aft adjustment constraint condition and a seat lateral adjustment constraint condition.
3. The seat control method of claim 2, wherein the calculating the maximum safe lateral adjustment travel of the seat according to the position of any point on the interior trim panel and the preset lateral adjustment parameters of the seat comprises:
according to the position of any point on the interior trim panel and the lateral adjustment parameter of the seat, establishing an interior trim panel target function for any point on the interior trim panel close to the seat;
solving the objective function of the interior trim panel of the vehicle to obtain the maximum safe lateral adjustment stroke of the seat;
wherein the seat lateral adjustment parameters include: and the lateral position constraint condition and the longitudinal position constraint condition of any point on the automotive interior trim panel.
4. The seat control method of claim 1, wherein the back adjustment parameter comprises: adjusting a stroke mapping relation by the backrest;
the calculating the maximum safe backrest adjusting stroke of the seat according to the current pose and preset backrest adjusting parameters comprises:
acquiring the current lateral adjustment position and the front-back adjustment position of the seat according to the current pose;
and determining the maximum safe backrest adjusting stroke corresponding to the current pose according to the current lateral adjusting position and the front and back adjusting position through the backrest adjusting stroke mapping relation.
5. The seat control method of claim 4, wherein the seat lateral adjustment parameter comprises: laterally adjusting a stroke mapping relation;
according to the position of any point on the automotive interior trim panel and the preset lateral adjustment parameters of the seat, the maximum safe lateral adjustment stroke of the seat is calculated, and the method comprises the following steps:
and determining the maximum safe lateral adjustment travel corresponding to the current pose according to the current lateral adjustment position and the front and back adjustment positions through the lateral adjustment travel mapping relation.
6. The seat control method of claim 1, wherein the adjusting the seat to the target pose corresponding to the adjustment instruction according to the maximum safe backrest adjustment stroke and the maximum safe lateral adjustment stroke comprises:
judging whether the current backrest inclination angle reaches a preset maximum backrest adjusting stroke or not;
when the current backrest inclination angle does not reach the maximum backrest adjusting stroke, judging whether the current backrest inclination angle reaches the maximum safe backrest adjusting stroke;
if not, adjusting the inclination angle of the backrest of the seat;
if so, laterally adjusting the seat until a preset maximum lateral adjustment stroke or the maximum safe lateral adjustment stroke is reached, and adjusting the backrest inclination angle of the seat until the target pose is reached;
and when the current backrest inclination reaches the maximum backrest adjusting stroke, the backrest adjustment is quitted.
7. The seat control method of claim 6, wherein said laterally adjusting the seat based on the maximum safe lateral adjustment travel comprises:
judging whether the seat reaches the maximum lateral adjustment stroke;
ending adjustment when the seat reaches the maximum lateral adjustment travel;
when the seat does not reach the maximum lateral adjustment stroke, judging whether the seat reaches the maximum safe lateral adjustment stroke;
if yes, ending the adjustment;
if not, continuing to laterally adjust the seat until the maximum lateral adjustment stroke or the maximum safe lateral adjustment stroke is reached.
8. The seat control method of claim 2, wherein the backrest objective function is:
wherein (X)1，Y1，Z1And θ) represents the current pose of the seat, (X)1，Y1，Z1) Representing a coordinate position of the seat in the vehicle seat coordinate system, theta representing a backrest inclination angle of the seat, C representing a distance from an origin of the seat position coordinate system to an intersection line of a backrest and a seat cushion of the seat, r representing the interference distance, and L representing a backrest outer side length; [0, L ]]Represents an interference distance constraint, [ C ]1，C2]Indicates the seat front-rear adjustment constraint, [ theta ]1，θ2]Representing backrest adjustment constraints, [ a, b ]]Indicating seat lateral adjustment constraints.
9. The seat control method of claim 3, wherein the vehicle interior panel objective function is:
wherein (X)2，Y2，Z2) Represents the coordinate position of any point of the vehicle interior trim board close to the seat in the vehicle seat coordinate system, d, f and e respectively represent preset adjusting parameters, [ i, j]Represents a longitudinal position constraint condition of any point of the interior trim panel, [ k, m ]]And represents a lateral position constraint condition of any point of the vehicle interior trim panel.
10. A seat control apparatus, comprising:
the pose acquisition module is used for responding to the received adjustment instruction, and acquiring the current pose of the seat in a preset seat position coordinate system and the position of any point on the interior trim panel close to the seat in the seat position coordinate system; the adjusting instruction is used for adjusting the position of a corresponding seat of the vehicle;
the backrest adjusting stroke calculating module is used for calculating the maximum safe backrest adjusting stroke of the seat according to the current pose and preset backrest adjusting parameters;
the lateral adjustment stroke calculation module is used for calculating the maximum safe lateral adjustment stroke of the seat according to the position of any point on the automotive trim panel and preset seat adjustment parameters;
and the pose adjusting module is used for adjusting the seat to a target pose corresponding to the adjusting instruction according to the maximum safe backrest adjusting stroke and the maximum safe lateral adjusting stroke.
11. A vehicle comprising a number of seats and a seat control device, wherein the seat control device comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor when executing the computer program implementing the seat control method of any one of claims 1-9.
12. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the seat control method according to any one of claims 1 to 9.
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| CN115257476A (en) * | 2022-08-25 | 2022-11-01 | 博泰车联网(南京)有限公司 | Method for adjusting vehicle seat, vehicle, and storage medium |
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