CN117227591A - Automobile intelligent seat control method capable of self-adapting to human body parameters - Google Patents
Automobile intelligent seat control method capable of self-adapting to human body parameters Download PDFInfo
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Abstract
The invention relates to an automobile intelligent seat control method capable of self-adapting to human body parameters, which comprises the following steps: step 1: personnel identity information acquisition, specifically as follows: step 1.1: step 1.2 of fingerprint verification function of user: and step 2 of a user terminal connection verification function: human body parameter detection and configuration information generation are specifically as follows: step 2.1: acquisition and processing of human body parameters 2.2: step 3, automatically generating configuration information according to human body parameters: the seat configuration is loaded. The method mainly uses the distance sensor and the pressure sensor to realize generation and estimation of the configuration information of the passenger seat, avoids using the image sensor to improve the adaptability in different environments, drives the stepping motor according to different load conditions and three different modes, can reduce shake and noise generated when the motor starts, runs and stops, improves the man-machine relationship, and improves the user experience.
Description
Technical Field
The invention relates to a control method, in particular to an intelligent automobile seat control method capable of adapting to human parameters, and belongs to the technical field of vehicle control.
Background
Automotive seats carry drivers and other passengers on passenger vehicles. The trend of motorized and intelligent automobiles is increasingly strong nowadays, however, the traditional seat adjusting technology needs a driver to manually adjust and confirm, and the human body adaptability and the comfort degree are insufficient. The invention aims to develop a control method capable of detecting human body parameters and identity information and adaptively adjusting the automobile seat according to the human body parameters, and the automobile seat can be automatically adjusted according to the identity information or the body information of a driver, so that the driving comfort of the driver is improved, and better service is provided for the driving experience of the driver.
The system can be used as a sub-module of an ECU for a vehicle to provide a seat control function. The internet of vehicles devices are typically bus systems, with each subsystem being independent of the other. An embedded system often uses an embedded microprocessor as a main control chip, and on the core, communication peripherals can be used to communicate and interact with the upper layer system, and to communicate control signals to the execution mechanism. The embedded microprocessor has the advantages of low cost, low power consumption, low volume, modularization and the like. By means of the sensors installed in the cabin, occupant-related information can be obtained from the sensors, from which information the seat configuration information required by the occupant can be estimated, thereby providing configuration advice and use advice to the occupant.
Disclosure of Invention
Aiming at the defects existing in the prior practical application, the invention provides the automobile intelligent seat control method with the self-adaptive human body parameters, by the technology, the automobile seat can be automatically adjusted by detecting the human body parameters and the identity information, and the manual adjustment and the information display can be realized by an interactive program, so that the driving comfort of a driver is improved, and the automobile using experience of the driver is improved.
In order to achieve the above object, the technical scheme of the present invention is as follows: an intelligent automobile seat control method capable of self-adapting to human body parameters comprises the following steps:
step 1: personnel identity information acquisition, specifically as follows:
step 1.1: a fingerprint verification function of the user terminal,
step 1.2: the user end is connected with the verification function,
step 2: human body parameter detection and configuration information generation are specifically as follows:
step 2.1: the collection and the processing of the parameters of the human body,
step 2.2: configuration information is automatically generated according to human body parameters,
step 3: the seat configuration is loaded.
The user terminal fingerprint verification function described in the step 1.1 comprises the following steps:
step 1.1.1: according to the connection between the fingerprint identification module and the singlechip, a mode is set for a general input/output interface corresponding to the singlechip, the fingerprint identification module is initialized at the seat end, and handshaking is carried out according to the memory address corresponding to the fingerprint identification module and the memory address. When the singlechip acquires a vehicle unlocking signal from the vehicle bus, and the pressure sensor in the seat surface of the seat reaches a threshold value w After th Will send a control word to the fingerprint recognition module causing the fingerprint recognition module to attempt to read the fingerprint, at a subsequent t scan And stopping the fingerprint identification module from reading if no fingerprint information is input in seconds. When the read fingerprint information is matched with the fingerprint information stored in the fingerprint identification module, the fingerprint identification module sends the user identity token information t obtained by identification to the singlechip u . And the singlechip queries user configuration information stored in the singlechip according to the identity token information. The program of the singlechip maintains the one-to-one correspondence between the token information stored in the fingerprint identification module and the seat configuration information in the singlechip, so that the seat configuration information of a corresponding user can be obtained certainly through query operation. Step 3 is entered according to this configuration information.
Step 1.1.2: the user can enter the fingerprint information of the user by creating new configuration information in the user-side connection verification function of step 1.2. In this step, the mobile phone of the user will send a control word to the bluetooth adapter connected to the singlechip through bluetooth, and the singlechip will control the fingerprint identification module to begin to enter the fingerprint information of the user after receiving the control word. In the user's input process, the singlechip will detect the function of finger through fingerprint identification module, controls fingerprint identification module and reads user's fingerprint many times, ensures that the user lifts up the finger from fingerprint identification module and presses down once more. When the step is carried out, the Bluetooth adapter sends information to the mobile phone to prompt the user to change the angle and the direction of the finger placed on the fingerprint identification module, so that complete fingerprint information is obtained, and the identification rate in the future fingerprint verification and search process is improved. After the input is completed, the singlechip sends input completion information to the mobile phone of the user, prompts are carried out on an interface of the user equipment, meanwhile, the mobile phone of the user is required to send unique equipment identifier information, and the unique equipment identifier of the mobile phone of the user is used as user identity token information after a hash algorithm. The hash algorithm can avoid directly storing the unique device identifier of the user in the EEPROM of the singlechip, and the risk of potential privacy disclosure is avoided due to the irreversibility of the hash algorithm. Considering that the unique equipment identifier information of the user is long enough and the minimized collision risk is considered in design, the unique equipment identifier information is directly used as a key value of a hash function at the singlechip end, and no additional identification information is added.
The user terminal connection verification function described in step 1.2 includes the following steps:
step 1.2.1: and acquiring a Bluetooth adapter instance of the device on the mobile phone of the user, starting Bluetooth low-power-consumption device scanning through the Bluetooth adapter instance, and searching and selecting a Bluetooth adapter connected with the singlechip through the device name in a device list acquired by scanning. The scanning and connection processes of the Bluetooth equipment are set to the longest running time, so that the electricity consumption of the user equipment is avoided greatly. After the corresponding Bluetooth adapter is successfully found, the service provided in the universal attribute configuration file server on the Bluetooth adapter is traversed, and then the service and the service feature words for realizing communication are screened by traversing the feature words provided in each service. The mobile phone can realize the communication task with the singlechip through the service feature word.
Step 1.2.2: the user can remotely and manually adjust the front and back and pitching angles of the seat through the buttons at the mobile phone end. The single chip microcomputer can synchronize the position state of the seat and the presentation of the mobile phone end through the displacement sensor and the position recording function in the step 1.3, and the user is informed of the fact that the adjustment reaches limit through visual feedback. The function can also synchronize the presentation of the built-in adjusting deflector rod of the seat and the mobile phone end of the user.
Step 1.2.3: the user realizes the user management function through the mobile phone terminal. The function can send control words to the singlechip through the mobile phone, so that user configuration information stored at the singlechip and user identity information stored at the fingerprint identification module are added and deleted on the singlechip. When the interface is provided, the user side firstly sends control words to the singlechip to request the singlechip to send a user name list. The user may choose to delete a device in the list of device names and add the current device as new user information, step 1.1.2 is entered.
Step 1.2.4: the user can send the identification information to the singlechip through the mobile phone, so that the fingerprint identification step is skipped, and the step 3 is directly carried out to load the seat configuration information. The mobile phone end sends a storage control command to the singlechip end, and the existing user configuration file can be covered after the adjustment is completed in step 1.2.2.
The human body parameter detection and configuration information generation described in the step 2 comprises the following steps:
step 2.1: human body parameters are collected and processed, the weight and stature information of a user are estimated through pressure sensors arranged in a seat surface and a seat back, and when the surface where the sensors are placed is stressed, the resistance value of conductor metal on the strain gauge changes due to tension and compression. And outputting differential pressure signals, connecting the pressure signals to an analog-to-digital converter of the microcontroller, reducing jitter by a low-pass digital filter, and converting the output signals of the filter into quantifiable pressure values by linear arithmetic mapping. Through the ultrasonic distance sensor installed right above the seat, the height information of the driver can be detected through an ultrasonic echo method, the shake is reduced through a low-pass digital filter, the digital filter uses the same weight, from the function, the filter achieves the function of calculating the moving average of input signals, and the result is converted into the estimated upper body height of the driver through linear arithmetic mapping. The digital filters used are all finite-length response digital filters, so that the stability of the filters is ensured, the order of the digital filters is limited, the group delay brought by the filters is far smaller than the frequency regulated by passengers and the movement frequency of the passengers in the vehicle, and the digital filters can ensure that the output signals cannot cause the frequency aliasing phenomenon.
And 2.2, automatically generating configuration information according to human body parameters. The magnitude of the load upon actuation of the actuator can be estimated based on the driver's seat back and cushion pressures estimated from the sensor sample data. The microcontroller will estimate the tilt angle position coefficient and the horizontal unique position coefficient of the backrest based on the pressure values of the backrest and the seat cushion, with the aim of providing a reasonable seat position for the driver, with the assurance that the occupant has a sufficient view angle, so that the driver can comfortably operate the steering wheel. And adjusting the seat base according to the estimated upper body height of the passenger obtained by the ultrasonic distance sensor so that the sight line of the passenger is positioned in the middle of the windshield of the vehicle.
The seat configuration loading described in step 3 comprises the steps of:
step 3.1: and (3) selecting different modes to drive the stepping motor according to the information acquired by the sensor connected with the singlechip in the step 2.1 and the load estimated in the step 2.2. And when the load is the lightest, acquiring current angular displacement information theta of the stepping motor through a displacement sensor. Shaping the original pulse train control signal into a smoothly varying signal by a low pass filter, which is used as a rotation speed given signal omega * . The stepping motor is regarded as a two-phase synchronous motor, and the given rotation speed signal is converted into a voltage signal of a phase and a voltage signal of b phase by using dq conversion T (pθ) according to the rotation speed given signal and the angular displacement. In which the q phase is always set to 0, i.e. V q Voltage magnitude of d phase=0, rotation speed given signal ω * Positive correlation, i.e. V d ＝kω * Wherein the parameter k is the amplification factor of the driving circuit. At the moment, the stepping motor is smoothly operated, and the minimum noise and jitter in three modes are generated during operation, so that the comfort level of adjustment is improved. The method of implementing dq transformation to transform d-phase and q-phase phases into a-phase and b-phase is as follows:
V dq ＝T(pθ)V ab
where p is the pole pair number of the rotor, which parameter is uniquely determined by the structure of the stepper motor.
Step 3.2: according to the load size estimated in step 2.2, when the load is middle or the like, one pulse signal is performed in multiple steps. The voltages of the A phase and the B phase change according to the sine rule according to the step number, and the signals of the A phase and the B phase always differ by pi/2 angle. In this case, the singlechip is required to synchronously increase the output frequency f of the control pulse signal c To achieve the same rotational speed. To reduce noise during start-up and stop-up of the motor, the output frequency of the pulse signal is determined by the hyperbolic tangent function f during start-up and stop-up c (t)＝tanh(mt-t 0 ) To reduce the noise level at start-up and stop, wherein the offset time t 0 The initial output frequency of the motor during starting is determined, and the scaling factor m determines the transition time of starting and stopping, and the two parameters can be determined through experiments. At the moment, the motor can drive a larger load, and the operation noise can be effectively reduced through multi-step adjustment. The voltages of the a phase and the b phase which are regulated in multiple steps are as follows, wherein V is the maximum output voltage value of the driving circuit, and l is the mechanical angular displacement which is executed in multiple steps after receiving a pulse signal.
Step 3.3: according to the load size estimated in step 2.2, when the load is large, a general stepping motor control mode is started. At this time, the single-phase power supply and the two-phase power supply functions are alternately used. The angle through which the motor rotates after a single pulse is reduced, so that the rotation angle of the motor is controlled while larger torque is output, and the position accuracy of seat control is improved. In the mode, the starting process and the stopping process of the motor both use dynamically-changed output frequency, and the output frequency is smoothly transited by using a hyperbolic tangent function in the same way as in the step 3.2, so that the frustration feeling when the motor is started and stopped is reduced.
Compared with the prior art and the solution, the invention has the following advantages:
1. the invention uses the pressure sensor integrated in the seat and the distance sensor integrated in the roof to realize the estimation of the pressure of the seat back and the cushion for the passenger and the estimation of the upper half height of the passenger, thereby avoiding the use of an image sensor which needs high data processing capacity and is easily influenced by illumination conditions, reducing the calculation force requirement of a microprocessor and effectively controlling the cost;
2. the invention uses the stepping motor as the position controller, the stepping motor can realize the open-loop position control function, and compared with a servo motion control system, the invention can realize the position adjustment function which is smooth enough and high-precision in the application scene without a current sensor. The number of components is reduced, so that the system composition can be simplified, and the failure rate of the system is reduced;
3. according to the invention, the configuration file of the seat can be automatically generated through the distance sensor and the pressure sensor, and the automobile seat can be adjusted to a better state without participation of a user. The user can also continue to manually perfect the adjustment of the configuration after the adjustment is completed;
4. according to the invention, a proper motor driving mode can be automatically selected according to the load size information estimated by the sensor, so that the noise and the shake of a motor control system are effectively reduced while the seat adjusting speed is met, the man-machine relationship is improved, and the user experience is improved.
Drawings
FIG. 1 is a system block diagram of the present invention;
fig. 2 is a flow chart of the operation of the present invention.
Detailed Description
In order to enhance the understanding of the present invention, the present embodiment will be described in detail with reference to the accompanying drawings.
Example 1
The embodiment is based on an intentional semiconductor STM32G474RE as an embedded microprocessor main control chip, the user equipment is Nova 8SE, and the system kernel version is 4.9.148
An automobile intelligent seat control method capable of self-adapting to human body parameters, comprising the following steps:
step 1: personnel identity information acquisition, specifically as follows:
step 1.1: user terminal fingerprint verification function
Step 1.2: user connection verification function
Step 2: human body parameter detection and configuration information generation are specifically as follows:
step 2.1: acquisition and processing of human body parameters
Step 2.2: automatic generation of configuration information based on human body parameters
Step 3: seat configuration loading
The user terminal fingerprint verification function described in step 1.1 comprises the following steps:
step 1.1.1: according to the connection between the fingerprint identification module and the singlechip, a mode is set for a general input/output interface corresponding to the singlechip, the fingerprint identification module is initialized at the seat end, and handshaking is carried out according to the memory address corresponding to the fingerprint identification module and the memory address. When the singlechip acquires a vehicle unlocking signal from the vehicle bus, and the pressure sensor in the seat surface of the seat reaches a threshold value w th Thereafter, a control word is sent to the fingerprint recognition module to enable the fingerprint recognition module to attempt to read the fingerprint, and then t is scan And stopping the fingerprint identification module from reading if no fingerprint information is input in seconds. When the read fingerprint information is matched with the fingerprint information stored in the fingerprint identification module, the fingerprint identification module sends the user identity token information t obtained by identification to the singlechip u . And the singlechip queries user configuration information stored in the singlechip according to the identity token information. The program of the singlechip maintains the one-to-one correspondence between the token information stored in the fingerprint identification module and the seat configuration information in the singlechip, so that the seat configuration information of a corresponding user can be obtained certainly through query operation. Step 3 is entered according to this configuration information.
Step 1.1.2: the user can enter the fingerprint information of the user by creating new configuration information in the user-side connection verification function of step 1.2. In this step, the mobile phone of the user will send a control word to the bluetooth adapter connected to the singlechip through bluetooth, and the singlechip will control the fingerprint identification module to begin to enter the fingerprint information of the user after receiving the control word. In the user's input process, the singlechip will detect the function of finger through fingerprint identification module, controls fingerprint identification module and reads user's fingerprint many times, ensures that the user lifts up the finger from fingerprint identification module and presses down once more. When the step is carried out, the Bluetooth adapter sends information to the mobile phone to prompt the user to change the angle and the direction of the finger placed on the fingerprint identification module, so that complete fingerprint information is obtained, and the identification rate in the future fingerprint verification and search process is improved. After the input is completed, the singlechip sends input completion information to the mobile phone of the user, prompts are carried out on an interface of the user equipment, meanwhile, the mobile phone of the user is required to send unique equipment identifier information, and the unique equipment identifier of the mobile phone of the user is used as user identity token information after a hash algorithm. The hash algorithm can avoid directly storing the unique device identifier of the user in the EEPROM of the singlechip, and the risk of potential privacy disclosure is avoided due to the irreversibility of the hash algorithm. Considering that the unique equipment identifier information of the user is long enough and the minimized collision risk is considered in design, the unique equipment identifier information is directly used as a key value of a hash function at the singlechip end, and no additional identification information is added.
The user terminal connection verification function described in step 1.2 includes the following steps:
step 1.2.1: and acquiring a Bluetooth adapter instance of the device on the mobile phone of the user, starting Bluetooth low-power-consumption device scanning through the Bluetooth adapter instance, and searching and selecting a Bluetooth adapter connected with the singlechip through the device name in a device list acquired by scanning. The scanning and connection processes of the Bluetooth equipment are set to the longest running time, so that the electricity consumption of the user equipment is avoided greatly. After the corresponding Bluetooth adapter is successfully found, the service provided in the universal attribute configuration file server on the Bluetooth adapter is traversed, and then the service and the service feature words for realizing communication are screened by traversing the feature words provided in each service. The mobile phone can realize the communication task with the singlechip through the service feature word.
Step 1.2.2: the user can remotely and manually adjust the front and back and pitching angles of the seat through the buttons at the mobile phone end. The single chip microcomputer can synchronize the position state of the seat and the presentation of the mobile phone end through the displacement sensor and the position recording function in the step 1.3, and the user is informed of the fact that the adjustment reaches limit through visual feedback. The function can also synchronize the presentation of the built-in adjusting deflector rod of the seat and the mobile phone end of the user.
Step 1.2.3: the user realizes the user management function through the mobile phone terminal. The function can send control words to the singlechip through the mobile phone, so that user configuration information stored at the singlechip and user identity information stored at the fingerprint identification module are added and deleted on the singlechip. When the interface is provided, the user side firstly sends control words to the singlechip to request the singlechip to send a user name list. The user may choose to delete a device in the list of device names and add the current device as new user information, step 1.1.2 is entered.
Step 1.2.4: the user can send the identification information to the singlechip through the mobile phone, so that the fingerprint identification step is skipped, and the step 3 is directly carried out to load the seat configuration information. The mobile phone end sends a storage control command to the singlechip end, and the existing user configuration file can be covered after the adjustment is completed in step 1.2.2.
The human body parameter detection and configuration information generation described in the step 2 comprises the following steps:
step 2.1: human body parameters are collected and processed, the weight and stature information of a user are estimated through pressure sensors arranged in a seat surface and a seat back, and when the surface where the sensors are placed is stressed, the resistance value of conductor metal on the strain gauge changes due to tension and compression. And outputting differential pressure signals, connecting the pressure signals to an analog-to-digital converter of the microcontroller, reducing jitter by a low-pass digital filter, and converting the output signals of the filter into quantifiable pressure values by linear arithmetic mapping. Through the ultrasonic distance sensor installed right above the seat, the height information of the driver can be detected through an ultrasonic echo method, the shake is reduced through a low-pass digital filter, the digital filter uses the same weight, from the function, the filter achieves the function of calculating the moving average of input signals, and the result is converted into the estimated upper body height of the driver through linear arithmetic mapping. The digital filters used are all finite-length response digital filters, so that the stability of the filters is ensured, the order of the digital filters is limited, the group delay brought by the filters is far smaller than the frequency regulated by passengers and the movement frequency of the passengers in the vehicle, and the digital filters can ensure that the output signals cannot cause the frequency aliasing phenomenon.
And 2.2, automatically generating configuration information according to human body parameters. The magnitude of the load upon actuation of the actuator can be estimated based on the driver's seat back and cushion pressures estimated from the sensor sample data. The microcontroller will estimate the tilt angle position coefficient and the horizontal unique position coefficient of the backrest based on the pressure values of the backrest and the seat cushion, with the aim of providing a reasonable seat position for the driver, with the assurance that the occupant has a sufficient view angle, so that the driver can comfortably operate the steering wheel. And adjusting the seat base according to the estimated upper body height of the passenger obtained by the ultrasonic distance sensor so that the sight line of the passenger is positioned in the middle of the windshield of the vehicle.
The seat configuration loading described in step 3 comprises the steps of:
step 3.1: and (3) selecting different modes to drive the stepping motor according to the information acquired by the sensor connected with the singlechip in the step 2.1 and the load estimated in the step 2.2. And when the load is the lightest, acquiring current angular displacement information theta of the stepping motor through a displacement sensor. Shaping the original pulse train control signal into a smoothly varying signal by a low pass filter, which is used as a rotation speed given signal omega * . The stepping motor is regarded as a two-phase synchronous motor, and the given rotation speed signal is converted into a voltage signal of a phase and a voltage signal of b phase by using dq conversion T (pθ) according to the rotation speed given signal and the angular displacement. In which the q phase is always set to 0, i.e. V q Voltage magnitude of d phase=0, rotation speed given signal ω * Positive correlation, i.e. V d ＝kω * Wherein the parameter k is the amplification factor of the driving circuit. At the moment, the stepping motor is smoothly operated, and the minimum noise and jitter in three modes are generated during operation, so that the comfort level of adjustment is improved. Implementing dq transformation transforms d-phase and q-phase phases into a-phaseThe method of phase b is as follows:
V dq ＝T(pθ)V ab
where p is the pole pair number of the rotor, which parameter is uniquely determined by the structure of the stepper motor.
Step 3.2: according to the load size estimated in step 2.2, when the load is middle or the like, one pulse signal is performed in multiple steps. The voltages of the A phase and the B phase change according to the sine rule according to the step number, and the signals of the A phase and the B phase always differ by pi/2 angle. In this case, the singlechip is required to synchronously increase the output frequency f of the control pulse signal c To achieve the same rotational speed. To reduce noise during start-up and stop-up of the motor, the output frequency of the pulse signal is determined by the hyperbolic tangent function f during start-up and stop-up c (t)＝tanh(mt-t 0 ) To reduce the noise level at start-up and stop, wherein the offset time t 0 The initial output frequency of the motor during starting is determined, and the scaling factor m determines the transition time of starting and stopping, and the two parameters can be determined through experiments. At the moment, the motor can drive a larger load, and the operation noise can be effectively reduced through multi-step adjustment. The voltages of the a phase and the b phase which are regulated in multiple steps are as follows, wherein V is the maximum output voltage value of the driving circuit, and l is the mechanical angular displacement which is executed in multiple steps after receiving a pulse signal.
Step 3.3: according to the load size estimated in step 2.2, when the load is large, a general stepping motor control mode is started. At this time, the single-phase power supply and the two-phase power supply functions are alternately used. The angle through which the motor rotates after a single pulse is reduced, so that the rotation angle of the motor is controlled while larger torque is output, and the position accuracy of seat control is improved. In the mode, the starting process and the stopping process of the motor both use dynamically-changed output frequency, and the output frequency is smoothly transited by using a hyperbolic tangent function in the same way as in the step 3.2, so that the frustration feeling when the motor is started and stopped is reduced.
It should be noted that the above embodiments are not intended to limit the scope of the present invention, and equivalent changes or substitutions made on the basis of the above technical solutions fall within the scope of the present invention as defined in the claims.
Claims (5)
1. An intelligent automobile seat control method capable of self-adapting to human body parameters is characterized by comprising the following steps of:
step 1: personnel identity information acquisition, specifically as follows:
step 1.1: a fingerprint verification function of the user terminal,
step 1.2: the user end is connected with the verification function,
step 2: human body parameter detection and configuration information generation are specifically as follows:
step 2.1: acquisition and processing of human body parameters
Step 2.2: automatic generation of configuration information based on human body parameters
Step 3: the seat configuration is loaded.
2. The method for controlling an intelligent automobile seat according to claim 1, wherein the user-side fingerprint verification function in step 1.1 comprises the steps of:
step 1.1.1: according to the connection between the fingerprint identification module and the singlechip, a mode is set for a general input/output interface corresponding to the singlechip, the fingerprint identification module is initialized at the seat end, and handshaking is carried out according to a memory address corresponding to the fingerprint identification module, when the singlechip acquires a vehicle unlocking signal from a vehicle bus, and a pressure sensor in the seat surface of the seat reaches a threshold value w th Thereafter, a control word is sent to the fingerprint recognition module to enable the fingerprint recognition module to attempt to read the fingerprint, and then t is scan If no fingerprint information is input in second, stopping reading by the fingerprint identification module, and when the read fingerprint information and the fingerprint identification module are in secondAfter the fingerprint information stored in the part is matched, the fingerprint identification module sends the user identity token information t obtained by identification to the singlechip u The singlechip queries the user configuration information stored in the singlechip according to the identity token information, the program of the singlechip maintains the one-to-one correspondence between the token information stored in the fingerprint identification module and the seat configuration information in the singlechip, the query operation certainly obtains the seat configuration information of the corresponding user, the step 3 is carried out according to the configuration information,
step 1.1.2: in the user terminal connection verification function of step 1.2, the user inputs the fingerprint information of the user by creating new configuration information, in the step, the mobile phone of the user sends a control word to a Bluetooth adapter connected to a singlechip through Bluetooth, the singlechip receives the control word and then controls the fingerprint identification module to start inputting the fingerprint information of the user, in the input process of the user, the singlechip detects the function of the finger through the fingerprint identification module, the fingerprint identification module is controlled to read the fingerprint of the user for a plurality of times, the user is ensured to press down again after lifting the finger from the fingerprint identification module, in the step, simultaneously, the Bluetooth adapter sends information to the singlechip to prompt the user to change the angle and the direction in which the finger is placed in the fingerprint identification module, so that the comparatively complete fingerprint information is obtained, thereby improving the recognition rate in future fingerprint verification and search processes, after the input is completed, the singlechip sends input completion information to the mobile phone of the user, prompts on the interface of user equipment, meanwhile, the unique equipment identifier information is required to be sent by the mobile phone of the user, the unique equipment identifier of the user is used as the user information after the hash algorithm is subjected to a hash algorithm, the unique equipment identifier of the user is directly stored in the fingerprint identification module, the hash algorithm is directly in the fingerprint identification module, the unique identifier of the user identifier is prevented from being directly stored in the hash function, the hash algorithm is not required to be directly in the hash function, and the unique identifier is not required to be directly leaked by the user identifier, and the unique identifier is not required to be directly designed, and the risk is not required to be leaked, and due to the fact.
3. The method for controlling an intelligent automobile seat according to claim 1, wherein the user terminal connection verification function in step 1.2 comprises the steps of:
step 1.2.1: acquiring Bluetooth adapter examples of equipment on a mobile phone of a user, starting Bluetooth low-power equipment scanning through the examples, searching and selecting Bluetooth adapters connected with a singlechip through equipment names in an equipment list obtained by scanning, setting the longest running time for the scanning and connection flow of the Bluetooth equipment, avoiding consuming a great amount of electricity of the user equipment, traversing services provided in a general attribute configuration file server on the Bluetooth adapter after successfully searching the corresponding Bluetooth adapter, traversing feature words provided in each service to screen service and service feature words for realizing communication, realizing communication tasks with the singlechip through the service feature words by the mobile phone,
step 1.2.2: the user remotely and manually adjusts the front and back and pitching angles of the seat through a button at the mobile phone end, the singlechip synchronizes the position state of the seat and the presentation of the mobile phone end through a displacement sensor and a position recording function in the step 1.3, and informs the user that the adjustment is limited through visual feedback, and the function also synchronizes the presentation of an adjusting deflector rod arranged in the seat and the mobile phone end of the user, and the step 1.2.3: the user realizes the user management function through the mobile phone terminal, the function sends control words to the singlechip terminal through the mobile phone, thereby adding and deleting user configuration information stored in the singlechip terminal and user identity information stored in the fingerprint identification module on the singlechip, when in the interface, the user terminal firstly sends the control words to the singlechip, the singlechip is required to send a user name list, the user selects to delete equipment in the equipment name list, adds the current equipment as new user information, and enters the step 1.1.2,
step 1.2.4: the user sends identification information to the singlechip through the mobile phone, so that the fingerprint identification step is skipped, the step 3 is directly carried out to load the seat configuration information, the mobile phone end sends a storage control command to the singlechip end, and the existing user configuration file is covered after the adjustment is completed in step 1.2.2.
4. The method for controlling an intelligent automobile seat according to claim 1, wherein the human parameter detection and configuration information generation in step 2 comprises the steps of:
step 2.1: the acquisition and processing of human parameters, the weight and stature information of a user are estimated through pressure sensors arranged in a seat surface and a seat back, a strain type pressure sensor is used, when the surface on which the sensor is placed is stressed, conductor metal on a strain gauge is changed in resistance value due to tension and compression, so that differential pressure signals are output, after the pressure signals are connected into an analog-digital converter of a microcontroller, jitter is reduced through a low-pass digital filter, then the output signals of the filter are converted into quantifiable pressure values through a linear arithmetic mapping, jitter is reduced through an ultrasonic distance sensor arranged right above the seat, the height information of a driver is detected through an ultrasonic echo method, the digital filter uses the same weight, the filter achieves the function of calculating sliding average of the input signals, the result is converted into the estimated upper half height of the driver through the linear arithmetic mapping, the digital filter is used as a finite length response digital filter, the stability of the filter is ensured, the digital filter is limited, the frequency of the digital filter is far away from the frequency of the passenger is regulated, the frequency of the digital filter is far away from the frequency of the passenger is far from the frequency of the passenger, the frequency is far-reaching the frequency aliasing phenomenon caused by the frequency regulation of the digital filter,
and 2.2, automatically generating configuration information according to human body parameters, estimating the load of an actuating mechanism according to the pressure of a driver on a seat back and a seat cushion, which are estimated by sensor sampling data, wherein a microcontroller estimates the inclination angle position coefficient and the horizontal unique position coefficient of the seat back according to the pressure values of the seat back and the seat cushion, and aims to provide a reasonable seat position for the driver on the premise of ensuring that the passenger has a sufficient view angle, so that the driver can comfortably operate a steering wheel, and adjusting a seat base according to the estimated upper half body height value of the passenger, which is obtained by an ultrasonic distance sensor, so that the sight line of the passenger is positioned in the middle of a windshield of a vehicle.
5. The method for controlling an intelligent vehicle seat according to claim 1, wherein the loading of the seat configuration in step 3 comprises the steps of:
step 3.1: according to the information obtained by the sensor connected with the singlechip in the step 2.1 and the load estimated in the step 2.2, selecting different modes to drive the stepping motor, when the load is the lightest, obtaining the current angular displacement information theta of the stepping motor by the displacement sensor, shaping the original pulse train control signal into a smoothly-changed signal by a low-pass filter, wherein the signal is taken as a rotating speed given signal omega * The stepping motor is regarded as a two-phase synchronous motor, and the given rotation speed signal is converted into voltage signals of a phase and b phase by using dq conversion T (pθ) according to the rotation speed given signal and the angular displacement, wherein q phase is always set to 0, namely V q Voltage magnitude of d phase=0, rotation speed given signal ω * Positive correlation, i.e. V d ＝kω * The parameter k is the amplification factor of the driving circuit, at this time, the stepping motor is smoothly operated, and the stepping motor has minimum noise and jitter in three modes during operation, so that the comfort level of adjustment is improved, and the method for converting d phase and q phase signals into a phase and b phase by dq conversion is realized as follows:
V dq ＝T(pθ)V ab
where p is the pole pair number of the rotor, which parameter is uniquely determined by the structure of the stepper motor,
step 3.2: according to the load size estimated in the step 2.2, when the load is middle or the like, a pulse signal is divided into multiple steps to be executed, the voltages of A phase and B phase are changed according to the sine rule of the steps, and the signals of the A phase and the B phase are always different by pi/2 angle, in this case, the singlechip is required to synchronously increase the output frequency f of the control pulse signal c To achieve the same rotation speed, pulse signals for reducing noise during starting and stopping of the motorThe output frequency will be as a hyperbolic tangent function f at start-up and stop c (t)＝tanh(mt-t 0 ) To reduce the noise level at start-up and stop, wherein the offset time t 0 Determining an initial output frequency at which the motor is started, the scaling factor m determining a transition time between start-up and stop-up, the two parameters being determined experimentally, the motor will provide a greater output torque and have less operating noise than a single step adjustment, the multi-step adjustment of the voltages of the a-phase and b-phase being as follows, where V is the maximum output voltage value of the drive circuit, l is the mechanical angular displacement performed in multiple steps after receiving a pulse signal,
step 3.3: according to the load size estimated in the step 2.2, when the load is large, a stepping motor control mode is started, at the moment, single-phase power supply and double-phase power supply functions are alternately used, the angle through which the motor rotates after a single pulse is reduced, and therefore the rotation angle of the motor is controlled while large torque is output, and the position accuracy of seat control is improved.
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