CN113602222B - Eye ellipse-based method for determining optimal sitting posture of shared automobile intelligent seat - Google Patents
Eye ellipse-based method for determining optimal sitting posture of shared automobile intelligent seat Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
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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
- B60N2/02246—Electric motors therefor
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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
- B60N2/0268—Non-manual adjustments, e.g. with electrical operation with logic circuits using sensors or detectors for adapting the seat or seat part, e.g. to the position of an occupant
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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
- B60N2/04—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable
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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
- B60N2/04—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable
- B60N2/10—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable tiltable
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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
- B60N2/04—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable
- B60N2/16—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable height-adjustable
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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
- B60N2/22—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the back-rest being adjustable
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Abstract
The application discloses an eye ellipse-based method for determining the optimal sitting posture of a shared intelligent automobile seat, which comprises the following steps: step one, detecting the body size of a driver when the driver gets on the vehicle by using a camera; step two, judging whether a driver enters a vehicle or not; generating various driver sitting posture arrangement schemes according to the arrangement size of the cab and the height of the driver; step four, carrying out safety check on the generated multiple sitting arrangement schemes of the drivers; fifthly, grading the sitting postures conforming to the safety check according to a unified evaluation standard, and selecting the sitting postures with the highest grading as the optimal sitting postures; step six, the singlechip invokes the optimal sitting posture, and controls the stepping motor driving circuit to adjust the driver seat to the corresponding position of the optimal sitting posture; step seven, judging whether the automobile seat enters a manual adjustment state or not by detecting whether the manual adjustment button is triggered or not; and step eight, finishing the driving state, enabling the seat to enter a reset state, and automatically moving to the rearmost position of the front-back adjustable stroke.
Description
Technical Field
The application relates to the technical field of automobile ergonomics, in particular to an eye ellipse-based driver optimal sitting posture determining method applied to a shared automobile intelligent seat adjusting system.
Background
In the driving process, the joint angle and the sitting posture of the driver are not only related to the driving and riding comfort, but also good driving sitting posture can ensure that the driver has good visual field and steering convenience, thereby ensuring driving safety. Currently, the general standards related to the sitting position determination of the driver are SAE J1517-2011, SAE J941-2008 and ISO 4513, and the like, and the driver seat position and the eye point position can be respectively predicted through experimental study on eye ellipses, H points and other arrangement tools.
The comfort and fatigue of driving are related to the driving sitting position determined by the angles of the joints of the human body selected in the design. According to the statistical analysis of traffic accidents, 80% -90% of traffic accidents are caused by human factors, and in China, about 48% of traffic accidents are caused by fatigue driving of drivers. Because the comfortable driving posture of the driver is changed along with the change of the vehicle type, a large number of driving postures of the driver are unreasonable, the possibility of traffic accidents is doubled, and long-term physical health of vehicle drivers and passengers is influenced.
Eye ellipses are one of the important tools for driver vision arrangement, which arrangement is affected by various factors such as driver human body parameters, car seat arrangement, and the like. The eye ellipse obtained through early experiment statistics has larger discrete degree in the height direction and narrower application range, and the SAE J941 standard calculation method can be suitable for driver groups in more countries and regions after being updated from 2010, and more influencing factors are also considered in the positioning of the eye ellipse center. At present, a device capable of accurately positioning the eye ellipses according to the hard spot size of a vehicle model exists, and meanwhile, the device has the characteristics of simplicity in operation and high reliability.
With the proposal of automobile sharing, the market of domestic shared automobiles is gradually expanded, so that the travel efficiency of people can be greatly improved, and the long-term trouble of pollution and congestion can be solved. However, the driver groups facing the shared automobile are various, the body sizes and driving habits of different drivers are quite different, and the problems of comfort and safety in driving caused by the fact that the driving sitting posture is not standard due to non-adjustment or unintentional adjustment of part of drivers exist, even if part of standard drivers can adjust the seats according to the comfortable sitting postures of the drivers, because the shared automobile users are numerous, the problem of time and labor waste for adjusting the seats and the rearview mirrors is caused before driving each time, and the problems of time and labor waste are caused, so that the time and the economical efficiency and the convenience in use are reduced. Currently, for the use aspect of shared automobiles, there are some patents on a determination method of driving sitting postures and an eye ellipse positioning method, such as:
1. chinese patent 'cloud-based intelligent driving sitting posture prediction system' (patent number: CN 202011271504.9)
The scheme provides an intelligent driving sitting posture prediction system capable of automatically adjusting adjustable parts such as a car seat, a steering column, an inside rearview mirror and the like to an optimal position according to the human body size, a car end system communicates with a cloud system through a car networking terminal, the human body characteristic size is uploaded, and the cloud system returns predicted sitting posture parameters of a driver to a sitting posture adjustment actuator. However, the technical scheme depends on the communication between the vehicle end and the cloud end, so that the use environment of the shared vehicle is unpredictable, the communication quality and the information safety of a driver are difficult to ensure, the engineering implementation is complex, and the cost is high.
2. Chinese patent (patent number: CN 201710750928.5) intelligent adjusting system and adjusting method for automobile seat
The scheme provides an intelligent automobile seat adjusting system and an intelligent automobile seat adjusting method, the position of a seat is intelligently adjusted by utilizing an APP, the adjustment of the front and back directions, the height directions and the left and right directions of a seat cushion can be realized, a cushion thickness sensor, a backrest thickness sensor and a headrest height sensor are further arranged in the seat, and the connection between the seat and an intelligent terminal is established through a two-dimensional code attached to the seat so as to realize the gradual adjustment of seat parameters. However, the seat adjusting result is determined by the driver, partial phenomenon of nonstandard sitting postures of the driver exists, the operation steps are complex and time-consuming, the difference between the seat adjusting result and the traditional electric adjusting seat is small, and the intelligent degree is low.
Disclosure of Invention
Aiming at the situation, the application provides an eye ellipse-based intelligent seat optimal sitting posture determining method for a shared automobile, which aims to increase fatigue speed of a driver and increase probability of accident occurrence by taking into consideration that the body size of the driver of the shared automobile is large in difference, and the method is used for carrying out different posture arrangement on different types of drivers according to ergonomics, comprehensively considering factors such as convenience in use, safety, cost and the like in design, and finally provides an eye ellipse-based intelligent seat optimal sitting posture determining method for the shared automobile, so that the correctness of the driving sitting posture of the driver of the shared automobile is ensured.
The application marks the position of the driver's eye ellipse position in the cab through experiments, and the driver sitting position arrangement is carried out by taking the eye ellipse position as a starting point, and the application is realized through the following technical scheme:
step one, hard spot size data of a corresponding vehicle model are known, eye ellipse position data are measured through experiments, and a human body size sensing module detects the body size of a driver when the driver gets on the vehicle.
And step two, judging whether a driver intends to drive the vehicle according to whether the door is opened or closed, whether the safety belt is combined and the detection value of the cushion pressure sensor.
Selecting eye ellipses corresponding to the percentile according to the percentile of the driver, and selecting eye points which are uniformly distributed in the ellipses corresponding to the percentile of the driver; and simultaneously, selecting a series of points on the H-point travel curve corresponding to the percentile, and determining a series of possible comfortable sitting postures of the driver by combining the eyepoint and the heel point.
And step four, checking whether the distance from the abdomen to the lower edge of the steering wheel and the knee space of a series of possible comfortable sitting postures of the driver meet the safety requirements.
And fifthly, scoring a series of possible comfortable sitting postures determined in the step according to a unified driving sitting posture comfort evaluation standard, and selecting the sitting posture with the highest score as the optimal sitting posture.
Step six, entering a sitting posture adjusting mode, transmitting an optimal sitting posture feeding quantity signal to a stepping motor driving circuit through a singlechip, and controlling the stepping motor to adjust the front and back, the height, the backrest angle and the cushion angle of the seat by the stepping motor driving circuit.
And step seven, judging whether the manual adjusting button is triggered, if so, enabling the seat to enter a manual adjusting state, and otherwise, enabling the seat to enter a driving state.
And step eight, detecting the driving state of the vehicle, if the driving state of the vehicle is finished, enabling the seat to enter a reset state according to a written program, automatically recovering to the rearmost position of the front-back adjustable stroke, and finishing the program.
Compared with the prior art, the eye ellipse-based method for determining the optimal sitting posture of the shared automobile intelligent seat has the beneficial effects that:
1. the method for determining the optimal sitting posture of the shared automobile intelligent seat based on the eye ellipses can cover the driver groups with different sizes facing the shared automobile, and meanwhile, the optimal eye point positions of different drivers can be determined by adopting a method for uniformly selecting the eye points in the whole eye ellipses, so that a good visual field is provided for driving, the fatigue speed of the drivers can be greatly reduced by the good driving sitting posture, and the driving safety is improved.
2. According to the eye ellipse-based shared intelligent automobile seat optimal sitting posture determining method, after the sitting posture of the driver is arranged, the checking work of the view field of the inside and outside rearview mirrors and the forward view field can be omitted, the driver does not need to adjust the inside and outside rearview mirrors and the seat after riding, and the driving preparation time of the driver is saved.
3. The eye ellipse-based shared automobile intelligent seat optimal sitting posture determining method can be suitable for various shared automobile types, and can independently complete the arrangement of optimal driving postures at the automobile end independently by means of a driving computer, so that the device has lower production cost and maintenance cost, has service life longer than that of an automobile, is not limited to shared automobiles, and can be suitable for sitting postures arrangement of drivers in other transportation industries.
4. The eye ellipse-based shared intelligent automobile seat optimal sitting position determining method has good independence and compatibility, can be installed in place together during production of automobile manufacturers, can be installed in a later period, is not influenced by other parts on the automobile basically, can be suitable for most automobile systems, and is convenient for large-area popularization.
Drawings
Fig. 1 is a position installation diagram of a human body size recognition camera 1, a human body size recognition camera 2, an intelligent seat 3 and an electronic control module 4 of the intelligent seat in an intelligent seat adjusting system applied to the eye ellipse-based shared automobile intelligent seat optimal sitting posture determining method.
Fig. 2 is a block diagram of an electric control part in an intelligent seat adjusting system applied to the eye ellipse-based shared automobile intelligent seat optimal sitting position determining method.
Fig. 3 is a circuit diagram of an embodiment of an electric control part in a smart seat adjusting system to which the eye ellipse-based shared automobile smart seat optimal sitting posture determining method of the present application is applied.
Fig. 4 is a flow chart of an optimal sitting posture calculation procedure of the shared automobile intelligent seat optimal sitting posture determining method based on eye ellipses.
Fig. 5 is a flow chart of a human body dimension sensing procedure of the eye ellipse-based shared intelligent car seat optimal sitting posture determining method according to the application.
Fig. 6 is a graph of H-point selection position distribution used in the method for determining the optimal sitting posture of the shared car intelligent seat based on the eye ellipse according to the present application.
Fig. 7 is an analysis chart of a seat adjusting method used in the method for determining the optimal sitting posture of the shared automobile intelligent seat based on the eye ellipse.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings, and the following embodiments are only used for more clearly illustrating the technical aspects of the present application, and thus are only examples.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.
The intelligent seat adjusting system based on the eye ellipse-based shared automobile intelligent seat optimal sitting posture determining method mainly comprises a hardware part including an intelligent seat and software comprising the method, and as shown in fig. 1 and 2, the hardware part mainly comprises an electronic control module and the intelligent seat. The method specifically comprises the following steps: the electric control module is composed of a sensing unit, an electric control unit and a 12V vehicle-mounted power supply, wherein the sensing unit comprises a human body size image acquisition device and a cushion pressure sensor, and the specific steps are as follows:
1. human body size image acquisition device
As shown in fig. 1, the human body size image acquisition device of the present application includes: a first human body size recognition camera 1 and a second human body size recognition camera 2; the human body size recognition camera 1 is a vehicle-mounted wide-angle camera arranged below a rearview mirror at the side of a vehicle cab; the human body size recognition camera II 2 is a vehicle-mounted wide-angle camera arranged in front of the rearview mirror in the vehicle. The two cameras are used for ensuring that the human body size characteristics of a driver can be effectively and accurately identified when the driver approaches the vehicle from different directions.
When the automobile is flameout, the first human body size recognition camera 1 and the second human body size recognition camera 2 are in a dormant power saving state, and when a driver approaches the automobile from different directions while carrying the intelligent sensing key, the two cameras end the dormant state, take a picture of the driver in the process of getting on the automobile, acquire the human body image of the driver and transmit the human body image to the electronic control unit.
2. Cushion pressure sensor
As shown in fig. 1, the cushion pressure sensor 5 according to the present application is disposed on the driver intelligent seat cushion frame for detecting driver seat cushion pressure information and transmitting to the electronic control unit.
3. Electric control unit
As shown in fig. 1, the electronic control unit 4 is mounted on a back skeleton of the smart seat, and includes: the device comprises a signal processing module, a singlechip, a stepping motor driving circuit, a loudspeaker and a power module;
the signal processing module is used for processing image data of the images shot by the first human body size recognition camera 1 and the second human body size recognition camera 2, processing signals of pressure information uploaded by the cushion pressure sensor and transmitting the processed pressure information to the singlechip;
the singlechip is stored with the eye ellipse-based shared intelligent automobile seat optimal sitting posture determining method software;
the loudspeaker is used for providing voice prompt information of the intelligent seat adjusting state for the driver;
the stepping motor driving circuit is used for amplifying the output signal of the singlechip to drive the intelligent seat adjusting motor;
and the power supply module is used for providing electric energy for all electronic components of the electric control unit.
4. Intelligent chair
As shown in fig. 1, the intelligent seat 3 includes a seat body, a manual adjustment button, four stepping drive motors. The manual adjusting button is arranged at the side of the seat and used for providing a switch for a driver to manually control the front and back, up and down, cushion inclination angle and backrest inclination angle movement of the seat body; the four stepping driving motors, namely the front-back adjusting motor, the height adjusting motor, the cushion adjusting motor and the backrest adjusting motor, are arranged on the framework below the seat, and have the adjusting function of implementing four degrees of freedom of movement of the seat body, namely the front-back, up-down, cushion inclination angle and backrest inclination angle.
As shown in fig. 2, as an embodiment, the wiring manner of the hardware part of the intelligent seat adjusting system based on the eye ellipse-based shared automobile intelligent seat optimal sitting posture determining method according to the application is as follows:
the 12V vehicle-mounted power supply is connected with four stepping driving motors of the cushion pressure sensor 5, the first human body size recognition camera 1, the second human body size recognition camera 2, the electric control unit 4 and the intelligent seat 3 through wires respectively. The electric control unit mainly comprises a signal processing module, a power module, a singlechip and a stepping motor driving circuit. The human body size recognition cameras 1 and 2 and the cushion pressure sensor 5 are connected with the electric control unit signal processing module through signal wires, detection signals are sent to the singlechip after necessary filtering and other signal processing, the singlechip judges whether a driver enters the automobile according to built-in control software, if the driver enters the automobile, the stepping motor driving circuit of the electric control unit is connected through an I/O port wire after the cushion sensor pressure is stable, the stepping motor driving signals are amplified through the stepping motor driving circuit, and the power-on time and the steering of the four stepping driving motors are controlled through wire connection. The power supply module of the electric control unit is used for transforming voltage to generate various voltage signals for use by the signal processing module, the singlechip, the stepping motor driving circuit and the like in the electric control unit. The manual adjusting button is used for manually adjusting the position of the seat, is connected with the stepping motor driving circuit of the electric control unit through a wire, and directly controls the power-on time and the steering of the four stepping driving motors through the artificial switch. The loudspeaker is connected with the singlechip through a wire and used for broadcasting voice information for prompting a driver.
As shown in fig. 3, as a preferred embodiment, an electronic control unit of a hardware part of an intelligent seat adjusting system based on which the eye ellipse-based shared automobile intelligent seat optimal sitting posture determining method of the present application is based includes PIC16F877A and a stepping motor driving circuit, and the specific connection relationship is as follows:
(1) Wiring connection of size camera and pressure sensor with PIC16F877A single chip microcomputer
The VDD interfaces of the size camera and the pressure sensor are connected with a 12V vehicle-mounted power supply, and the GND interfaces are grounded. The OUT interface of the size camera is a signal output interface, is connected with the RA0 interface of the single-chip microcomputer PIC16F877A, and the OUT interface of the pressure sensor is a signal output interface and is connected with the RA1 interface of the single-chip microcomputer PIC16F 877A. The VDD interface of the single-chip microcomputer PIC16F877A is connected with the 5V power supply module, and the VSS interface of the single-chip microcomputer PIC16F877A is grounded.
(2) Wiring connection of PIC16F877A single chip microcomputer and stepping motor driving circuit
The application selects a stepping motor driving circuit of model ULN 2003. The interfaces of the singlechip RC0, RC1, RC2 and RC3 are respectively connected with the IN1 and IN2 interfaces of the 2 stepping motor driving circuits, and the OUT1 and OUT2 interfaces of the 2 stepping motor driving circuits respectively control the work of the 4 stepping motors. The VDD interface of the stepping motor driving circuit is connected with the 5V power supply module, and the GND interface of the stepping motor driving circuit is grounded.
The application relates to an eye ellipse-based shared intelligent automobile seat optimal sitting posture determining method, which specifically comprises an optimal sitting posture calculating program and a human body size sensing program.
A flowchart of the optimal sitting posture calculation procedure is shown in fig. 4. The singlechip of the electric control unit is stored with eye ellipse positioning size, vehicle model hard spot size, latest human body size data and the like which are calibrated in advance by experiments, and is used for arranging the optimal sitting posture of a driver. The execution steps of the optimal sitting posture calculation program are as follows:
step one, invoking a human body size sensing program to acquire the body size of the driver detected in the boarding process of the driver.
Step two, detecting whether the vehicle door is opened and closed and whether the safety belt is engaged or not successively, and judging whether the detection value P of the cushion pressure sensor is larger than the calibration pressure P or not simultaneously 0 (the cushion pressure of a specific driver when the driver is normally seated can be modified according to different working conditions), if not, the driver is not ridden, and the human body size sensing program is continuously called in the last step; if so, indicating that the driver takes the bus, and selecting the optimal sitting posture in the next step.
And thirdly, selecting the optimal sitting posture by the electric control unit according to a control program which is stored in the singlechip and is written in advance. And selecting eye ellipses corresponding to the percentile according to the percentile of the driver, and selecting n eye points which are uniformly distributed in the selected ellipses in space. Meanwhile, selecting an H-point travel curve corresponding to the percentile, taking a heel point and a selected eye point as fixed point parameters as shown in a calculation formula (15), adjusting the position of the H point on the travel of the H point, selecting m points on the travel of the H point, determining m comfortable sitting postures corresponding to each eye point according to the parameters as shown in fig. 6, and generating n multiplied by m sitting postures in total.
And fourthly, radar detection devices are arranged in the front decorative plate of the automobile cab and at the bottommost position of the steering wheel. Checking the abdomen space of the driver, if the distance D between the abdomen of the driver and the lower edge of the steering wheel is detected 1 <d 1 (abdomen calibration safety distance, according to the vehicle type), returning to the previous step, if D 1 >d 1 Indicating reasonable pose arrangement. Judging whether the knee space of the driver in the sitting posture meets the safety requirement, if the distance D between the knee of the driver and the front decorative plate of the cab is detected 2 <d 2 (knee calibrated safety distance, according to the vehicle type), returning to the previous step, if D 2 >d 2 Indicating reasonable posture arrangement, and executing the next sitting posture evaluation. Meanwhile, the driver sitting posture arrangement scheme which does not pass the safety check is omitted from the n×m sitting postures.
And fifthly, according to the unified driving sitting posture comfort evaluation standard, performing sitting posture comfort evaluation on the sitting postures passing through safety check in the n multiplied by m sitting postures, and selecting the sitting posture with the highest score as the optimal sitting posture.
Step six, the singlechip transmits the optimal sitting posture feeding quantity signal to a stepping motor driving circuit, and the stepping motor driving circuit controls the stepping motor to adjust the front and back, left and right, height, backrest and cushion of the seat. The seat H point is overlapped with the optimal sitting posture H point through motor control, the seat cushion plane is parallel to the thigh line of a driver, the seat back curve is parallel to the trunk line of the driver, and the driver is prompted to enter a normal driving posture state through loudspeaker voice.
As shown in fig. 7, the seat cushion angle θ 1 ：
Inclination angle theta of seat back 2 ：
Wherein:
(x 0 ,y 0 ) The point is the projection coordinate of the heel point in the longitudinal symmetry plane of the automobile, (x) 1 ,y 1 ) The point is the projection coordinate of the H point of the driver in the longitudinal symmetrical plane of the automobile, (x) 2 ,y 2 ) The point is the projection coordinate of the neck reference point of the driver in the longitudinal symmetrical plane of the automobile, (x) 3 ,y 3 ) The point is the projection coordinate of the driver's eye point in the longitudinal symmetry plane of the automobile, a is the length of the driver's thigh, and b is the length of the driver's calf.
Step seven, judging whether a manual adjusting button is triggered, if yes, enabling the seat to enter a manual adjusting state, manually setting a driving sitting posture through voice prompt of a loudspeaker, and when the belly and knee reserved space is smaller than a calibrated safe distance, sending out alarm prompt sounds of 'dripping' by a radar detection device arranged in a front decorative plate of a cab and at the lower edge of a steering wheel to assist a driver to manually finish sitting posture arrangement. Otherwise, the seat is considered to enter the driving state, and the next step is performed.
Step eight, judging whether the engine is flameout, whether the safety belt buckle is disconnected or not, and the pressure P of the cushion pressure sensor<P 0 If yes, the driving state is indicated to be ended, the seat enters a reset state according to a written program, the seat automatically returns to the final position of the front-back adjustable stroke, and if not, the program is returned to the previous step.
Fig. 5 is a flowchart of the human body dimension sensing program. The eye ellipse-based shared intelligent automobile seat optimal sitting posture determining method is characterized in that a written human body size sensing program is stored in a driving computer before application, and the body size of a driver is obtained by processing data transmitted by a camera. The human body size sensing program is executed as follows:
step one, the vehicle detects radio waves emitted by the intelligent key through a wireless receiver, and whether a driver approaches the vehicle is detected. If the vehicle door is received, the camera 1 and the camera 2 are started, and 30 frames of images of the driver in the process of approaching the vehicle to opening the vehicle door are shot.
Step two, detecting whether a driver opens a vehicle door, if so, performing data processing on 30 frames of images shot by a camera to obtain body size data of each part of the driver; if not, returning to the first step, and continuing to detect the approach signal of the driver by the vehicle.
And step three, transmitting the obtained driver size information obtained by the data processing to a singlechip, and preparing data for the subsequent optimal sitting posture selection work.
And step four, the cameras 1 and 2 reenter the dormant state.
As a preferable mode, the eye ellipse positioning size calibrated by experiments in the method for determining the optimal sitting posture of the shared automobile intelligent seat based on the eye ellipse can be realized by adopting the following method:
and (3) carrying out experimental calibration on each vehicle model before the vehicle model is put into use, determining the position of the eye ellipse, and taking the positioning size of the eye ellipse as the known data of the vehicle model.
1. Data acquisition
1.1 Experimental sample
The experiment adopts the latest Chinese human body database, adopts a statistical method, and selects 500 samples, wherein 258 men and 242 women; the height is distributed between 148cm and 181cm, the average height is 162.4cm, and the height accords with normal distribution; the weight distribution is between 40kg and 92kg, and the average weight is 65.7kg; the age distribution is between 17 and 70 years, with an average age of 43.5 years.
1.2 experiment sample vehicle
The selected sample vehicle is a shared automobile model.
1.3 Experimental facility
The test scans the sample vehicle and the tested vehicle under the whole vehicle coordinate system to obtain point cloud data, and the test uses a mode of combining two scanning devices to scan in order to ensure higher point cloud quality. The shape trauma HandySCAN700 is used for scanning the whole structure of the sample car, and the precision is 0.002mm. GOSCAN is used for scanning the riding posture of a human body and the interior and exterior decoration of a vehicle, and the precision is 0.1mm.
1.4 Experimental methods
1) And (5) information statistics. And (5) counting the basic information such as gender, age, height, weight and the like of the tested person.
2) Preparation before scanning. Introducing a data acquisition flow and notes to a tested person, requiring the tested person to wear white tights, white or grey dark-colored shoes (or putting on white shoe covers and suggesting to wear sports shoes), wearing white swimming caps (hair cannot be exposed), and not wearing jewelry on the tested person; and sticking mark points including shoulder points, knees, elbows, etc. on the key feature points to be tested.
3) And (5) eye point data scanning. The sample is sat in the main driving position of the vehicle, adjusts seat, steering wheel to comfortable position, wears the safety belt, and both hands hold the steering wheel, and left foot is placed in the footrest, and right foot is placed in accelerator pedal (do not step on the accelerator with effort), and the place ahead is looked by eye, simulation normal driving state. Scanning the sample riding gesture requires that each characteristic scan is complete, especially the face and the head.
1.5 eyepoint data preprocessing
The extraction method comprises the following steps: (1) Fitting an eye point cloud, and taking the left and right, upper and lower widest positions as cross lines as auxiliary references; (2) The left eye distance and the right eye distance of the same person in different vehicles are kept consistent, and the error is within +/-1 mm; (3) If the quality of one side of the eye point cloud is poor, the better side is referred to, and the rule of the 2 nd is ensured.
2. Data processing
The presence of outliers can seriously affect the accuracy of the analysis results. In the actual scanning process, the scanned sample has the defects of point cloud, dislocation and the like, and partial sample has abnormal driving posture, such as larger deviation between the center line of a human body and the Y direction of the center point of a steering wheel, head backward tilting and the like. And screening the collected data, and removing incomplete data and abnormal data.
For a certain driver population, when sitting in a suitable driving position, the eye positions thereof should be normally distributed in all directions of the automobile coordinate system 3.
2.1 construction of an oval eye model
The eye ellipse is formed by determining the axial length, angle and center point position, and the eye ellipse shapes and positions of different groups of people are different, and the method for establishing the eye ellipse model when the ratio of men to women is 50/50 is deduced. For convenience in engineering, the eye ellipse is processed by mixing the eye points of both man and woman, so that the accuracy of the eye ellipse is affected, but the application in engineering is sufficient.
2.2 elliptical inclination of the eye
The direction of each axial length of the eye ellipse, namely the direction of each principal component of the eye point, and the inclination angle of the eye ellipse, namely the included angle between each principal component of the eye point and X, Y and Z axes in the whole vehicle coordinate system plane are not obviously related to each other, so that the included angle is constant. And (3) centering the sample eyepoint according to the sex ratio of 50/50, and then merging data and carrying out principal component analysis to obtain the elliptical inclination angle of the eye.
2.3 oval axial Length of eye
The coordinates of the eye points of the sample vehicle are subjected to coordinate transformation along the main component direction (each axial direction of the eye ellipse), the axial length of each axial direction of the eye ellipse is calculated, and the result shows that the X axis, Y axis and vehicle arrangement parameters of the eye ellipse are not obviously related, and the Z axis length and A19 (the inclination angle of the H point adjusting track) are obviously and inversely related. To simplify the calculation while considering ease of use, the Z-axis length is set to be constant.
1) And determining the X-axis length and the Z-axis length. Since there is a large difference in the distribution of the eye points of men and women in the side view, the influence of sex should be considered in calculating the axial length in the side view direction. The male and female eye points are normally distributed along the X, Z axis direction, and the distance between the upper and lower dividing points is the elliptical axis length of the percentile eye.
The calculation formulas of the upper and lower dividing points are as follows by taking the eye ellipse reference center point as the origin of coordinates:
wherein: p (P) M Proportion of men in the population; XM-upper 1-P division point along the X-axis direction of the oval eye for male and female eye points; XF-the lower 1-P division point of male and female eyepoints along the X-axis direction of the eye ellipse; m-along the X-axis direction of the oval of the eye, the mean value of male eyepoints; f-along the X-axis direction of the oval eye, the average value of female eyepoints; sigma (sigma) SM Standard deviation of male eyepoint along the X-axis of the eye ellipse; sigma (sigma) SF Standard deviation of female eyepoint along the X-axis of the eye ellipse; p-percentile value of eye ellipses; phi-standard normalDistribution.
Since P is the percentile value of the eye ellipse, the values of XM and XF can be calculated according to formulas (1) and (2), the eye ellipse X-axis length is:
X axial length ＝XM-XF#(3)
Similarly, Z-axis length:
Z axial length ＝ZM-ZF#(4)
Wherein: ZM-upper 1-P dividing point along the direction of the Z axis of the oval eye for male and female eye points; ZF-the lower 1-P division point of male and female eyepoints along the Z-axis direction of the eye ellipse.
2) The Y-axis length is determined. It was found that the eye ellipse Y-axis length is not affected by gender and vehicle placement parameters, so the Y-axis length is calculated as follows:
Y axial length ＝13.362(Φ -1 (P)-Φ -1 (1-P))#(5)
Wherein: p-percentile value of eye ellipses; phi -1 Inverse function of the normal distribution of the standard.
2.4 eye ellipse center point
And respectively calculating the coordinates of the center point according to the 50/50-proportion sampling of the sex for the eye points of the sample vehicle, and carrying out correlation analysis on the coordinates of the center point of the ellipse of the eye and the vehicle arrangement parameters. Eye ellipse center point positions are as in formula (6) to formula (9):
X c ＝L 1 +1070.452-0.607(H30)-12.5t+Δx#(6)
Y cl ＝W20-30#(7)
Y cr ＝w20+30#(8)
Z c ＝H8+611.941+1.065(H30)+Δz#(9)
wherein: l (L) 1 BOFRP point X coordinate values; h30-distance from AHP point to SgRP point in Z direction; H8-AHP point Z coordinate value; y-coordinate values of the W20-SgRP points; t-1 when the clutch pedal is present and 0 when the clutch pedal is not present; x is X c X-coordinate values of the eye ellipse center point; y is Y cl 、Y cr Y-coordinate values of left and right eye ellipse center points; z is Z c Z coordinate values of the eye ellipse center points; Δx, Δz-correction value of eye ellipse center point;
description: BOFRP-ball reference point: when certain conditions are met, the shoe heel coincides with the BOF (a point 203mm away from the heel on the center line of the shoe part); AHP-accelerator pedal heel: when the ankle angle is 87 degrees, the bottom of the shoe is contacted with the non-depressed accelerator pedal, and the heel is intersected with the pressed carpet; sgRP-seat reference point: the manufacturer designates a unique H-spot. The eye ellipse correction formula for the other percentile cut ratios is as follows:
thus, the eye ellipse positions corresponding to different shared automobile types can be positioned.
As a preferred aspect, the method for determining the optimal sitting posture of the shared automobile intelligent seat based on the eye ellipse according to the present application may be used for evaluating a unified driving sitting posture comfort evaluation standard by the following method:
1. comfort criterion
The application carries out fuzzy comprehensive evaluation on sitting comfort and internal space, and needs to determine a factor set, an evaluation set and a weight set for reflecting sitting comfort and internal space.
1.1 factor set
And selecting a secondary fuzzy comprehensive judgment. The first-level set of criteria is { sitting comfort, internal space }. In a second level of evaluation, sitting comfort consists of a set of factors, which can be determined as { A1, A2, A3, A4, A5, A6}, of the angles of the manikin limbs. Wherein A1 is a backrest angle, A2 is an included angle between a trunk and a thigh, A3 is a shoulder joint included angle, A4 is an elbow joint included angle, A5 is an ankle joint included angle, and A6 is a knee joint included angle. The interior space comfort assessment selects six dimensional sets of factors including the vertical gap of the driver's head, the knee to front fascia gap, the gap between the shoulder and the window, the distance between the stomach and the steering wheel, the gap between the elbow and the interior surface of the door, and the driver sitting height.
1.2 evaluation set
The evaluation set can be expressed as: v= { V1; v2; v3} = { optimal; good; pass }.
TABLE 1 human joint Angle comfort range rating (°)
Table 2 interior comfort zone rating (mm)
2. Membership function
The membership function can reflect the influence of the change of the factor parameters on the evaluation index, wherein the factor is that the membership degree of the included angle of the limb can adopt an intermediate type, and the evaluation of the internal space is larger and smaller.
3. Calculation step
3.1 Sitting posture comfort evaluation matrix
According to the determined sitting posture of the driver, a sitting posture comfort single factor matrix R is obtained by using a membership function:
the weight of the sitting comfort of the second-level factors is A= (a) 1 ,a 2 ,a 3 ,a 4 ,a 5 ,a 6 ) The second-level judgment vector can be obtained by multiplying the sitting comfort weight A by the sitting comfort single-factor matrix:
M＝A×R＝[m 1 m 2 m 3 ]#(12)
3.2 solving an internal space evaluation matrix
After the sitting postures of the drivers and the hard spot sizes of the vehicle types are determined, the single factor matrix S of the comfort of the inner space can be obtained by using membership functions:
the weight of each factor is b= (B) 1 ，b 2 ，b 3 ，b 4 ，b 5 ，b 6 ) The secondary factor internal space weight B is multiplied by an internal space comfort single factor matrix to obtain a secondary judgment vector:
N＝B×S＝[n 1 n 2 n 3 ]#(13)
3.3 solving for the comprehensive evaluation vector
According to the requirements of an evaluation system, determining the weight matrix of sitting comfort and internal space as C= { C 1 ,c 2 Comprehensive judgment vector corresponding to the driver arrangement scheme:
wherein q 1 ,q 2 ,q 3 Representing the weight of the optimal sitting posture, the good sitting posture and the qualified sitting posture in a certain arrangement scheme respectively.
Comparing comprehensive judgment vectors of sitting arrangement schemes of different drivers at each eyepoint, and selecting q 1 The driver arrangement with the greatest value corresponds to the case of q 1 If the values are equal, then q is selected 2 Larger driver arrangements.
The application relates to an eye ellipse-based shared intelligent automobile seat optimal sitting posture determining method, which has the following working principle:
firstly, according to experimental statistical analysis and the existing eye ellipse calibration device, before different vehicle types are marketed, the eye ellipse position of the vehicle can be calibrated according to the known hard spot size of the vehicle type, the eye ellipse positioning size is stored in an electric control unit of an intelligent seat as the known data of the vehicle type, and meanwhile, the electric control unit is also stored with the latest human body size data for determining the eye ellipse space position and space size of drivers with different percentiles. As a preference, the eye ellipses may be divided, with different eye ellipses corresponding to different driver groups, respectively.
Secondly, when the driver is ready to drive the vehicle, cameras 1 and 2 (the positions are not unique) arranged on the side surfaces of the vehicle detect the body size of the driver when the driver gets on the vehicle, the detected driver size information is transmitted to the singlechip through the signal processing module, and when the driver does not move, the cameras 1 and 2 enter a dormant state of low-power-consumption operation. When the vehicle detects that the vehicle door is opened and closed successively, the signal P of the cushion pressure sensor is larger than P 0 And the seat belt buckle is engaged, the driver is indicated to have entered the vehicle and is ready to drive the vehicle, and the entry into the driving state is determined. At this time, the singlechip calculates a percentile interval to which the driver belongs according to the calibrated eye ellipse positioning size, the latest human body size information and the driver size information detected by the cameras 1 and 2, selects n eye points which are uniformly distributed in space in the eye ellipse interval corresponding to the percentile, and combines the heel point positions and m points selected on the percentile H point travel curve corresponding to the driver to form n multiplied by m sitting postures. After safety check is carried out on n multiplied by m sitting postures, the unified driving sitting posture comfort evaluation standard is adopted for evaluation and scoring, and the sitting posture with the highest score is selected as the optimal sitting posture. As a preferable mode, the evaluation standard of the optimal driving sitting posture can be selected by self so as to adapt to driving styles of different sharing automobile types.
Meanwhile, as an alternative method, a driver can press a manual adjusting button to manually set the driving sitting posture, when the reserved space between the abdomen and the knees is smaller than the calibrated safe distance, a radar detection device arranged in the front decorative plate of the cab and at the lower edge of the steering wheel can send out a dripping alarm prompt sound to assist the driver to manually complete sitting posture arrangement, and the driver enters a driving state after the manual setting is completed.
Finally, when the vehicle detects that the engine is flameout, the safety belt buckle is disconnected and the cushion is pressedThe force sensor signal P is less than P 0 And when the driver is in a driving state, the intelligent seat automatically restores to the rearmost position of the front-back adjustable stroke under the control of the singlechip, so that preparation is made for the optimal sitting position arrangement of the next shared automobile driver. So far, all steps of the eye ellipse-based intelligent seat optimal sitting position determining method of the shared automobile are executed, and the steps are executed once according to a program flow at the beginning and ending stages of driving the shared automobile by each shared automobile driver.
When the different vehicle types are replaced, the eye ellipse parameters corresponding to the cab arrangement size parameters of the different vehicle types are calibrated through experiments, a series of eye ellipse parameters of the vehicle types are obtained, and the calculation is repeated. As the calculation process is repeated, it will not be given here.
Although embodiments of the present application have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the application would be readily apparent to those skilled in the art, and accordingly, the application is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (8)
1. An eye ellipse-based method for determining the optimal sitting posture of a shared intelligent automobile seat is characterized by comprising the following steps:
step one: the camera detects the body size of the driver when the driver gets on the vehicle, wherein the position of the camera can be selected according to the requirement;
step two: judging whether the driver is ready to drive the vehicle or not by detecting whether the vehicle door is opened and closed, whether the value of the pressure sensor on the cushion of the driver seat is greater than a calibration value and whether the seat belt is engaged or not;
step three: generating various driver sitting posture arrangement schemes according to the hard spot size of the cab and the height of the driver;
step four: carrying out safety check on the generated sitting posture arrangement scheme of the driver, wherein the safety check is realized by detecting whether the distance from the abdomen of the driver to the steering wheel is larger than the safety distance when the driver collides with the front decorative plate of the cab or not;
step five: grading the sitting postures conforming to the safety check according to the unified evaluation standard, and selecting the sitting postures with the highest grading as the optimal sitting postures;
step six: the singlechip invokes the optimal sitting posture, controls the stepping motor driving circuit to adjust the driver seat to the position corresponding to the optimal sitting posture, and enters a driving state;
step seven: judging whether the automobile seat enters a manual adjustment state or not by detecting whether the manual adjustment button is triggered or not;
step eight: and after the driving state is finished, the intelligent seat enters a reset state and automatically moves to the rearmost position of the adjustable stroke so as to prepare for the next sitting arrangement of the driver.
2. An eye ellipse-based shared intelligent car seat optimal sitting posture determining method according to claim 1, wherein the procedure of the second step is as follows:
detecting whether the vehicle door has opening and closing actions; according to the detection value P and the calibration pressure P of the cushion pressure sensor 0 Judging whether a driver enters the vehicle or not, if P is more than or equal to P 0 Judging that the driver enters the cab; detecting whether the safety belt buckle is in an engaged state; and when the three conditions are met, the driver can be considered to enter the vehicle and prepare to drive the vehicle.
3. An eye ellipse-based shared intelligent car seat optimal sitting posture determining method according to claim 1, wherein the procedure of the third step is as follows:
firstly, determining a percentile interval to which a driver belongs according to the height of the driver, and selecting n eyepoints which are uniformly distributed in a percentile eye ellipse corresponding to the height of the driver; selecting an H-point travel curve corresponding to the percentile, and uniformly selecting m points on the H-point travel curve; the position of the heel point of the driver can be known according to the hard point size of the vehicle model, the sitting postures of the driver can be determined according to the heel point, the selected eyepoint and the H point, and n multiplied by m sitting postures arrangement schemes of the driver can be obtained; the positioning of the eye ellipses of different vehicle types is obtained through an eye ellipse calibration experiment, the eye ellipse positioning parameters are determined according to the sizes of different vehicle types, and the eye ellipse positioning parameters corresponding to different driver groups can be calibrated according to the driver groups of the special vehicle types.
4. An eye ellipse-based shared intelligent car seat optimal sitting posture determining method according to claim 1, wherein the process of the fourth step is as follows:
safety check is carried out on the sitting posture of the driver by adopting the generated sitting posture arrangement scheme of the driver, if the distance D from the abdomen of the driver to the lower edge of the steering wheel is detected 1 >d 1 And driver knee to cab front fascia distance D 2 >d 2 When the sitting posture is arranged reasonably; meanwhile, the sitting posture arrangement scheme of the driver which does not pass through the safety check is omitted from n multiplied by m sitting postures; said d 1 And d 2 The abdomen calibration safety distance and the knee calibration safety distance are respectively determined according to the vehicle type.
5. An eye ellipse-based shared intelligent car seat optimal sitting posture determining method according to claim 1, wherein the fifth step is as follows:
the sitting posture comfort evaluation is carried out on all the sitting posture arrangement schemes of the drivers which pass through the safety check by adopting a unified grading standard, and the sitting posture arrangement scheme of the driver with the highest comfort grading is selected as the optimal sitting posture arrangement, so that the eyepoint of the driver falls in the eye ellipse corresponding to the percentile; the sitting posture comfort evaluation standard is not unique, and can be changed according to the driving characteristics of the driver group and different vehicle types.
6. An eye ellipse-based shared intelligent car seat optimal sitting posture determining method according to claim 1, wherein the procedure of the sixth step is as follows:
when the optimal sitting posture arrangement is carried out, the seat H point is overlapped with the optimal sitting posture H point through motor control, the plane of the seat cushion is parallel to the thigh line of a driver, and the curve of the seat back is parallel to the trunk line of the driver;
seat cushion angle：
Chair back inclination angle：
Wherein:
(x 0 ,y 0 ) The point is the projection coordinate of the heel point in the longitudinal symmetry plane of the automobile, (x) 1 ,y 1 ) The point is the projection coordinate of the H point of the driver in the longitudinal symmetrical plane of the automobile, (x) 2 ,y 2 ) The point is the projection coordinate of the driver's eye point in the longitudinal symmetry plane of the automobile, a is the length of the driver's thigh, and b is the length of the driver's calf.
7. An eye ellipse-based shared intelligent car seat optimal sitting posture determining method according to claim 1, wherein the process of the seventh step is as follows:
when the sitting position of the driver is arranged completely or the driver desires to manually adjust the seat position, the driver can press the manual adjusting button to enter a manual adjusting state.
8. An eye ellipse-based shared intelligent car seat optimal sitting posture determining method according to claim 1, wherein the procedure of the step eight is as follows:
when detectingThe engine is flameout, the safety belt buckle is in a disconnected state, and the detection value P of the cushion pressure sensor is smaller than the calibration pressure P 0 And when the driver is considered to finish the driving state, the seat enters a reset state and automatically returns to the rearmost position of the front-back adjustable stroke, so that preparation is made for the optimal sitting arrangement of the next shared automobile driver.
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