CN116279001A

CN116279001A - Seat data calibration method, device, vehicle and storage medium

Info

Publication number: CN116279001A
Application number: CN202310134027.9A
Authority: CN
Inventors: 莫七华; 黄越; 吴留强; 黄崚鑫; 汤世绍
Original assignee: Guangzhou Automobile Group Co Ltd
Current assignee: Guangzhou Automobile Group Co Ltd
Priority date: 2023-02-17
Filing date: 2023-02-17
Publication date: 2023-06-23

Abstract

The application discloses a seat data calibration method, a seat data calibration device, a vehicle and a storage medium. The method comprises the following steps: acquiring a seat image of a target seat in a vehicle by an image acquisition device in the vehicle; determining a current position parameter of the target seat based on the seat image of the target seat; comparing the current position parameter of the target seat with the reference position parameter to obtain the position parameter variation of the target seat; and calibrating pulse record values of the target motors corresponding to the target seats based on the pre-established position pulse model and the position parameter variation of the target seats. According to the technical scheme, the pulse recording value of the target motor is more accurate, the risk of extrusion of personnel and articles in a vehicle caused by position adjustment of the target seat under the condition of inaccurate pulse recording value is avoided, and the safety of seat adjustment is improved.

Description

Seat data calibration method, device, vehicle and storage medium

Technical Field

The application relates to the technical field of vehicles, in particular to a seat data calibration method, a seat data calibration device, a vehicle and a storage medium.

Background

Currently, vehicles are often provided with seat position adjustment functions, including, but not limited to: front-back position adjustment, up-down position adjustment, angle adjustment, etc.

Taking the front and back position adjustment of the seat as an example, the vehicle comprises a first motor and a pulse counter corresponding to the first motor, the adjustable seat is provided with a sliding rail, the first motor rotates to drive the sliding rail to move, so that the front and back position of the adjustable seat on the vehicle is changed, in the process, the pulse counter synchronously records the pulse number (namely the rotation number of the first motor) sent by the first motor, so that the horizontal displacement of the sliding rail is determined, and the change of the front and back position of the adjustable seat on the vehicle is further determined.

However, the number of pulses recorded by the vehicle has an accumulated error, and on one hand, when the target motor is started or braked, the pulse signal is lost, so that the number of pulses recorded by the vehicle has an error; on the other hand, in the case where the target seat is replaced or the seat electronic controller is replaced, the number of pulses recorded by the seat electronic controller does not match the actual position parameter of the target seat.

Disclosure of Invention

The application provides a seat data calibration method, a seat data calibration device, a vehicle and a storage medium.

In a first aspect, an embodiment of the present application provides a seat data calibration method, including: acquiring a seat image of a target seat in a vehicle by an image acquisition device in the vehicle; determining a current position parameter of the target seat based on the seat image of the target seat; comparing the current position parameter of the target seat with the reference position parameter to obtain the position parameter variation of the target seat; and calibrating pulse record values of the target motor corresponding to the target seat based on a pre-established position pulse model and a position parameter variation of the target seat, wherein the position pulse model is used for representing the relationship between the position parameter variation of the target seat and a pulse theoretical value of the target motor.

In a second aspect, embodiments of the present application provide a seat data calibration device, the device comprising: the image acquisition module is used for acquiring a seat image of a target seat in the vehicle through an image acquisition device in the vehicle; a position parameter acquisition module for determining a current position parameter of the target seat based on the seat image of the target seat; the comparison module is used for comparing the current position parameter of the target seat with the reference position parameter to obtain the position parameter variation of the target seat; the seat data calibration module is used for calibrating pulse record values of the target motor corresponding to the target seat based on a pre-established position pulse model and a position parameter variation of the target seat, and the position pulse model is used for representing the relation between the position parameter variation of the target seat and a pulse theoretical value of the target motor.

In a third aspect, embodiments of the present application provide a vehicle, including: one or more processors; a memory; one or more applications, wherein the one or more applications are stored in memory and configured to be executed by one or more processors, the one or more applications configured to perform a method as in the first aspect.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium, wherein computer program instructions are stored in the computer readable storage medium, the computer program instructions being executable by a processor to perform a method as in the first aspect.

Compared with the prior art, the seat data verification method provided by the embodiment of the application has the advantages that the corresponding relation (namely, the position pulse model) between the position parameter variation of the target seat and the pulse theoretical value of the target motor corresponding to the target seat is established in advance, after the seat image of the target seat is acquired, the current position parameter of the target seat can be determined based on the seat image, the current position parameter is compared with the reference position parameter of the target seat to obtain the position parameter variation of the target seat, then the pulse theoretical value of the target motor is determined based on the position pulse model and the position parameter variation of the target seat, the pulse recorded value of the target motor can be verified based on the determined pulse theoretical value, so that the pulse recorded value of the target motor is more accurate, the risk of extrusion to personnel and articles in the vehicle caused by position adjustment of the target seat under the condition that the pulse recorded value is inaccurate is avoided, and the safety of seat adjustment is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application.

Fig. 2 is a flowchart of a seat data calibration method according to an embodiment of the present application.

Fig. 3 is a flowchart of a seat data calibration method according to another embodiment of the present application.

Fig. 4 is a flowchart of a seat data calibration method according to another embodiment of the present application.

Fig. 5 is a flow chart for modeling position pulses according to one embodiment of the present application.

Fig. 6 is a block diagram of a seat data calibration device according to one embodiment of the present application.

Fig. 7 is a block diagram of a vehicle according to an embodiment of the present application.

Fig. 8 is a block diagram of a computer storage medium according to an embodiment of the present application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In order to better understand the solution of the present application, the following description will make clear and complete descriptions of the technical solution of the embodiment of the present application with reference to the accompanying drawings in the embodiment of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

Referring to fig. 1, a schematic diagram of an implementation environment provided in one embodiment of the present application is shown. The implementation environment includes a vehicle 100. In an embodiment of the present application, vehicle 100 includes one or more adjustable seats and a seat adjustment system. The seat adjustment system includes a seat controller. The seat controller is used to control the position adjustment process of each adjustable seat in the vehicle 100, including, but not limited to: the adjustment of the front-rear position of the seat in the vehicle 100, the adjustment of the up-down position of the seat in the vehicle 100, and the adjustment of the angle between the seat cushion and the backrest of the seat. In the embodiments of the present application, only two of the adjustment processes are described as examples.

In some embodiments, the seat adjustment system further includes a first motor corresponding to each adjustable seat for adjusting the fore-aft position of the adjustable seat in the vehicle 100. The first motor is in driving connection with the slide rail in the adjustable seat, and when the first motor rotates, the position of the slide rail is driven to change, so that the front and rear positions of the adjustable seat in the vehicle 100 are changed. Optionally, the seat controller includes a first counter, and the first motor sends out regular periodic pulse signals when rotating, and the seat controller counts the periodic pulse signals through the first counter to determine the rotation number of the first motor. Accurately registering the number of motor pulses of the first motor facilitates accurate determination of the fore-aft position of the adjustable seat in the vehicle 100.

In some embodiments, the seat adjustment system further comprises a second motor for adjusting an angle between the seat cushion and the backrest of the adjustable seat, respectively. The second motor is in transmission connection with the rotating shaft in the adjustable seat, and when the second motor rotates, the rotating shaft is driven to rotate, so that the angle between the seat cushion and the backrest of the adjustable seat is changed. Optionally, the seat controller includes a second counter, and the second motor also sends out regular periodic pulse signals when rotating, and the seat controller counts the periodic pulse signals through the second counter to determine the rotation number of the second motor. The number of motor pulses of the second motor is accurately recorded, which is helpful for accurately determining the angle between the seat cushion and the backrest of the adjustable seat.

In the embodiment of the application, an image acquisition device is further arranged in the vehicle and is used for acquiring the seat image of the adjustable seat so as to determine the current position parameter of the adjustable seat. The image acquisition means may be one or more. In some embodiments, one adjustable seat corresponds to one image acquisition device. In other embodiments, multiple adjustable seats share one image acquisition device.

In the embodiment of the application, the vehicle establishes a corresponding relation (namely, a position pulse model) between the position parameter variation of the target seat and the pulse theoretical value of the target motor corresponding to the target seat in advance, after the seat image of the target seat is acquired, the current position parameter of the target seat can be determined based on the seat image, the current position parameter is compared with the reference position parameter of the target seat to obtain the position parameter variation of the target seat, then the pulse theoretical value of the target motor is determined based on the position pulse model and the position parameter variation of the target seat, the pulse recorded value of the target motor can be verified based on the determined pulse theoretical value, so that the pulse recorded value of the target motor is more accurate, the risk of extrusion to personnel and articles in the vehicle caused by position adjustment of the target seat under the condition that the pulse recorded value is inaccurate is avoided, and the safety of seat adjustment is improved.

Referring to fig. 2, a flowchart of a seat data calibration method according to an embodiment of the present application is shown, and the method includes the following procedures.

S201, acquiring a seat image of a target seat in a vehicle by an in-vehicle image acquisition device.

The target seat refers to a seat in which a position parameter is changed, and in the embodiment of the present application, the vehicle determines the seat that receives the position parameter adjustment signal as the target seat. In the embodiments of the present application, the change of the location parameter includes, but is not limited to: the front-rear position of the seat in the vehicle changes, and the angle between the seat cushion and the seatback of the seat changes.

In some embodiments, the image capturing device acquires specified photographing parameters, and then photographs a seat image of the target seat according to the specified photographing parameters. The specified shooting parameters are shooting parameters adopted by the vehicle in the process of establishing the position pulse model. The specified shooting parameters may include an orientation of the image capturing apparatus, a focal length of the image capturing apparatus, and the like. By the method, the same acquisition conditions of the seat image and the image acquired in the process of establishing the position pulse model can be ensured, and further, the more accurate calibration result is ensured.

In some embodiments, the vehicle performs S201 after a preset period of time in which the seat adjustment signal for the target seat is disappeared. The disappearance of the seat adjustment signal for the target seat indicates that the seat adjustment signal for the target seat is received and the position parameter adjustment process for the target seat has ended. The preset time period may be set according to actual requirements, and is, for example, 1 minute. After the position parameter adjusting process of the target seat is finished for a period of time, the position parameter of the target seat is stable and does not change, and at the moment, the subsequent seat data calibrating process is started, so that a more accurate calibrating result can be ensured.

Further, after the preset time length for the disappearance of the seat position adjusting signal of the target seat, the vehicle firstly detects whether a position pulse model exists, and when the position pulse model is detected to exist, a subsequent seat data calibration flow is started. Optionally, the vehicle stores a stored flag bit of the position pulse model, and after the position pulse model is generated or the position pulse model is acquired from the server, the value of the stored flag bit may be set to a first value, otherwise, the value of the stored flag bit is set to a second value. The vehicle may detect whether a position pulse model exists based on the value of the stored flag bit. The first value may be "1", the second value may be "0", "NULL", etc. By the method, unnecessary seat data calibration flow can be prevented from being started when the vehicle leaves the factory or the vehicle seat fittings are replaced, and processing resources of the vehicle are saved.

S202, determining a current position parameter of the target seat based on the seat image of the target seat.

The current position parameters of the target seat include at least one of: the current position of the track in the target seat, the current angle of the back in the target seat. In some embodiments, after the vehicle acquires the seat adjustment signal for the target seat, the type of the seat adjustment signal is determined first, and in the case that the type of the seat adjustment signal is the position adjustment type, the current position of the slide rail in the target seat is determined based on the seat image of the target seat; in the case where the type of the seat adjustment signal is an angle adjustment type, the current angle of the backrest in the target seat is determined based on the seat image of the target seat. The position adjustment type is used to characterize the seat adjustment signal for adjusting the fore-aft position of the target seat in the vehicle. The angle adjustment type is used to characterize the seat adjustment signal for adjusting the angle between the target seat cushion and the back rest. The determination of the current position parameter of the target seat will be explained in the following embodiments.

S203, comparing the current position parameter of the target seat with the reference position parameter to obtain the position parameter variation of the target seat.

When the current position parameter of the target seat is the current position of the slide rail in the target seat, the reference position parameter of the target seat is the reference position of the slide rail in the target seat, and the change amount of the position parameter of the target seat is the horizontal displacement amount of the slide rail in the target seat. In the case where the current position parameter of the target seat is the current angle of the back in the target seat, the reference position parameter of the target seat is the reference angle of the back in the target seat, and the position parameter variation amount of the target seat is the angle variation amount of the back in the target seat. The determination of the amount of change in the positional parameter of the target seat will be explained in the following embodiments.

S204, calibrating pulse record values of a target motor corresponding to the target seat based on a pre-established position pulse model and the position parameter variation of the target seat.

The position pulse model is used for representing the relation between the position parameter variation quantity of the target seat and the pulse theoretical value of the target motor. In some embodiments, the position pulse model is used to indicate the conversion ratio between the position parameter variation of the target seat and the pulse theoretical value of the target motor, that is, the number of turns the target motor needs to rotate when the position parameter variation of the target seat is one unit. Illustratively, when the position pulse model indicates that the conversion ratio between the position parameter variation amount of the target seat and the pulse theoretical value of the target motor is 1/200, it is indicated that the target motor needs to rotate 200 turns when the position parameter variation amount of the target seat is one unit (for example, 1 cm or 1 degree).

The target motor corresponding to the target seat is a motor for driving the position parameter of the target seat to change. The pulse record value of the target motor refers to the number of pulses emitted by the target motor recorded by the vehicle. Specifically, the vehicle stores a pulse number flag bit of the target motor, and the value of the pulse number flag bit is the pulse record value of the target motor. On the one hand, accumulated errors exist in the pulse number recorded by the vehicle, for example, when a target motor is started or braked, the pulse signal is lost, so that the errors exist in the pulse number recorded by the vehicle; on the other hand, in the case where the target seat is replaced or the seat electronic controller is replaced, the number of pulses recorded by the seat electronic controller does not match the actual position parameter of the target seat. For both reasons, it is necessary to calibrate the pulse recorded value of the target motor.

In some embodiments, S204 includes the following process: determining a pulse theoretical value of a target motor corresponding to the target seat based on the position pulse model and the position parameter variation of the target seat; and updating the pulse record value to the pulse theoretical value under the condition that the difference value between the pulse theoretical value and the pulse record value is larger than the preset difference value.

In some embodiments, the preset difference may be actually set according to the accuracy requirement of the pulse recorded value of the target motor. When the accuracy requirement of the pulse recorded value of the target motor is high, the preset difference value can be smaller, and when the accuracy requirement of the pulse recorded value of the target motor is high, the preset difference value can be larger. In other embodiments, the preset difference may be actually determined according to the model of the vehicle, and different models of vehicles correspond to different preset differences. In still other embodiments, the preset difference may be determined based on a calculated error in the amount of change in the position parameter of the target seat. Specifically, in the case where the calculation error of the position parameter variation of the target seat is large, the preset difference value may be set small, and in the case where the calculation error of the position parameter variation of the target seat is small, the preset difference value may be set large, so that the calibration result is more accurate.

Updating the pulse record value to the pulse theoretical value means that the value of the pulse number zone bit of the target motor is changed from the pulse record value to the pulse theoretical value. In one example, the vehicle stores the following information "accumulated pulse number of target motor: 200", that is, the pulse recorded value of the target motor is 200, the preset difference value is 20, the pulse theoretical value calculated based on the position pulse model and the position parameter variation of the target seat is 240, and the difference value between the two is greater than the preset difference value, the vehicle will" the accumulated pulse number of the target motor: 200 "modified to" accumulated pulse number of target motor: 240".

In some embodiments, the vehicle maintains the pulse recorded value unchanged if the calculated difference between the pulse theoretical value and the pulse recorded value is less than or equal to a preset difference.

In some embodiments, the vehicle may also update the value of the calibration times counter after updating the pulse record value to the pulse theoretical value; and under the condition that the value updated by the calibration frequency counter is larger than a preset value, sending out reminding information which is used for reminding the target seat of faults. The value of the calibration frequency counter refers to the occurrence frequency of updating the pulse record value to the pulse theoretical value in the one-time power-on process of the vehicle. And updating the value of the calibration times counter, namely adding one to the value of the calibration times counter. The preset value is set experimentally or empirically, and is illustratively 10. The updated value of the calibration frequency counter is larger than a preset value, which indicates that the target seat has a high probability of failure and needs to remind a user to send the target seat to be maintained in time.

In summary, according to the technical scheme provided by the embodiment of the application, the vehicle establishes a corresponding relation (namely, a position pulse model) between the position parameter variation of the target seat and the pulse theoretical value of the target motor corresponding to the target seat in advance, after the seat image of the target seat is acquired, the current position parameter of the target seat can be determined based on the seat image, the current position parameter is compared with the reference position parameter of the target seat to obtain the position parameter variation of the target seat, then the pulse theoretical value of the target motor is determined based on the position pulse model and the position parameter variation of the target seat, the pulse recorded value of the target motor can be verified based on the determined pulse theoretical value, so that the pulse recorded value of the target motor is more accurate, the risk of extrusion to personnel and articles in the vehicle caused by position adjustment of the target seat under the condition that the pulse recorded value is inaccurate is avoided, and the safety of seat adjustment is improved.

The following describes a case where the type of the seat adjustment signal is a position adjustment type. Referring to fig. 3, a flowchart of a seat data calibration method according to another embodiment of the present application is shown. The method comprises the following procedures.

S301, acquiring a seat image of a target seat in the vehicle through an image acquisition device in the vehicle.

In the embodiment of the application, after the vehicle acquires the seat adjusting signal, under the condition that the type of the seat adjusting signal is determined to be the position adjusting type, acquiring a first specified shooting parameter, and then shooting a seat image of the target seat according to the first specified shooting parameter. The first specified shooting parameters are shooting parameters adopted by the vehicle in the process of establishing the first sub-model. The first specified shooting parameters may include orientation, focal length, etc. of the image capturing device in the process of establishing the first sub-model. By the method, the same acquisition conditions of the seat image and the image acquired in the process of establishing the first sub-model can be ensured, and further, the more accurate calibration result is ensured.

S302, determining the current position of the sliding rail in the target seat based on the seat image of the target seat.

In the embodiment of the present application, the current position parameter of the target seat refers to the current position of the slide rail in the target seat. During adjustment of the target seat, the change in position of the slide rail brings the front-rear position of the target seat in the vehicle into change, so that the current position of the slide rail can be used for indicating the front-rear position of the target seat in the vehicle.

Optionally, the vehicle identifies a seat image of the target seat to obtain a first pixel coordinate of a first feature point of the seat cushion in the target seat, and the current position of the slide rail in the target seat is represented by the first pixel coordinate. The first feature point is a feature point adopted when the vehicle builds the first sub-model, and may be a center point of the cushion, a contour point of the cushion, or a point with a special mark (such as a special color, a special pattern, etc.) in the cushion.

In some embodiments, the vehicle needs to detect whether the seat image of the target seat is clear and stable before determining the current position of the target seat slide rail, and S302 is performed in a case where the seat image of the target seat is clear and stable, and the seat image of the target seat is re-photographed in a case where the seat image of the target seat is not clear and stable, and the above image clear and stable detection steps are repeated until the clear and stable seat image is photographed. The method for detecting whether the image is clear and stable includes, but is not limited to: edge detection algorithms, image sharpness evaluation algorithms, and the like.

S303, comparing the current position of the sliding rail in the target seat with the reference position of the sliding rail to obtain the horizontal displacement of the sliding rail in the target seat.

The reference position of the slide rail can be predetermined and stored in the vehicle, and the determination process is specifically as follows: the vehicle firstly controls the sliding rail in the target seat to move to the limit position, then a first reference image of the target seat is shot, the first reference image of the target seat is identified, so that second pixel coordinates of a first characteristic point of a cushion in the target seat are obtained, and the reference position of the sliding rail in the target seat is represented through the second pixel coordinates of the first characteristic point. The limit position may be a first limit position or a second limit position. After the slide rail in the target seat moves to the first limit position, the position of the target seat in the vehicle cannot move forward further. After the slide rail in the target seat moves to the second limit position, the position of the target seat in the vehicle cannot be moved further backward. In the embodiment of the present application, only the first reference image is taken when the slide rail in the target seat moves to the first limit position.

In this embodiment of the present application, the position parameter variation of the target seat refers to a horizontal displacement of a slide rail in the target seat, and after a vehicle obtains a first pixel coordinate for representing a current position of the slide rail and a second pixel coordinate for representing a reference position of the slide rail, the first pixel coordinate and the second pixel coordinate are processed by an image ranging algorithm, so as to obtain the horizontal displacement of the slide rail in the target seat.

In some embodiments, before determining the horizontal displacement of the sliding rail in the target seat, it is further required to detect whether the current position of the sliding rail in the target seat is within a first preset position range, and if the current position of the sliding rail in the target seat is within the first preset position range, S303 is executed; if the current position of the sliding rail in the target seat does not belong to the first preset position range, ending the flow. The first preset position range refers to a position range which can be identified by the vehicle.

S304, determining a pulse theoretical value of the first motor based on the horizontal displacement amount of the sliding rail in the target seat and the first submodel.

In an embodiment of the present application, the target motor includes a first motor, and the position pulse model includes a first sub-model for indicating a relationship between a horizontal displacement amount of the slide rail in the target seat and a pulse theoretical value of the first motor.

In some embodiments, the first submodel is used to indicate a first scaling ratio between the horizontal displacement of the sliding rail in the target seat and the pulse theoretical value of the first motor, that is, the number of turns required by the first motor when the horizontal displacement of the sliding rail in the target seat is one unit length. Illustratively, the first sub-model indicates that the first conversion ratio between the horizontal displacement amount of the slide rail in the target seat and the pulse theoretical value of the first motor is 1/200, and the first motor needs to rotate 200 turns when the horizontal displacement amount of the slide rail in the target seat is one unit length (for example, 1 cm).

The pulse record value of the first motor refers to the number of pulses sent by the first motor recorded by the vehicle. Specifically, the pulse number flag bit includes a first flag bit, and the value of the first flag bit is the pulse record value of the first motor.

Under the condition that the first submodel is used for indicating the conversion ratio between the horizontal displacement amount of the sliding rail in the target seat and the pulse theoretical value of the first motor, the vehicle acquires the horizontal displacement amount of the sliding rail in the target seat, and then the product of the acquired horizontal displacement amount of the sliding rail and the reciprocal of the first conversion ratio is determined as the pulse theoretical value of the first motor. Illustratively, the first submodel indicates that the first conversion ratio between the horizontal displacement amount of the slide rail in the target seat and the pulse theoretical value of the first motor is 1/200, and the pulse theoretical value of the first motor is 800 when the horizontal displacement amount of the slide rail in the target seat is 4 cm.

And S305, updating the pulse record value of the first motor to the pulse theoretical value under the condition that the difference value between the pulse theoretical value and the pulse record value of the first motor is larger than a first preset difference value.

In some embodiments, the first preset difference may be actually set according to the accuracy requirement of the pulse record value of the first motor. In other embodiments, the first preset difference may be actually determined according to the model of the vehicle, and different models of vehicles correspond to different first preset differences. In still other embodiments, the first preset difference may be determined based on a calculated error in the amount of horizontal displacement of the track in the target seat. Specifically, in the case where the calculation error of the horizontal displacement amount of the slide rail in the target seat is large, the first preset difference value may be set small, and in the case where the calculation error of the horizontal displacement amount of the slide rail in the target seat is small, the first preset difference value may be set large, so that the calibration result is more accurate.

In some embodiments, the vehicle maintains the pulse recorded value of the first motor unchanged if the difference between the pulse theoretical value and the pulse recorded value of the first motor is less than or equal to a first preset difference.

In summary, according to the technical scheme provided by the embodiment of the application, the corresponding relation (namely, the first sub-model) between the horizontal displacement of the sliding rail in the target seat and the pulse theoretical value of the first motor corresponding to the target seat is pre-established in the vehicle, after the seat image of the target seat is acquired, the current position of the sliding rail in the target seat can be determined based on the seat image, the current position of the sliding rail and the reference position parameter of the sliding rail are compared, the horizontal displacement of the sliding rail in the target seat is obtained, then the pulse theoretical value of the first motor is determined based on the first sub-model and the horizontal displacement of the sliding rail in the target seat, the pulse recorded value of the first motor can be verified based on the determined pulse theoretical value, so that the pulse recorded value of the first motor is more accurate, the risk of extrusion to personnel and articles in the vehicle caused by position adjustment of the target seat under the condition that the pulse recorded value is inaccurate is avoided, and the safety of seat adjustment is improved.

The following describes a case where the type of the seat adjustment signal is an angle adjustment type. Referring to fig. 4, a flowchart of a seat data calibration method according to another embodiment of the present application is shown. The method comprises the following procedures.

S401, acquiring a seat image of a target seat in the vehicle through an image acquisition device in the vehicle.

In the embodiment of the application, after the vehicle acquires the seat adjusting signal, under the condition that the type of the seat adjusting signal is determined to be the angle adjusting type, the second specified shooting parameters are acquired, and then the seat image of the target seat is shot according to the second specified shooting parameters. The second specified shooting parameters are shooting parameters adopted by the vehicle in the process of establishing the second sub-model. The second specified photographing parameters may include an orientation of the image capturing device, a focal length, and the like in the process of establishing the first sub-model. By the mode, the same acquisition conditions of the seat image and the image acquired in the process of establishing the second sub-model can be ensured, and further, the calibration result is ensured to be more accurate.

S402, determining the current angle of the backrest in the target seat based on the seat image of the target seat.

In the embodiment of the present application, the current position parameter of the target seat refers to the current angle of the backrest in the target seat. Optionally, the vehicle identifies a seat image of the target seat to acquire a third pixel coordinate of a second feature point of the backrest in the target seat and a fourth pixel coordinate of a first feature point of the seat cushion in the target seat, calculates a first distance between the third pixel coordinate and the fourth pixel coordinate, and determines a current angle of the backrest in the target seat according to the first distance and a preset corresponding relation. The preset corresponding relation comprises a mapping relation between the angle of the backrest in the target seat and the designated distance. The above specified distance refers to a distance between the pixel coordinates of the second feature point of the backrest and the pixel coordinates of the first feature point of the seat cushion in the target seat, such as a distance between the pixel coordinates of the center of the backrest and the pixel coordinates of the center of the seat cushion. The preset correspondence may be obtained through experiments, and the specified distance should be greater as the current angle of the backrest in the target seat is greater.

The second feature point is a feature point adopted when the vehicle builds the second sub-model, and may be a center point of the backrest, a contour point of the backrest, or a point with a special mark (such as a special color, a special pattern, etc.) in the backrest.

In some embodiments, the vehicle needs to detect whether the seat image of the target seat is clear stable before determining the current angle of the target seat back, S402 is performed in the case where the seat image of the target seat is clear stable, the seat image of the target seat is re-photographed in the case where the seat image of the target seat is not clear stable, and the above image clear stable detection steps are repeated until the clear stable seat image is photographed.

S403, comparing the current angle of the backrest in the target seat with the reference angle of the backrest to obtain the angle variation of the backrest in the target seat.

The reference angle of the backrest may be determined in advance and stored in the vehicle, and the determination process is specifically as follows: the vehicle firstly controls the backrest in the target seat to rotate to a limiting angle, then a second reference image of the target seat is shot, the second reference image of the target seat is identified, a fifth pixel coordinate of a second characteristic point of the backrest in the target seat and a sixth pixel coordinate of a first characteristic point of a cushion in the target seat are obtained, a second distance between the fifth pixel coordinate and the sixth pixel coordinate is calculated, and the reference angle of the backrest in the target seat is determined through the second distance and a preset corresponding relation. The limit angle may be the minimum angle of the backrest or the maximum angle of the backrest. In the embodiment of the present application, the description will be given taking only an example in which the second reference image is taken when the backrest is rotated to the minimum angle in the target seat.

In the embodiment of the application, the position parameter variation of the target seat refers to an angle variation of the backrest in the target seat, and the difference between the current angle of the backrest in the target seat and the reference angle of the vehicle is determined as the angle variation of the backrest in the target seat.

In some embodiments, before determining the angle variation of the backrest in the target seat, it is further required to detect whether the current angle of the backrest in the target seat is within the second preset position range, and if the current angle of the backrest in the target seat is within the second preset position range, S403 is executed; if the current angle of the backrest in the target seat is in the second preset position range, ending the flow. The second preset position range refers to a position range which can be identified by the vehicle. S404, determining a pulse theoretical value of the second motor based on the angle change amount of the backrest in the target seat and the second submodel.

In an embodiment of the present application, the target motor includes a second motor, and the position pulse model includes a second sub-model for indicating a relationship between an angle change amount of the backrest in the target seat and a pulse theoretical value of the second motor.

In some embodiments, the second sub-model is used to indicate a second scaling ratio between the amount of change in angle of the back rest in the target seat and the pulse theory value of the second motor, that is, the number of turns the second motor needs to rotate when the amount of change in angle of the back rest in the target seat is one unit angle. Illustratively, the second model indicates that the conversion ratio between the amount of change in the angle of the backrest in the target seat and the pulse theoretical value of the second motor is 1/30, and the second motor needs to be rotated 30 turns when the amount of change in the angle of the backrest in the target seat is 1 degree.

The pulse record value of the second motor refers to the number of pulses sent by the second motor recorded by the vehicle. Specifically, the pulse number flag bit includes a second flag bit, and the value of the second flag bit is the pulse record value of the second motor.

In the case where the second sub-model is used to indicate a second conversion ratio between the angle change amount of the backrest in the target seat and the pulse theoretical value of the second motor, the vehicle acquires the angle change amount of the backrest in the target seat, and then determines the product of the acquired angle change amount of the backrest and the reciprocal of the second conversion ratio as the pulse theoretical value of the second motor. Illustratively, the second sub-model indicates that the conversion ratio between the amount of change in the angle of the back in the target seat and the pulse theoretical value of the second motor is 1/30, and the pulse theoretical value of the second motor is 900 when the amount of change in the angle of the back in the target seat is 30 degrees.

And S405, updating the pulse record value of the second motor to the pulse theoretical value under the condition that the difference value between the pulse theoretical value and the pulse record value of the second motor is larger than a second preset difference value.

In some embodiments, the second preset difference may be actually set according to the accuracy requirement of the pulse recorded value of the second motor. In other embodiments, the second preset difference may be actually determined according to the model of the vehicle, and different models of the vehicle correspond to different second preset differences. In still other embodiments, the second preset difference may be determined based on a calculated error in the amount of angular change of the backrest in the target seat. Specifically, in the case where the calculation error of the angle variation of the backrest in the target seat is large, the second preset difference value may be set small, and in the case where the calculation error of the angle variation of the backrest in the target seat is small, the second preset difference value may be set large, so that the calibration result is more accurate. The first preset difference value and the second preset difference value may be the same or different.

In some embodiments, the vehicle maintains the pulse recorded value of the second motor unchanged if the difference between the pulse theoretical value and the pulse recorded value of the second motor is less than or equal to a second preset difference.

In summary, according to the technical scheme provided by the embodiment of the application, the corresponding relation (namely, the second sub-model) between the angle variation of the backrest in the target seat and the pulse theoretical value of the second motor corresponding to the target seat is established in advance, after the seat image of the target seat is acquired, the current angle of the backrest in the target seat can be determined based on the seat image, the current angle of the backrest and the reference angle of the backrest are compared, the angle variation of the backrest in the target seat is obtained, then the pulse theoretical value of the second motor is determined based on the second sub-model and the angle variation of the backrest in the target seat, the pulse recorded value of the second motor can be verified based on the determined pulse theoretical value, so that the pulse recorded value of the second motor is more accurate, the risk of extrusion to personnel and articles in the vehicle caused by position adjustment of the target seat under the condition that the pulse recorded value is inaccurate is avoided, and the safety of seat adjustment is improved.

The process of creating the first sub-model is explained below. The process includes the following steps.

S501, controlling the sliding rail in the target seat to move to a first limit position, setting the motor pulse number of the first motor to be a first initial value, and shooting a first image.

After the slide rail in the target seat moves to the first limit position, the position of the target seat in the vehicle cannot move forward further. The first initial value may be empirically set, and is illustratively 0.

In some embodiments, the vehicle may begin execution at S501 after receiving a user-triggered modeling indication. Optionally, the vehicle includes a model building control, and after receiving a trigger signal for the model building control, the model building control obtains a model building instruction, where the model building control may be an entity control or a virtual control. Optionally, after receiving the voice signal of the user, the vehicle receives a model establishment instruction and triggers a model establishment process when analyzing that the voice signal includes the specified keyword. In some embodiments, the vehicle receives the model build indication upon detecting a replacement of a seat controller or a replacement of a fitting in a target seat (e.g., seat controller, track rail, spindle, etc.).

S502, controlling the sliding rail in the target seat to move to a second limit position, shooting a second image, and acquiring a current pulse record value of the first motor as a first end value.

The first motor rotates to drive the sliding rail to move, the vehicle can collect pulse signals sent out by the first motor every time the first motor rotates, count and record the pulse signals, and the total number of the pulse signals sent out by the first motor is the current pulse record value, namely when the sliding rail recorded by the vehicle moves from the first limit position to the second limit position. After the slide rail in the target seat moves to the second limit position, the position of the target seat in the vehicle cannot be moved further backward.

The first image and the second image are taken with the same shooting parameters, which are the first specified shooting parameters.

S503, determining a maximum horizontal displacement amount of the slide rail in the target seat based on the first image and the second image.

In the embodiment of the application, the vehicle identifies the first image to obtain the seventh pixel coordinate of the first feature point of the cushion in the target seat, identifies the second image to obtain the eighth pixel coordinate of the first feature point of the cushion in the target seat, and processes the seventh pixel coordinate and the eighth pixel coordinate through an image ranging algorithm to obtain the maximum horizontal displacement of the slide rail in the target seat.

S504, determining a first sub-model based on the ratio between the maximum horizontal displacement of the sliding rail and the first difference value.

The first difference value refers to the difference between the first end value and the first start value. In the embodiment of the application, the vehicle determines a ratio between the maximum horizontal displacement amount of the sliding rail and the first difference value as the first sub-model. For example, the maximum horizontal displacement of the slide is 40 cm, the first start value is 0, the first end value is 1200, and the first sub-model is 40/(1200-0), i.e. 1/300.

The process of creating the second sub-model is explained below. The process includes the following steps.

S505, controlling the backrest in the target seat to rotate to a first limit angle, setting a pulse recording value of the second motor to be a second starting value, and shooting a third image.

The first limit angle is the minimum angle of the backrest. The second initial value may be empirically set, and is illustratively 0.

S506, controlling the backrest in the target seat to rotate to a second limit angle, shooting a fourth image, and acquiring a current pulse record value of the second motor as a second end value.

The second limit angle is the maximum angle of the backrest. The second motor rotates to drive the rotating shaft to rotate, the vehicle can collect pulse signals sent out by the second motor every time the second motor rotates, count and record the pulse signals, and the current pulse record value of the second motor, namely the total number of the pulse signals sent out by the second motor when the backrest recorded by the vehicle rotates from the first limit angle to the second limit angle. The shooting parameters used for shooting the third image and the fourth image are the same, and are the second designated shooting parameters.

S507, determining a maximum angle change amount of the backrest in the target seat based on the third image and the fourth image.

In this embodiment of the present invention, a vehicle identifies a third image to obtain a ninth pixel coordinate of a second feature point of a backrest in a target seat and a tenth pixel coordinate of a first feature point of a seat cushion, obtains a third distance between the ninth pixel coordinate and the tenth pixel coordinate, determines a minimum angle of the backrest in the target seat by the third distance and a preset correspondence, identifies a fourth image to obtain an eleventh pixel coordinate of a second feature point of the backrest in the target seat and a twelfth pixel coordinate of the first feature point of the seat cushion, obtains a fourth distance between the eleventh pixel coordinate and the twelfth pixel coordinate, determines a maximum angle of the backrest in the target seat by the fourth distance and the preset correspondence, and determines a difference between the maximum angle and the minimum angle as a maximum angle variation of the backrest in the target seat.

S508, determining a second sub-model based on the ratio between the maximum angle change of the backrest and the second difference.

The second difference value refers to the difference between the second end value and the second start value. In an embodiment of the present application, the vehicle determines a ratio between the maximum angle change amount of the backrest and the second difference value as the second sub-model. Illustratively, the maximum angular change of the backrest is 60 degrees, the first start value is 0, the first end value is 1800, and the second sub-model is 60/(1800-0), i.e. 1/300.

The first sub-model and the second sub-model may also be built simultaneously. This process is explained below in conjunction with fig. 5. Fig. 5 shows a flowchart for establishing a position pulse model (including a first sub-model and a second sub-model) according to an embodiment of the present application.

S510, controlling the sliding rail in the target seat to move to the first limit position, and controlling the backrest in the target seat to rotate to the first limit angle.

S520, setting the pulse record value of the first motor as a first start value and the pulse record value of the second motor as a second start value.

S530, shooting a fifth image.

S540, controlling the sliding rail in the target seat to move to the second limit position, and controlling the backrest in the target seat to rotate to the second limit angle.

S550, shooting a sixth image.

S560, acquiring the current pulse record value of the first motor as a first end value, and acquiring the current pulse record value of the second motor as a second end value.

S570, determining a maximum horizontal displacement amount of the slide rail in the target seat and a maximum angle change amount of the backrest in the target seat based on the fifth image and the sixth image.

S580, determining a first sub-model based on the ratio between the maximum horizontal displacement of the slide rail and the first difference.

The first difference value refers to the difference between the first end value and the first start value.

And S590, determining a second sub-model based on the ratio between the maximum angle change amount of the backrest and the second difference value.

The second difference value refers to the difference between the second end value and the second start value.

In some embodiments, the vehicle further requires repositioning of the target seat after the first and second sub-models are acquired. Specifically, the vehicle may control the position of the slide rail in the target seat to be restored to the position before step S510, and the angle of the backrest to be restored to the angle before step S510; the vehicle may further control the position of the slide rail in the target seat to a specified position, and the angle of the backrest is a specified angle, where the specified position may be a position that is used to adjust by the user, and the specified angle may also be an angle that is used to adjust by the user, which is not limited in the embodiment of the present application.

In some embodiments, after the vehicle acquires the first sub-model and the second sub-model, the vehicle may further send the first sub-model and the second sub-model and own model information to the server, so that the server may forward the first sub-model and the second sub-model to other vehicles of the same model.

Referring to fig. 6, a block diagram of a seat data calibration device according to an embodiment of the present application is shown. The device comprises: an image acquisition module 610, a position parameter acquisition module 620, a comparison module 630, and a seat data calibration module 640.

An image acquisition module 610 for acquiring a seat image of a target seat in a vehicle by an image acquisition device in the vehicle.

The position parameter obtaining module 620 is configured to determine a current position parameter of the target seat based on the seat image of the target seat.

The comparison module 630 is configured to compare the current position parameter of the target seat with the reference position parameter, so as to obtain a change amount of the position parameter of the target seat.

The seat data calibration module 640 is configured to calibrate a pulse record value of a target motor corresponding to the target seat based on a pre-established position pulse model and a position parameter variation of the target seat, where the position pulse model is used to characterize a relationship between the position parameter variation of the target seat and a pulse theoretical value of the target motor.

In some embodiments, the seat data calibration module 640 is configured to: determining a pulse theoretical value of the target motor based on the position pulse model and the position parameter variation of the target seat; and updating the pulse record value to the pulse theoretical value under the condition that the difference value between the pulse theoretical value and the pulse record value is larger than the preset difference value.

In some embodiments, the position parameter variation of the target seat includes a horizontal displacement of the sled in the target seat; the target motor includes a first motor; the position pulse model comprises a first sub-model which is used for representing the relation between the horizontal displacement of the sliding rail in the target seat and the pulse theoretical value of the first motor; a seat data calibration module 640 for: and determining a pulse theoretical value of the first motor based on the horizontal displacement amount of the sliding rail in the target seat and the first sub-model.

In some embodiments, the generation process of the first sub-model includes the steps of: controlling a sliding rail in a target seat to move to a first limit position, setting a pulse recording value of a first motor as a first starting value, and shooting a first image; controlling a sliding rail in the target seat to move to a second limit position, shooting a second image, and acquiring a current pulse record value of the first motor as a first end value; determining a maximum horizontal displacement amount of the slide rail in the target seat based on the first image and the second image; the first sub-model is determined based on a ratio between a maximum horizontal displacement of the slide rail and a first difference value, the first difference value being a difference between the first end value and the first start value.

In some embodiments, the target seat position parameter variation includes an angle variation of a backrest in the target seat; the target motor includes a second motor; the position pulse model comprises a second sub-model, and the second sub-model is used for representing the corresponding relation between the angle change quantity of the backrest in the target seat and the pulse theoretical value of the second motor; a seat data calibration module 640 for: and determining a pulse theoretical value of the second motor based on the angle change amount of the backrest in the target seat and the second sub-model.

In some embodiments, the process of generating the second sub-model includes the steps of: controlling the backrest in the target seat to rotate to a first limit angle, setting a pulse recording value of a second motor as a second starting value, and shooting a third image; the backrest in the target seat is controlled to rotate to a second limit angle, a fourth image is shot, and a current pulse record value of the second motor is obtained and is a second end value; determining a maximum angle change amount of the backrest in the target seat based on the third image and the fourth image; the second sub-model is determined based on a ratio between a maximum angle change of the backrest and a second difference value, which refers to a difference between the second end value and the second start value.

In some embodiments, an apparatus comprises: a counting module and a reminding module (not shown in the figure). And the counting module is used for updating the numerical value of the calibration frequency counter. And the reminding module is used for sending out reminding information when the numerical value updated by the calibration frequency counter is larger than the preset numerical value, and the reminding information is used for reminding the target seat of faults.

In summary, according to the technical scheme provided by the embodiment of the application, the corresponding relation (namely, the position pulse model) between the position parameter variation of the target seat and the pulse theoretical value of the target motor corresponding to the target seat is established in advance, after the seat image of the target seat is acquired, the current position parameter of the target seat can be determined based on the seat image, the current position parameter is compared with the reference position parameter of the target seat to obtain the position parameter variation of the target seat, then the pulse theoretical value of the target motor is determined based on the position pulse model and the position parameter variation of the target seat, the pulse recorded value of the target motor can be verified based on the determined pulse theoretical value, so that the pulse recorded value of the target motor is more accurate, the risk of extrusion to personnel and articles in the vehicle caused by position adjustment of the target seat under the condition that the pulse recorded value is inaccurate is avoided, and the safety of seat adjustment is improved.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus and modules described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.

In several embodiments provided herein, the coupling of the modules to each other may be electrical, mechanical, or other.

In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.

Referring to fig. 7, there is shown a vehicle 700 according to an embodiment of the present application, the vehicle 700 including: one or more processors 710, memory 720, ultrasonic radar, lidar, and one or more applications. Wherein one or more application programs are stored in the memory 720 and configured to be executed by the one or more processors 77, the one or more application programs configured to perform the methods described in the above embodiments.

Processor 710 may include one or more processing cores. The processor 710 utilizes various interfaces and lines to connect various portions of the overall battery management system, perform various functions of the battery management system, and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 720, and invoking data stored in the memory 720. Alternatively, the processor 710 may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 77 may integrate one or a combination of several of the central processor 710 (Central Processing Unit, CPU), the image processor 77 (Graphics Processing Unit, GPU), and modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for being responsible for rendering and drawing of display content; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 77 and may be implemented solely by a single communication chip.

The Memory 720 may include a random access Memory 720 (Random Access Memory, RAM) or a Read-Only Memory 720 (Read-Only Memory). Memory 720 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 720 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The storage data area may also store data created by the electronic device map in use (e.g., phonebook, audiovisual data, chat log data), and the like.

Referring to fig. 8, there is shown that the embodiment of the present application further provides a computer readable storage medium 800, where the computer readable storage medium 800 stores computer program instructions 810, and the computer program instructions 810 may be invoked by a processor to perform the method described in the above embodiment.

The computer readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium comprises a non-volatile computer readable storage medium (non-transitory computer-readable storage medium). The computer readable storage medium 800 has storage space for computer program instructions 810 that perform any of the method steps described above. The computer program instructions 810 may be read from or written to one or more computer program products.

The foregoing description is not intended to limit the preferred embodiments of the present application, but is not intended to limit the scope of the present application, and any such modifications, equivalents and adaptations of the embodiments described above in accordance with the principles of the present application should and are intended to be within the scope of the present application, as long as they do not depart from the scope of the present application.

Claims

1. A method of calibrating seat data, the method comprising:

acquiring a seat image of a target seat in a vehicle by an image acquisition device in the vehicle;

determining a current position parameter of the target seat based on a seat image of the target seat;

comparing the current position parameter of the target seat with the reference position parameter to obtain the position parameter variation of the target seat;

and calibrating pulse record values of a target motor corresponding to the target seat based on a pre-established position pulse model and the position parameter variation of the target seat, wherein the position pulse model is used for representing the relationship between the position parameter variation of the target seat and the pulse theoretical value of the target motor.

2. The method according to claim 1, wherein calibrating the pulse record value of the target motor corresponding to the target seat based on the pre-established position pulse model and the position parameter variation amount of the target seat includes:

determining a pulse theoretical value of the target motor based on the position pulse model and the position parameter variation of the target seat;

and updating the pulse record value to the pulse theoretical value under the condition that the difference value between the pulse theoretical value and the pulse record value is larger than a preset difference value.

3. The method of claim 2, wherein the target seat position parameter variation comprises a horizontal displacement of a track in the target seat; the target motor includes a first motor; the position pulse model comprises a first sub-model which is used for representing the relation between the horizontal displacement amount of the sliding rail in the target seat and the pulse theoretical value of the first motor;

the determining the pulse theoretical value of the target motor based on the position pulse model and the position parameter variation of the target seat comprises the following steps: and determining a pulse theoretical value of the first motor based on the horizontal displacement of the sliding rail in the target seat and the first sub-model.

4. A method according to claim 3, wherein the generation of the first sub-model comprises the steps of:

controlling a sliding rail in the target seat to move to a first limit position, setting a pulse recording value of the first motor as a first starting value, and shooting a first image;

controlling a sliding rail in the target seat to move to a second limit position, shooting a second image, and acquiring a current pulse record value of the first motor as a first end value;

determining a maximum horizontal displacement amount of a slide rail in the target seat based on the first image and the second image;

the first sub-model is determined based on a ratio between a maximum horizontal displacement of the slide rail and a first difference value, the first difference value being a difference value between the first end value and the first start value.

5. The method of claim 2, wherein the target seat position parameter variation comprises an angle variation of a backrest in the target seat; the target motor includes a second motor; the position pulse model comprises a second sub-model which is used for representing the corresponding relation between the angle change quantity of the backrest in the target seat and the pulse theoretical value of the second motor;

The determining the pulse theoretical value of the target motor based on the position pulse model and the position parameter variation of the target seat comprises the following steps: and determining a pulse theoretical value of the second motor based on the angle change amount of the backrest in the target seat and the second sub-model.

6. The method of claim 5, wherein the generating of the second sub-model comprises the steps of:

controlling the backrest in the target seat to rotate to a first limit angle, setting a pulse recording value of the second motor as a second starting value, and shooting a third image;

controlling a backrest in the target seat to rotate to a second limit angle, shooting a fourth image, and acquiring a current pulse record value of the second motor as a second end value;

determining a maximum amount of angular change of a backrest in the target seat based on the third image and the fourth image;

the second sub-model is determined based on a ratio between a maximum angle change of the backrest and a second difference between the second end value and the second start value.

7. The method according to any one of claims 2 to 5, wherein, in the case where the difference between the pulse theoretical value and the pulse recorded value is greater than a preset difference, after updating the pulse recorded value to the pulse theoretical value, further comprises:

Updating the value of the calibration times counter;

and sending out reminding information when the value updated by the calibration frequency counter is larger than a preset value, wherein the reminding information is used for reminding the target seat of faults.

8. A seat data alignment device, the device comprising:

the image acquisition module is used for acquiring a seat image of a target seat in the vehicle through an image acquisition device in the vehicle;

a position parameter acquisition module for determining a current position parameter of the target seat based on a seat image of the target seat;

the comparison module is used for comparing the current position parameter of the target seat with the reference position parameter to obtain the position parameter variation of the target seat;

and the seat data calibration module is used for calibrating pulse record values of the target motor corresponding to the target seat based on a pre-established position pulse model and the position parameter variation of the target seat, and the position pulse model is used for representing the relation between the position parameter variation of the target seat and the pulse theoretical value of the target motor.

9. A vehicle, characterized by comprising:

One or more processors;

a memory;

one or more applications, wherein one or more of the applications are stored in the memory and configured to be executed by one or more of the processors, the one or more applications configured to perform the method of any of claims 1-7.

10. A computer readable storage medium having stored therein computer program instructions which are callable by a processor to perform the method according to any one of claims 1-7.