Control device, control method, and program

Abstract

To perform a clear information transmission to a vehicle occupant through vibrations of vibration devices mounted on vehicle driving controls while reducing costs.SOLUTION: A control device is intended to control vibrations generated by a vibration device mounted on vehicle driving controls. The control device includes a control part that lowers vibration effect of vibration whose priority is low among a plurality of kinds of vibrations, on the basis of priority defined with respect to the plurality of kinds of vibrations.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device, a control method, and a program. [Background technology]

[0002] Conventionally, there are known technologies for transmitting information to the occupants of a vehicle by vibrating a vibration device mounted on the vehicle's control panel. For example, Patent Document 1 discloses a technology for transmitting navigation information to the occupants of a vehicle by driving a plurality of actuators included in the vehicle's steering mechanism. Patent Document 2 discloses a technology for transmitting information indicating a left or right turn to the occupants of a vehicle by vibrating a left-side vibrator or a right-side vibrator located on the vehicle's steering wheel. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] U.S. Patent No. 9623907 [Patent Document 2] U.S. Patent No. 10286922 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] However, the technology described in Patent Document 1 requires multiple actuators for implementation, making it costly. On the other hand, the technology described in Patent Document 2 does not allow for clear communication of information to the vehicle occupants because, even if only the left or right vibrator is driven, the vibration actually propagates to the other side. [Means for solving the problem]

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a control device, a control method, and a program that can clearly transmit information to a vehicle occupant through vibration of a vibration device mounted on a vehicle operation element while suppressing costs.

[0006] In order to solve the above problems, the control device according to the present invention employs the following configuration. That is, the control device according to the present invention is a control device for controlling vibration generated by a vibration device mounted on a vehicle operation element, and based on priorities defined for a plurality of types of vibrations, among the plurality of types of vibrations, a control unit is provided that reduces the vibration effect of vibrations with a low priority. With the above configuration, it is possible to clearly transmit information to a vehicle occupant through vibration of a vibration device mounted on a vehicle operation element while suppressing costs.

[0007] The control unit may reduce the vibration effect of the vibration by applying a frequency filter that cancels a part or all of the frequency of the vibration for a predetermined period with respect to the vibration with a low priority.

[0008] The control unit may reduce the vibration effect of the vibration by reducing the vibration intensity of the vibration for a predetermined period with respect to the vibration with a low priority.

[0009] The plurality of types of vibrations may include at least one of vibrations for driving support of the vehicle, vibrations for providing information to the vehicle, and vibrations for providing entertainment to the vehicle.

[0010] The control device according to the present invention can clearly transmit information to a vehicle occupant through vibration of a vibration device mounted on a vehicle operation element while suppressing costs.

Brief Description of the Drawings

[0011] [Figure 1]This diagram schematically shows the interior of a vehicle equipped with a steering wheel switch that incorporates vibration devices VD1 and VD2. [Figure 2] This figure shows an exemplary configuration of a system including a control device 100. [Figure 3] This is a series of graphs illustrating the contents of vibration measurement data 130A and vibration profile 130B. [Figure 4] This graph illustrates the effect of setting the amplitude ratio between the amplitude of vibration device VD1 and the amplitude of vibration device VD2. [Figure 5] This graph illustrates the effect of setting the frequencies of vibration devices VD1 and VD2. [Figure 6] This figure shows an example of the use of the control device 100 for driver assistance. [Figure 7] This figure shows another example of the use of the control device 100 for driver assistance. [Figure 8] This flowchart shows an example of the processing flow performed by the control device 100. [Figure 9] This figure shows an example of a method for transmitting vibration direction using vibration devices VD1 and VD2. [Figure 10] This figure shows another example of a method for transmitting vibration direction using vibration devices VD1 and VD2. [Figure 11] This figure shows an example of a method for mediating steering vibration. [Figure 12] This figure shows another example of a method for mediating steering vibration. [Modes for carrying out the invention]

[0012] The present invention will be described below based on preferred embodiments.

[0013] Figure 1 is a schematic diagram showing the interior of a vehicle's cabin equipped with a steering wheel SW containing vibration devices VD1 and VD2. Figure 2 is a diagram showing an exemplary configuration of a system including a control device 100 that controls the vibration devices.

[0014] Vehicle M is equipped with an instrument panel 11, a driver's seat DS, a passenger seat AS, a steering wheel SW, etc. in the passenger compartment. Vehicle M is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its power source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. Figure 1 shows an example where vehicle M is a four-wheeled vehicle.

[0015] The steering wheel switch is equipped with a sensor that detects the amount of operation or whether or not it is being operated, and the detection result is output to the driver assistance ECU 10 and the steering device 20. The steering wheel switch does not necessarily have to be ring-shaped and may be an irregularly shaped steering wheel.

[0016] Furthermore, vibration devices VD1 and VD2 are mounted on the left and right sides of the steering wheel switch. Each vibration device VD1 and VD2 has a built-in motor and, upon receiving a regenerative signal provided by the control device 100 and amplified by amplifiers Amp1 and Amp2, operates the motor according to the received regenerative signal, generating vibration on the steering wheel switch. Amplifiers Amp1 and Amp2 are connected to vibration devices VD1 and VD2, respectively, via cable reels. The motors built into vibration devices VD1 and VD2 may be normal motors with no bias in the center of gravity, or eccentric motors with a bias in the center of gravity. As shown in Figure 1, in this embodiment, vibration device VD1 is installed on the left side of the steering wheel switch to transmit vibration to the driver's left hand gripping the steering wheel switch, while vibration device VD2 is installed on the right side of the steering wheel switch to transmit vibration to the driver's right hand gripping the steering wheel switch.

[0017] The steering system 20 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies force to a rack and pinion mechanism to change the direction of the steering wheels. The steering ECU drives the electric motor to change the direction of the steering wheels according to information input from the driver assistance ECU 10 or from the steering wheel SW.

[0018] A steering sensor group 30 is attached to the steering wheel switch. The steering sensor group 30 includes, for example, a steering grip sensor and a vibration displacement sensor. The steering grip sensor is implemented by a capacitive sensor or the like and outputs a signal to the driver assistance ECU 10 that can detect whether or not the driver is gripping the steering wheel switch (meaning that it is in contact with the steering wheel in a state where force can be applied). The vibration displacement sensor measures the displacement [cm] of vibration generated at each position (point) of the steering wheel switch as vibration intensity and outputs the measured vibration intensity to the control device 100. In this case, the measured vibration intensity may be output directly to the control device 100 without going through the driver assistance ECU 10.

[0019] The vehicle sensor group 40 includes an image sensor that uses a solid-state image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) to capture images of the surrounding conditions of the vehicle M, a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around the vertical axis, and an orientation sensor that detects the orientation of the vehicle M. The driver assistance ECU 10 executes an Advanced Driver Assistance System (ADAS) for the driver based on the detection results from the vehicle sensor group 40. ADAS includes, for example, a Lane Departure Warning (LDW) that warns of the vehicle M deviating from its lane. As will be described later, as an example, the driver assistance ECU 10 executes ADAS by generating vibrations from vibration devices VD1 and VD2 via the control device 100.

[0020] [Control device] The control device 100 includes, for example, a setting unit 110, a control unit 120, and a storage unit 130. The setting unit 110 and the control unit 120 are each implemented by a hardware processor, such as a CPU (Central Processing Unit), executing a program (software). Some or all of these components may be implemented by hardware (including circuitry) such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), or SOC (System On Chip), or by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device with a non-transient storage medium) such as the HDD or flash memory of the control device 100, or it may be stored in a removable storage medium such as a DVD or CD-ROM and installed in the HDD or flash memory of the control device 100 when the storage medium (non-transient storage medium) is mounted on a drive device.

[0021] The storage unit 130 is implemented by a storage device such as an HDD, flash memory, or RAM (Random Access Memory). The storage unit 130 stores, for example, vibration measurement data 130A and vibration profile 130B. The vibration measurement data 130A is data indicating the vibration intensity at a predetermined point P of the steering wheel SW, measured by a vibration displacement sensor when the vibration device VD1 vibrates. In this embodiment, the predetermined point P represents the position of the steering wheel SW that the driver of the vehicle M is generally expected to grip most frequently while driving, and is determined in advance. The vibration profile 130B is definition information that defines the vibration of the vibration device VD2 (more specifically, vibration intensity and phase) that cancels out the vibration generated by the vibration device VD1 at the predetermined point P, based on the vibration measurement data 130A.

[0022] FIG. 3 is a series of graphs for explaining the contents of the vibration measurement data 130A and the vibration profile 130B. The graph in FIG. 3(a) shows the reproduction signal f1 of the vibration device VD1 with the voltage on the vertical axis and the time on the horizontal axis. Hereinafter, the reproduction signal f1 is expressed as f1 = V1sin(2πft) with the voltage being V1 and the frequency being f. Further, the graph in FIG. 3(b) shows the reproduction signal f2 of the vibration device VD2 with the voltage on the vertical axis and the time on the horizontal axis. Hereinafter, the reproduction signal f2 is expressed as f2 = V2sin(2πft) with the voltage being V2 and the frequency being f. That is, in the present embodiment, the frequency f given as the reproduction signal is assumed to be common to the vibration devices VD1 and VD2.

[0023] The graph in FIG. 3(c) shows the vibration intensity g at a predetermined point P when the reproduction signal f1 shown in the graph of FIG. 3(a) is applied to the vibration device VD1 to generate vibration.

[0024] , , 2P , Since there is a phase difference until the vibration generated by the vibration device VD1 is transmitted to the predetermined point P after the reproduction signal f1 is applied to the vibration device VD1, when the phase difference is represented as Δt 1P , the vibration intensity g 1P is 1P g 1P = G 1P sin(2πf(t + Δt 1P )) is represented. Here, G 1P represents the amplitude of the vibration generated at the predetermined point P due to the vibration by the vibration device VD1. The amplitude G 1P includes a decay constant according to the material of the steering wheel SW and the propagation distance from the vibration device VD1. The vibration intensity g 1P at the predetermined point P shown by the graph in FIG. 3(c), and the phase difference Δt 1P with the reproduction signal f1 are an example of the vibration measurement data 130A.

[0024] Similarly, the graph in FIG. 3(d) shows the vibration intensity g at a predetermined point P when the reproduction signal f2 shown in the graph of FIG. 3(b) is applied to the vibration device VD2 to generate vibration. 2PThis represents the time-series data. Since there is a phase difference between when the regenerated signal f2 is applied to the vibration device VD2 and when the vibration by the vibration device VD2 is transmitted to a predetermined point P, this phase difference is calculated as Δt 2P Expressed as, vibration intensity g 2P is, g 2P =G 2P sin(2πf(t+Δt 2P It is expressed as )). Here, G 2P This represents the amplitude of vibration generated at a predetermined point P due to vibration by the vibration device VD2. As shown in Figure 1, in this embodiment, the predetermined point P is set to be closer to the vibration device VD2 than to the vibration device VD1, so the phase difference Δt 2P is the phase difference Δt 1P It takes a value smaller than that.

[0025] As shown in the graph in Figure 3(c), when the vibration device VD1 located to the left of the steering wheel SW vibrates, the vibration is transmitted to a predetermined point P located to the right of the steering wheel SW. However, as mentioned above, the vibration device VD1 is intended to transmit vibration to the driver's left hand, which is gripping the steering wheel SW. Therefore, the transmission of vibration from the vibration device VD1 to the predetermined point P impairs the clarity of the vibration felt by the driver's left hand.

[0026] Given these circumstances, in this embodiment, when vibration device VD1 is vibrated to transmit vibration to the driver's left hand, vibration device VD2 is vibrated to cancel out the vibration at a predetermined point P caused by that vibration. More specifically, in order to cancel out the vibration at the predetermined point P shown in the graph of Figure 3(c), the vibration intensity g shown in the graph of Figure 3(e) is... 1P Vibration intensity g is the same as, but in the opposite phase. 2P ' is generated in the vibration device VD2 at a predetermined point P. As described above, vibration intensity g 1P is, g 1P =G 1P sin(2πf(t+Δt 1PSince it is expressed as ), vibration intensity g 2P ' is vibration intensity g 1P By advancing the phase by π, g 2P '=G 2P sin(2πf(t+Δt 2P It can be expressed as ) + π).

[0027] Furthermore, the above-mentioned regenerated signal f2 = V2sin(2πft) and vibration intensity g 2P =G 2P sin(2πf(t+Δt 2P Considering the relationship with ), vibration intensity g 2P The regenerative signal f2 of the corresponding vibration device VD2 is given by f2' = V2(G 1P / G 2P )sin(2πf(t-Δt 2P +Δt 1P It can be expressed as +1 / (2f). In other words, the regenerated signal f2' is an example of vibration profile 130B.

[0028] Thus, the setting unit 110 determines the vibration intensity g at a predetermined point P caused by the vibration of the vibration device VD1. 1P , and the phase difference Δt with the regenerated signal f1. 1P Based on vibration measurement data 130A including the vibration intensity g 1P The vibration intensity g that cancels out 2P The control unit 120 sets a playback signal f2 for the vibration device VD2 to reproduce the vibration. When the vibration device VD1 is vibrated, the control unit 120 vibrates the vibration device VD2 according to the vibration profile 130B. As a result, when the vibration device VD1, located to the left of the steering wheel SW, vibrates, the vibration device VD2 is also vibrated according to the vibration profile 130B, preventing the vibration of the vibration device VD1 from propagating to a predetermined point P located to the right of the steering wheel SW, and allowing the driver to feel the vibration on the left side of the steering wheel SW more clearly.

[0029] In the above description, vibration device VD1 is installed to the left of the steering wheel SW, vibration device VD2 is installed to the right of the steering wheel SW, a predetermined point P is set to the right of the steering wheel SW, and the vibration at the predetermined point P caused by the vibration of vibration device VD1 is canceled out by the vibration of vibration device VD2. However, the present invention is not limited to such a configuration, and the above relationship may be reversed. Furthermore, more generally, vibration devices VD1 and VD2 only need to be installed so that their vibration directions are at least parallel to each other. This makes it possible to cancel out the vibration at the predetermined point P caused by the vibration of one of the vibration devices VD1 or VD2 by the vibration of the other.

[0030] [Setting the amplitude ratio and frequency] The setting unit 110 may further set not only the vibration profile 130B of vibration device VD2, but also the amplitude ratio between the amplitude of vibration device VD1 and the amplitude of vibration device VD2, and the frequencies f of vibration devices VD1 and VD2. This allows adjustment of the position of a predetermined point P where vibrations cancel each other out, and the clarity of vibration on one side of the steering wheel SW. The details will be described below.

[0031] First, assuming the installation position of the vibration device VD1 is zero, and measuring counterclockwise, let x be the point (distance) on the steering wheel SW and t be the time. Then, the vibration intensity A at point x and time t is given by A(x,t)=ae -bx sin{2πf(x / v+t)+θ 0xt This is expressed as}. Here, a represents a coefficient corresponding to the propagation characteristics from the vibration source to point x, b represents the damping corresponding to the propagation characteristics from the vibration source to point x, f represents the vibration frequency, v represents the vibration propagation velocity, and θ 0xtA1(x,t) represents the initial phase of the vibration at time zero at point x. If we denote the vibration at a predetermined point P propagating counterclockwise from vibration device VD1 as A1(x,t), the vibration at a predetermined point P propagating clockwise from vibration device VD1 as A2(x,t), the vibration at a predetermined point P propagating counterclockwise from vibration device VD2 as A3(x,t), and the vibration at a predetermined point P propagating clockwise from vibration device VD2 as A4(x,t), then A1(x,t) = a1e -bx sin{2πf(x / v+t)}, A2(x,t)=a1e -b(l1-x) sin{2πf((l1-x) / v+t)}, A3(x,t)=a2e -b(x+l2) sin{2πf((x+l2) / v+t+θ 0xt )}, A4(x,t)=a2e -b(l3-x) sin{2πf((l3-x) / v+t+θ 0xt This is expressed as ). Here, l1-x represents the clockwise distance from vibration device VD1 to a predetermined point P, x+l2 represents the counterclockwise distance from vibration device VD2 to a predetermined point P, and l3-x represents the clockwise distance from vibration device VD2 to a predetermined point P. Based on the above assumptions, if we express A(x,t) simply using a 2-source × 2-path vibration propagation model, we get A(x,t)=A1(x,t)+A2(x,t)+A3(x,t)+A4(x,t)=a1e -bx sin{2πf(x / v+t)}+a1e -b(l1-x) sin{2πf((l1-x) / v+t)}+a2e -b(x+l2) sin{2πf((x+l2) / v+t+θ 0xt )}+a2e -b(l3-x) sin{2πf((l3-x) / v+t+θ 0xt )} is obtained.

[0032] Figure 4 is a graph illustrating the effect of setting the amplitude ratio between the amplitude of vibration device VD1 and the amplitude of vibration device VD2. The graph shown in Figure 4 was obtained by changing the amplitude ratio a1 / a2 between the amplitude a1 of the vibration generated by vibration device VD1 and the amplitude a2 of the vibration generated by vibration device VD2 in the 2-vibration source × 2-path vibration propagation model A(x,t) constructed above.

[0033] As shown in the graph in Figure 4, the larger the amplitude ratio between the amplitude a1 of the vibration generated by vibration device VD1 and the amplitude a2 of the vibration generated by vibration device VD2, the further away the position where the vibrations from vibration device VD1 and vibration device VD2 cancel each other out (counterclockwise from vibration device VD1). Conversely, the smaller the amplitude ratio, the closer the position where the vibrations from vibration device VD1 and vibration device VD2 cancel each other out (counterclockwise from vibration device VD1). Therefore, the setting unit 110 can set the amplitude ratio so that the vibrations generated by vibration device VD1 and vibration device VD2 cancel each other out at a predetermined point P, in accordance with the determination of that predetermined point P.

[0034] Figure 5 is a graph illustrating the effect of setting the frequencies of vibration devices VD1 and VD2. The graph shown in Figure 5, like that in Figure 4, was obtained by changing the wind wave number f of the vibrations generated by vibration devices VD1 and VD2 in the 2-source × 2-path vibration propagation model A(x,t).

[0035] As shown in the graph in Figure 5, the higher the wind wave frequency of the vibrations generated by vibration devices VD1 and VD2, the greater the difference in vibration intensity between the positions where the vibrations from vibration device VD1 and vibration device VD2 reinforce and cancel each other out (in other words, the difference in vibration between the left and right sides felt by the driver). Conversely, the lower the wind wave frequency of the vibrations generated by vibration devices VD1 and VD2, the smaller the difference in vibration intensity between the positions where the vibrations from vibration device VD1 and vibration device VD2 reinforce and cancel each other out. This is because, as the frequency of the vibration increases, the wavelength becomes shorter, increasing the number of antinodes and nodes of the vibration propagating through the steering wheel SW. As a result, the distance between the antinodes and nodes becomes shorter, making it easier to create differences in intensity within the steering wheel SW.

[0036] Therefore, by setting the vibration frequency of the vibrations generated by the vibration devices VD1 and VD2 to a higher value, the driver of vehicle M can more clearly feel the vibrations on the left (right) side of the steering wheel SW generated by the vibration device VD1 (VD2). Since the degree to which it is preferable to distinguish and express the vibrations on the left and right sides differs depending on the driver of vehicle M, the setting unit 110 may, for example, receive input regarding the frequency setting from the driver of vehicle M via the instrument panel 11. In that case, the setting unit 110 may display inquiry information on the instrument panel 11 in a format that is more understandable to the driver, such as "make the left / right difference clearer / blurred," rather than a numerical value of the frequency. In yet another embodiment, the setting unit 110 measures the reaction period from the time the vibration device VD1 (VD2) is generated until the driver of the vehicle M reacts to it and performs a predetermined action (e.g., steering operation). If it is determined that the reaction period is long (e.g., above a threshold), the wind wave frequency may be set higher to make the left-right difference in vibration more pronounced.

[0037] Figure 6 shows an example of the use of the control device 100 for driver assistance. The left side of Figure 6 shows a situation where vehicle M is traveling in lane L and is about to deviate from lane LM. The driver assistance ECU 10 recognizes lane LM shown in the image based on an image representing the surrounding situation of vehicle M, output by an image sensor included in the vehicle sensor group 40. Next, the driver assistance ECU 10 determines whether the distance between vehicle M and the recognized lane LM is within a threshold. If it is determined that the distance between vehicle M and the recognized lane LM is within a threshold, the driver assistance ECU 10 sends a command value to the control device 100 to vibrate the vibration device VD1 (VD2) corresponding to the side where the distance is within the threshold.

[0038] When the control device 100 receives a command value, the control unit 120 transmits a regeneration signal to vibrate the vibration device VD1 (VD2) on the side indicated by the command value, and also transmits a regeneration signal to vibrate the vibration device VD2 (VD1) on the opposite side according to the vibration profile 130B. In the case of Figure 6, the control unit 120 transmits a regeneration signal to vibrate the left vibration device VD1, and also transmits a regeneration signal to vibrate the right vibration device VD2 according to the vibration profile 130B. As a result, as shown on the right side of Figure 6, only the left portion of the steering wheel SW is vibrated, and the driver of vehicle M can more clearly understand that vehicle M is about to deviate to the left of lane LM.

[0039] Figure 7 shows another example of the use of the control device 100 for driver assistance. The left side of Figure 7 shows a situation in which vehicle M is about to turn right into lane L according to navigation information displayed on the instrument panel 11, for example. The driver assistance ECU 10 recognizes an intersection in front of vehicle M based on an image representing the surrounding situation of vehicle M, output by an image sensor included in the vehicle sensor group 40, for example. The driver assistance ECU 10 then determines whether the distance between vehicle M and the recognized intersection is within a threshold. If it is determined that the distance between vehicle M and the recognized intersection is within a threshold, the driver assistance ECU 10 sends a command value to the control device 100 to vibrate the vibration device VD1 (VD2) corresponding to the side that vehicle M is entering.

[0040] When the control device 100 receives a command value, the control unit 120 transmits a regeneration signal to vibrate the vibration device VD1 (VD2) on the side indicated by the command value, and also transmits a regeneration signal to vibrate the vibration device VD2 (VD1) on the opposite side according to the vibration profile 130B. In the case of Figure 7, the control unit 120 transmits a regeneration signal to vibrate the right vibration device VD2, and also transmits a regeneration signal to vibrate the right vibration device VD1 according to the vibration profile 130B. As a result, as shown in the right part of Figure 7, only the right part of the steering wheel SW is vibrated, and the driver of vehicle M can more clearly understand that a right turn operation is required at an intersection.

[0041] It should be noted that the above-described forms of driver assistance are merely examples, and vibrations from the vibration devices VD1 (VD2) may be used for other driver assistance or entertainment purposes. For example, the driver assistance ECU 10 may determine whether or not there are obstacles (e.g., other vehicles or pedestrians) near the vehicle M based on an image representing the surrounding conditions of the vehicle M. If it determines that there are obstacles near the vehicle M, the driver assistance ECU 10 may send a command value to the control device 100 to vibrate the vibration device VD1 (VD2) corresponding to the side where the obstacle is located. Alternatively, for example, as an application to entertainment, the driver assistance ECU 10 (or a separately provided ECU) may, while the vehicle M is in motion, refer to map information or news information and send a command value to the control device 100 to vibrate the vibration device VD1 (VD2) corresponding to the direction of any facility (e.g., a tourist attraction) or event (e.g., a festival) located to the left or right of the vehicle M. In this case, the driver assistance ECU 10 may also display information about the facility or event on the instrument panel 11. Alternatively, for example, as another application to entertainment, the driver assistance ECU 10 (or a separately provided ECU) may send command values ​​to the control device 100 to vibrate the vibration devices VD1 and VD2 alternately on the left and right sides in time with the rhythm of the music while the vehicle M is playing music.

[0042] Furthermore, in this embodiment, for the sake of brevity of explanation, a case is described in which two vibration devices, vibration devices VD1 and VD2, are installed on the steering wheel SW as a group of vibration devices, and the profile of vibration device VD2 is set so that the vibration generated by vibration device VD1 at a predetermined point P is canceled out by the vibration of vibration device VD2. However, the present invention is not limited to such a configuration, and three or more vibration devices (for example, vibration devices VD1 to VD3) may be installed on the steering wheel SW. In that case, for example, the profiles of vibration devices VD2 and VD3 may be set so that the vibration generated by vibration device VD1 at a predetermined point P is canceled out by the vibrations of vibration devices VD2 and VD3.

[0043] Furthermore, in this embodiment, the predetermined point P is pre-set to a position that the driver of the vehicle M is generally expected to grip most frequently while driving. However, the present invention is not limited to such a configuration, and the setting unit 110 may set the position of the steering wheel SW that the driver gripped most frequently during a predetermined period as the predetermined point P based on the detection result of the steering grip sensor, and adjust the amplitude ratio accordingly. In this case, the sensor for detecting the driver's grip position is not limited to the steering grip sensor, but may also be a ToF (Time of Flight) sensor that measures the position of the driver's hands, or an image sensor that captures the driver's hands to detect the driver's grip position. This makes it possible to transmit clear information tailored to the driver of the vehicle.

[0044] Next, with reference to Figure 8, the processing flow performed by the control device 100 will be described. Figure 8 is a flowchart showing an example of the processing flow performed by the control device 100.

[0045] First, the setting unit 110 sets the vibration profile 130B of the vibration device VD2 based on vibration measurement data 130A at a predetermined point P related to the vibration device VD1 (step S100). Next, the control unit 120 determines whether or not it has received a command value from the driver support ECU 10 to instruct the vibration of the vibration device VD1 (step S102). If it is determined that it has not received a command value from the driver support ECU 10 to instruct the vibration of the vibration device VD1, the control unit 120 executes the process in step S102 again after a predetermined period of time. On the other hand, if it is determined that it has received a command value from the driver support ECU 10 to instruct the vibration of the vibration device VD1, the control unit 120 vibrates the vibration device VD1 and vibrates the vibration device VD1 according to the vibration profile 130B (step S104). This completes the process of this flowchart.

[0046] [Reproduction of vibration direction] As described above, in this embodiment, the control unit 120 operates vibration devices VD1 and VD2 at a predetermined point P such that the vibration generated by vibration device VD1 cancels out the vibration generated by vibration device VD2, thereby achieving clear information transmission through the vibrations of the vibration devices. In another embodiment, the control unit 120 may achieve clear information transmission by controlling vibration device VD1 located on the left side of the steering wheel SW and vibration device VD2 located on the right side so that the vibrations from these vibration devices transmit (reproduce) the direction of vibration to the driver.

[0047] Figure 9 shows an example of a method for transmitting vibration direction using vibration devices VD1 and VD2. Figure 9 shows the case where vibration direction is transmitted from left to right from time t1 to t5 using vibration devices VD1 and VD2. As shown in Figure 4, the setting unit 110 first sets a predetermined point P(t1) to the left side of the steering wheel SW by setting the amplitude ratio of the amplitude a1 of the vibration generated by vibration device VD1 and the amplitude a2 of the vibration generated by vibration device VD2 to a small value at time t1. With the predetermined point P(t1) set, the control unit 120 vibrates vibration devices VD1 and VD2, so that the vibration on the left side of the steering wheel SW becomes larger (maximum), while the vibration on the right side of the steering wheel SW becomes smaller (minimum).

[0048] Subsequently, at time t2, the setting unit 110 sets the predetermined point P(t2) to the right of the predetermined point P(t1) by setting the amplitude ratio to be larger than at time t1. With the predetermined point P(t2) set, the control unit 120 vibrates the vibration devices VD1 and VD2, causing the vibration on the left side of the steering wheel SW to decrease while the vibration on the right side of the steering wheel SW to increase. By repeating this process from time t3 to time t5, the vibration on the left side of the steering wheel SW gradually decreases while the vibration on the right side of the steering wheel SW gradually increases, allowing the driver of vehicle M to feel the vibration direction from left to right. In other words, this allows the direction of vibration to be transmitted to the driver of vehicle M. Note that the setting of time t1 to time t5 shown in Figure 9 is merely an example, and the time points to be controlled may be set more finely or more coarsely.

[0049] Figure 10 shows another example of a method for transmitting vibration in the direction of vibration using vibration devices VD1 and VD2. In the graph shown in Figure 10, the dashed line represents the vibration of vibration device VD1, and the double-dash line represents the vibration of vibration device VD2. Figure 10 shows the case where vibration is transmitted from left to right using vibration devices VD1 and VD2.

[0050] First, at time t1, the control unit 120 vibrates the vibration device VD1 at its maximum vibration intensity and continues this for a certain period (i.e., from time t1 to time t2). Next, at time t2, the control unit 120 reduces the vibration of vibration device VD1 while increasing the vibration of vibration device VD2. As a result, at time t3, the vibration intensity of vibration device VD2 reverses compared to that of vibration device VD1. Next, at time t4, the control unit 120 stops the vibration of vibration device VD1 while vibrating vibration device VD2 at its maximum vibration intensity. Next, at time t5, the control unit 120 reduces the vibration of vibration device VD2, and at time t6, stops the vibration of vibration device VD2. Through this process, the vibration on the left side of the steering wheel SW gradually decreases from its maximum value, while the vibration on the right side of the steering wheel SW gradually increases from its minimum value, allowing the driver of vehicle M to perceive the vibration direction from left to right. In other words, this allows the driver of vehicle M to be informed of the vibration direction. Note that while the vibration intensity transition shown in Figure 10 is a linear increase or decrease, this is merely one example. At a minimum, one of the vibration devices VD1 and VD2 should start generating vibrations with a greater intensity than the other, and then the vibration intensity from the other should surpass that of the other.

[0051] Similar to the cases in Figures 6 and 7, the control unit 120 can apply the transmission of vibration direction using vibration devices VD1 and VD2 to driving assistance and entertainment. For example, when the vehicle M turns right (or left), the control unit 120 may communicate the direction of travel to the driver by controlling vibration devices VD1 and VD2 to transmit vibration direction from left to right (or right to left). Alternatively, for example, when the vehicle M is playing music, the control unit 120 may entertain the driver by alternately reproducing vibration directions from left to right and right to left in time with the rhythm of the music.

[0052] [Signal mediation] As explained with reference to Figures 6 and 7, the control unit 120, in cooperation with the driver assistance ECU 10, can activate warning vibrations to warn of lane departure or the presence of obstacles, or information notification vibrations for navigation and entertainment, by supplying playback signals to vibration devices. However, since there are limitations to the number and cost of vibration devices that can be installed on the steering wheel switch, if multiple operating conditions related to steering vibration are met simultaneously, it is necessary to mediate between these steering vibrations.

[0053] Therefore, the control unit 120 achieves steering vibration mediation by reducing the vibration effect of vibrations with lower priority among multiple types of vibrations (e.g., warning vibrations, information notification vibrations, entertainment vibrations, etc.) based on defined priorities. More specifically, for example, the control unit 120 reduces the vibration effect of a playback signal that activates an information notification vibration relative to a playback signal that activates a warning vibration. Note that the following explanation does not assume the cooperation of vibration devices VD1 and VD2, and can be applied similarly even if, for example, a single vibration device is installed on the steering wheel SW, so it will simply be referred to as vibration device VD.

[0054] Figure 11 shows an example of a method for mediating steering vibration. In the graph shown in Figure 11, the thick solid line represents the warning vibration, and the thin solid line represents the information notification vibration. When the operating conditions for the warning vibration and the operating conditions for the information notification vibration are met simultaneously, the control unit 120 reduces the vibration effect by, for example, reducing the vibration intensity of the regeneration signal corresponding to the information notification vibration by a predetermined value. In the graph shown in Figure 11, the dotted line represents the vibration intensity of the information notification vibration before the vibration intensity is reduced. During the vibration intensity reduction period, as the vibration intensity of the regeneration signal corresponding to the information notification vibration is reduced, the control unit 120 outputs a regeneration signal corresponding to the warning vibration to the vibration device VD. In Figure 11, the control unit 120 outputs a regeneration signal corresponding to the warning vibration to the vibration device VD three times. As a result, the driver of vehicle M will feel the vibration corresponding to the warning vibration more strongly than the vibration corresponding to the information notification vibration during the vibration intensity reduction period, thereby achieving steering vibration mediation.

[0055] Figure 12 shows another example of a method for mediating steering vibration. When the operating conditions for warning vibration and information notification vibration are met simultaneously, the control unit 120 applies a frequency filter to reduce the vibration effect, for example, by canceling some or all of the frequencies that make up the playback signal of the information notification vibration. The left side of Figure 12 shows the case where the control unit 120 applies a frequency filter to the playback signal of the information notification vibration that cancels the frequency band from frequency f1 to f2. As a result, as shown in the right side of Figure 12, the information notification vibration corresponding to the solid line is output from the vibration device VD instead of the information notification vibration corresponding to the dotted line. The information notification vibration, modified in this way by the filter, becomes a vibration that the driver of vehicle M would not normally recognize as an information notification vibration. As a result, the driver of vehicle M will feel the vibration corresponding to the warning vibration more clearly than the vibration corresponding to the information notification vibration during the period in which the frequency filter is applied. In other words, this makes it possible to mediate steering vibration.

[0056] Although Figures 11 and 12 illustrate the case of mediating between warning vibrations and information notification vibrations, the present invention is not limited to such a configuration, and the steering mediation described above can be applied to multiple different types of vibrations. For example, if the operating conditions for information notification vibrations and the operating conditions for entertainment vibrations are met simultaneously, the control unit 120 may apply a frequency filter to the playback signal of the entertainment vibrations to prioritize the operating conditions for information notification vibrations.

[0057] As described above, this embodiment reduces the vibration effect of vibrations with lower priority among multiple types of vibrations, based on the priority defined for each type of vibration. This allows for clear information transmission to the vehicle occupants through vibrations of a vibration device mounted on the vehicle's driver control panel, while keeping costs down. [Explanation of Symbols]

[0058] 10. Driver Assistance ECU 20 Steering System 30 Steering sensor group 40 Vehicle Sensor Groups 100 Control device 110 Setting section 120 Control Unit 130 Storage section 130A Vibration Measurement Data 130B Vibration Profile

Claims

1. A control device for controlling vibrations generated by a vibration device mounted on the driver control panel of a vehicle, The system includes a control unit that reduces the vibration effect of vibrations with lower priority among multiple types of vibrations, based on a priority defined for each of the multiple types of vibrations. The control unit reduces the vibrational effect of the low-priority vibration by applying a frequency filter that cancels part or all of the vibration frequency for a predetermined period of time, thereby transforming the low-priority vibration into a vibration different from the low-priority vibration normally perceived by the vehicle driver. Control device.

2. The control unit reduces the vibration effect of the low-priority vibration by applying a frequency filter that cancels part or all of the vibration frequency for a predetermined period. The control device according to claim 1.

3. The control unit reduces the vibration effect of the low-priority vibration by lowering the vibration intensity of the vibration for a predetermined period of time. The control device according to claim 1.

4. The aforementioned multiple types of vibrations include at least one of the following: vibrations for assisting the driving of the vehicle, vibrations for providing information to the vehicle, and vibrations for providing entertainment to the vehicle. The control device according to any one of claims 1 to 3.

5. A control method for controlling vibrations generated by a vibration device mounted on the driver control panel of a vehicle, Computers Based on the priority assigned to multiple types of vibrations, the vibration effect of vibrations with lower priority among the multiple types of vibrations is reduced. By applying a frequency filter that cancels part or all of the vibration frequencies to the low-priority vibrations for a predetermined period, the vibrational effect of the low-priority vibrations is reduced by transforming them into vibrations different from those normally perceived by the vehicle's driver. Control method.

6. A program for controlling vibrations generated by a vibration device mounted on the driver control panel of a vehicle, On the computer, Based on the priority defined for multiple types of vibrations, the vibration effect of vibrations with lower priority among the multiple types of vibrations is reduced. By applying a frequency filter that cancels part or all of the vibration frequencies to the low-priority vibrations for a predetermined period, the vibrational effect of the low-priority vibrations is reduced by transforming them into vibrations different from those normally perceived by the vehicle's driver. program.

Images