Method and apparatus for state based control of active platforms
Embodiments related to systems and methods for controlling an active vehicle seat are described. In some embodiments, the active vehicle seat is controlled based at least partly on internal sensor information, external sensor information, and operator input from a user interface.
1. A method for controlling one or more actuators of an active seat suspension, the one or more actuators arranged to actively suspend a seat in a vehicle, the method comprising:
determining an orientation of the seat;
determining a limit of motion of the seat based at least in part on the orientation of the seat to avoid a collision and/or an interference with another object in the vehicle;
determining a command signal based at least in part on the determined limit of motion;
providing the command signal to the one or more actuators of the active seat suspension;
operating the one or more actuators in accordance with the command signal.
2. The method of claim 1 , further comprising:
determining a position of one or more items contained within a passenger compartment of the vehicle, and wherein the command signal is determined based at least in part on the position of the one or more items.
3. The method of claim 2 , further comprising receiving information from an external sensor, and wherein the position of the one or more items is determined based in part on the received information.
4. The method of claim 3 , wherein the one or more items includes at least one of: a steering wheel and a pedal.
5. The method of claim 3 , wherein the external sensor is a three dimensional scanner, and wherein the method further comprises creating a map of at least a portion of the passenger compartment, wherein the control signal is determined based at least partly on the map.
6. The method of claim 5 , wherein the three dimensional scanner is one of an ultrasonic sensor, stereoscopic camera, range camera, and light detecting and ranging (LIDAR) device.
7. The method of claim 2 , wherein the one or more items includes an occupant of another seat of the vehicle.
8. The method of claim 1 , further comprising detecting a configuration of the seat, wherein the command signal is determined based at least in part on the determined configuration.
9. The method of claim 1 , further comprising detecting at least one of:
a position of an armrest, a position of a footrest, a position of a headrest, and a position of a desk relative to the seat, and wherein the command signal is determined based at least in part on the at least one of: the position of an armrest, the position of a footrest, the position of a headrest, and the position of a desk relative to the seat.
10. The method of claim 1 , further comprising detecting a status of a seat massager of the seat, and wherein the command signal is determined based on the status of the seat massager.
11. The method of claim 1 , further comprising detecting an angle of reclination between a seat bottom and a seat back of the seat, wherein the command signal is determined based on the angle of reclination.
12. The method of claim 1 , further comprising determining at least one of:
a height of an occupant of the seat, a weight of the occupant of the seat, and a weight distribution of the occupant of the seat; and wherein the command signal is determined based at least in part on the at least one of: the height of the occupant of the seat, the weight of the occupant of the seat, and the weight distribution of the occupant of the seat.
13. The method of claim 1 , further comprising determining a status of at least one of:
an airbag, a seatbelt, and another seat of the vehicle, wherein the command signal is determined based on the determined status.
14. The method of claim 1 , further comprising receiving operator input indicating one or more operational modes from a user interface, wherein the command signal is determined based at least in part on the received operator input.
15. The method of claim 1 , further comprising detecting a position of the seat along a first axis and a second axis within a passenger compartment of the vehicle, wherein the first axis is orthogonal to the second axis, and wherein the command signal is determined based at least in part on the detected position of the seat.
16. The method of claim 15 , further comprising:
calculating an axes transformation based at least in part on the orientation of the seat or the position of the seat; and wherein the command signal is determined based at least partly on the axes transformation.
17. The method of claim 1 , wherein the limit of motion avoids the collision and/or the interference between the seat and the other object in the vehicle.
18. The method of claim 1 , wherein the limit of motion avoids the collision and/or the interference between an occupant of the seat and the other object in the vehicle.
19. The method of claim 1 , wherein the other object in the vehicle is one of the following: a dashboard, a pillar, a different seat, a steering wheel, a vehicle occupant, or a cargo item.
20. A system for actively suspending a seat in a vehicle, the system comprising:
a seat suspension including at least one actuator arranged to move the seat relative to the vehicle;
at least one orientation sensor constructed and arranged to output orientation information representative of an orientation of the seat relative to at least one of the vehicle and the base state of the seat;
a control unit constructed and arranged to receive information from the at least one orientation sensor, to determine a limit of motion of the seat based at least in part on the received information to avoid a collision and/or an interference with another object in the vehicle, to determine a command signal based at least in part on the determined limit of motion, and to provide the command signal to the at least one actuator of the seat suspension.
21. The system of claim 20 , wherein the limit of motion avoids the collision and/or the interference between the seat and the other object in the vehicle.
22. The system of claim 20 , wherein the limit of motion avoids the collision and/or the interference between an occupant of the seat and the other object in the vehicle.
23. The system of claim 20 , wherein the other object in the vehicle is one of the following: a dashboard, a pillar, a different seat, a steering wheel, a vehicle occupant, or a cargo item.
24. A method for controlling one or more actuators of an active seat suspension, the one or more actuators arranged to actively suspend a seat in a vehicle, the method comprising:
controlling the one or more actuators of the active seat suspension based at least in part on a control parameter;
detecting a change of a state of the seat;
in response to detecting the change of the state, modifying a value of the control parameter to generate an adjusted control parameter to avoid a collision and/or an interference with another object in the vehicle; and
controlling the one or more actuators based at least in part on the adjusted control parameter.
25. The method of claim 24 , wherein the state of the seat is an orientation of the seat.
26. The method of claim 24 , wherein the adjusted control parameter avoids the collision and/or the interference between the seat and the other object in the vehicle.
27. The method of claim 24 , wherein the adjusted control parameter avoids the collision and/or the interference between an occupant of the seat and the other object in the vehicle.
28. The method of claim 24 , wherein the other object in the vehicle is one of the following: a dashboard, a pillar, a different seat, a steering wheel, a vehicle occupant, or a cargo item.