Haptic feedback method and apparatus for simulating sound waves, and computer-readable storage medium

Abstract

A haptic feedback method and apparatus for simulating sound waves, and a computer-readable storage medium. The method comprises: acquiring vehicle travelling information in real time; acquiring a sound wave signal corresponding to an original sound source; determining a waveform in the sound wave signal that is associated with the vibration of the original sound source, and on the basis of the determined waveform that is associated with the vibration of the original sound source, generating a haptic feedback signal; on the basis of the vehicle travelling information, adjusting the haptic feedback signal; and on the basis of the adjusted haptic feedback signal, driving a haptic feedback braking assembly, which is disposed on a vehicle, to provide haptic feedback.

Description

Tactile feedback method, device and computer-readable storage medium for simulating sound waves Technical Field

[0001] The present application belongs to the field of tactile feedback technology, and specifically relates to a tactile feedback method, device, and computer-readable storage medium for simulating sound waves. Background Art

[0002] This section is intended to provide a background or context to the embodiments of the application that are recited in the claims. No statement herein is admitted to be prior art by virtue of its inclusion in this section.

[0003] Electric vehicles (EVs) use battery power to drive an electric motor. Because they lack the vibration-inducing components of traditional internal combustion engine vehicles, such as internal combustion engines, transmissions, and clutches, their torque is generally precise and smooth. Consequently, EVs are widely considered to offer a smooth driving experience. However, this can also lead to driver and passenger fatigue, reduced sensitivity to vehicle acceleration and deceleration, and a lack of a positive driving and riding experience. Application Contents

[0004] To address the difficulty of generating driving sounds in electric vehicles, existing technologies have developed solutions that use audio to simulate driving sounds. However, using sound alone to simulate vibration sounds lacks realism and user experience. Therefore, achieving better sound simulation in electric vehicles is an urgent problem to be solved.

[0005] In response to the problem that the above-mentioned existing technology of simply using sound to simulate vibration sound waves has poor realism and experience, a tactile feedback method, device and computer-readable storage medium for simulating sound waves are proposed. Using this method, device and computer-readable storage medium, the realism and experience of simulated sound waves can be improved.

[0006] This application provides the following solutions.

[0007] In a first aspect, a tactile feedback method for simulating sound waves is provided, comprising: obtaining vehicle driving information in real time; obtaining a sound wave signal corresponding to an original sound source; determining a waveform in the sound wave signal associated with the vibration of the original sound source, and generating a tactile feedback signal based on the determined waveform associated with the vibration of the original sound source; adjusting the tactile feedback signal based on the vehicle driving information; and driving a tactile feedback brake assembly provided on the vehicle to provide tactile feedback based on the adjusted tactile feedback signal.

[0008] In some embodiments, the sound signal corresponding to the original sound source is obtained by any one or more of the following methods: obtaining the sound signal corresponding to one or more original sound sources based on pre-sampling; generating the sound signal corresponding to one or more original sound sources using a generative artificial intelligence model; obtaining the sound signal corresponding to the original sound source based on the audio output of the sound simulation device installed in the vehicle itself.

[0009] In some embodiments, obtaining the sound signal corresponding to the original sound source further includes: determining the vehicle driving state based on the vehicle driving information obtained in real time, and obtaining the sound signal of the original sound source corresponding to the real-time vehicle driving state.

[0010] In some embodiments, determining the waveform in the acoustic signal associated with the vibration of the original sound source further includes: extracting a shock wave in the acoustic signal as the waveform associated with the vibration of the original sound source.

[0011] In some embodiments, the shock wave is extracted by identifying the dominant frequency of the acoustic wave signal.

[0012] In some embodiments, the shock waves are extracted using a digital algorithm.

[0013] In some embodiments, the digital algorithm comprises a Fourier transform algorithm or a filtering algorithm.

[0014] In some embodiments, when the acquired sound wave signal is an analog audio signal, a digital audio signal is obtained by performing analog-to-digital conversion on the analog audio signal, and the shock wave is extracted using a digital algorithm based on the obtained digital audio signal.

[0015] In some embodiments, frequency components within a predetermined frequency range in the sound wave signal are extracted by a filter as waveforms associated with the vibrations of the original sound source.

[0016] In some embodiments, the filter is a second-order Butterworth filter.

[0017] In some embodiments, where the filter is a digital bandpass filter, the preset frequency range is predetermined based on the original sound source.

[0018] In some embodiments, the filter is an analog low-pass filter.

[0019] In some embodiments, generating a tactile feedback signal based on the determined waveform associated with the vibration of the original sound source further includes: rendering the extracted shock wave and using the rendered shock wave as the tactile feedback signal.

[0020] In some embodiments, rendering is performed using a mathematical algorithm, which includes at least one selected from a filtering algorithm, a waveform transformation algorithm, a multipath effect algorithm, a waveform superposition algorithm, a sharpness transformation algorithm, and a tail sound calculation algorithm.

[0021] In some embodiments, the method further includes adjusting the intensity and / or frequency of the extracted shock wave based on vehicle driving information, so that the intensity and / or frequency of the generated tactile feedback signal is adjusted.

[0022] In some embodiments, adjusting the intensity and / or frequency of the shock wave further includes: adjusting one or more of the vibration intensity, vibration frequency, rate of change of vibration frequency, rate of change of vibration intensity, duration of vibration, vibration phase, and time domain spectrum diagram of the shock wave.

[0023] In some embodiments, the method further includes adjusting rendering parameters used for rendering based on vehicle driving information, so that the intensity and / or frequency of the generated tactile feedback signal is adjusted.

[0024] In some embodiments, the method further includes adjusting the intensity and / or frequency of the generated tactile feedback signal based on vehicle driving information.

[0025] In some embodiments, adjusting the intensity and / or frequency of the tactile feedback signal also includes: adjusting one or more of the vibration intensity, vibration frequency, speed of change of vibration frequency, speed of change of vibration intensity, duration of vibration, vibration phase, and time domain spectrum diagram of the tactile feedback signal.

[0026] In some embodiments, at least two tactile feedback braking components are provided on the vehicle, and the tactile feedback signal is adjusted based on the vehicle driving information. It also includes: based on the vehicle driving information, performing at least two differential adjustments on the generated tactile feedback signal, and using the at least two adjusted tactile feedback signals to respectively drive at least two tactile feedback braking components provided on the vehicle to adjust the direction of vibration.

[0027] In some embodiments, adjusting the tactile feedback signal includes: when the vehicle driving information indicates that the vehicle is moving at a low speed, increasing the intensity of the tactile feedback signal and decreasing the frequency; or, when the vehicle driving information indicates that the vehicle is moving at a high speed, decreasing the intensity of the tactile feedback signal and increasing the frequency.

[0028] In some embodiments, adjusting the tactile feedback signal includes: when the vehicle driving information indicates that the vehicle is in a speed-changing motion, causing the intensity and / or frequency of the tactile feedback signal to undergo a linear change and / or at least one jump corresponding to the speed-changing motion within a preset time.

[0029] In some embodiments, adjusting the tactile feedback signal includes: when the vehicle driving information indicates that the vehicle is in a starting state, gradually increasing the intensity and frequency of the tactile feedback signal from weak; and when the vehicle driving information indicates that the vehicle is successfully started, gradually decreasing the intensity and frequency of the tactile feedback signal from strong.

[0030] In some embodiments, adjusting the tactile feedback signal includes: when vehicle driving information indicates that the vehicle is in a braking state during driving, at any gear position, gradually increasing the intensity of the tactile feedback signal from weak and gradually decreasing the frequency of the tactile feedback signal from high until the vehicle switches gears.

[0031] In some embodiments, adjusting the tactile feedback signal includes: in response to the action of stepping on the electric switch, gradually increasing the frequency of the tactile feedback signal from a first intermediate value frequency, so that the intensity of the tactile feedback signal gradually decreases from strong; and in response to the action of releasing the electric switch, gradually reducing the frequency of the tactile feedback signal from strong to the first intermediate value frequency, so that the intensity of the tactile feedback signal gradually increases from weak.

[0032] In some embodiments, adjusting the tactile feedback signal includes: in response to the vehicle decelerating without shifting gears, gradually increasing the intensity of the tactile feedback signal from weak to a first intermediate intensity, and decreasing the frequency of the tactile feedback signal from high to a second intermediate frequency; in response to the vehicle downshifting and increasing the speed, rapidly increasing the frequency of the tactile feedback signal from the second intermediate frequency to a peak value, and rapidly weakening the intensity of the tactile feedback signal from the first intermediate intensity.

[0033] In some embodiments, when the vehicle driving information indicates that the vehicle is in a backfire state, adjusting the tactile feedback signal includes randomly adding short, explosive vibrations of high intensity / frequency.

[0034] In some embodiments, it also includes: when the vehicle driving information indicates that an accelerator pedaling action occurs in a neutral state after the vehicle is started, it indicates that the vehicle is in a backfire state; and / or, when the vehicle driving information indicates that an accelerator pedaling action and an accelerator release action occur successively during vehicle driving, it indicates that the vehicle is in a backfire state; and / or, when the vehicle driving information indicates that during vehicle driving, the vehicle does not shift gears to slow down and then downshifts, causing the vehicle speed to decrease and then increase, it indicates that the vehicle is in a backfire state.

[0035] In some embodiments, when the vehicle driving information indicates that the vehicle is in a specific driving state, a sound wave signal corresponding to the specific driving state of the original sound source is obtained to generate a tactile feedback signal for the original sound source corresponding to the specific driving state, and the tactile feedback signal is adjusted based on the vehicle driving information.

[0036] In some embodiments, the specific driving state includes one or more of the following: a starting state, an ignition-off state, a backfiring state, and a speed-shifting state.

[0037] In some embodiments, the method further includes: obtaining sound wave signals corresponding to at least two original sound sources to simulate and generate tactile feedback signals corresponding to the at least two original sound sources; and based on the tactile feedback signals corresponding to the at least two original sound sources, driving tactile feedback brake components arranged at at least two positions of the vehicle to generate different tactile feedback effects.

[0038] In some embodiments, any one or more of a running non-electric vehicle, an aircraft, a horse-drawn carriage, and a roller coaster are used as the original sound source.

[0039] In a second aspect, a tactile feedback device for simulating sound waves is provided, which is configured to execute the method of the first aspect, and the device includes: a driving information acquisition module for acquiring vehicle driving information in real time; a sound signal acquisition module for acquiring a sound signal corresponding to an original sound source; a tactile feedback signal generation module for determining a waveform in the sound signal associated with the vibration of the original sound source, and generating a tactile feedback signal based on the determined waveform associated with the vibration of the original sound source; a tactile feedback signal adjustment module for adjusting the tactile feedback signal based on the vehicle driving information; and a driving module for driving a tactile feedback brake assembly provided on the vehicle to provide tactile feedback based on the adjusted tactile feedback signal.

[0040] In a third aspect, another tactile feedback device for simulating sound waves is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform: the method of the first aspect.

[0041] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a program, and when the program is executed by a multi-core processor, the multi-core processor executes the method of the first aspect.

[0042] One of the advantages of the above embodiment is that a tactile feedback signal related to the vibration of the original sound source is generated based on the sound wave signal corresponding to the original sound source, and the tactile feedback signal is adjusted to be more in line with the vehicle driving state according to the vehicle driving information, thereby providing a sound wave simulation effect with stronger realism, higher privacy and better experience.

[0043] Other advantages of the present application will be explained in more detail with reference to the following description and accompanying drawings.

[0044] It should be understood that the above description is only an overview of the technical solution of this application, so that the technical means of this application can be more clearly understood and implemented in accordance with the contents of the description. In order to make the above and other purposes, features and advantages of this application more obvious and easy to understand, the following examples are used to illustrate the specific implementation methods of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The advantages and benefits described herein, as well as other advantages and benefits, will be apparent to those skilled in the art upon reading the detailed description of the exemplary embodiments below. The accompanying drawings are provided for illustration purposes only and are not to be considered limiting of the present application. The same reference numerals are used throughout the accompanying drawings to denote the same components. In the accompanying drawings:

[0046] FIG1 is a schematic structural diagram of a tactile feedback device for simulating sound waves provided in an embodiment of the present application;

[0047] FIG2 is a schematic diagram of a flow chart of a method for simulating tactile feedback of sound waves provided in an embodiment of the present application;

[0048] FIG3 is a flow chart of a method for simulating tactile feedback of sound waves according to another embodiment of the present application;

[0049] FIG4 is a schematic structural diagram of a tactile feedback brake assembly provided on a vehicle according to an embodiment of the present application;

[0050] FIG5 is a schematic diagram of the structure of a tactile feedback device for simulating sound waves provided in an embodiment of the present application.

[0051] In the drawings, the same or corresponding reference numerals denote the same or corresponding parts. DETAILED DESCRIPTION

[0052] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although the accompanying drawings illustrate exemplary embodiments of the present application, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0053] In the description of the embodiments of the present application, it should be understood that terms such as "including" or "having" are intended to indicate the presence of disclosed features, numbers, steps, actions, components, parts, or a combination thereof in the present specification, and do not exclude the possibility of the presence of one or more other features, numbers, steps, actions, components, parts, or a combination thereof.

[0054] Unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. “And / or” in this article is only a way to describe the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0055] In the description of the embodiments of the present application, unless otherwise specified, the term "plurality" means two or more than two.

[0056] It should also be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0057] As shown in FIG1 , FIG1 is a structural diagram of the hardware operating environment involved in the embodiment of the present application.

[0058] It should be noted that Figure 1 is a schematic diagram of the structure of the hardware operating environment of the tactile feedback device. The tactile feedback device of the embodiment of the present application can be a terminal device such as a PC, a portable computer, etc.

[0059] As shown in Figure 1, the tactile feedback device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to implement connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and optionally the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0060] Those skilled in the art will appreciate that the composition of the tactile feedback device shown in FIG1 does not limit the tactile feedback device, and the device may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0061] As shown in Figure 1, memory 1005, a computer storage medium, may include an operating system, a network communication module, a user interface module, and a tactile feedback program. The operating system is a program that manages and controls the hardware and software resources of the tactile feedback device and supports the operation of the tactile feedback program and other software or programs.

[0062] In the tactile feedback device shown in FIG1 , the user interface 1003 is mainly used to receive requests and data from the user; the network interface 1004 is mainly used to connect to the backend server for data communication; and the processor 1001 can be used to call the tactile feedback program stored in the memory 1005 and perform the following operations:

[0063] Acquiring real-time vehicle driving information of a currently traveling electric vehicle; acquiring a sound wave signal corresponding to an original sound source desired to be simulated; determining a waveform in the sound wave signal associated with the vibration of the original sound source, and generating a tactile feedback signal based on the determined waveform associated with the vibration of the original sound source; adjusting the tactile feedback signal based on the vehicle driving information; and driving a tactile feedback brake assembly provided on the electric vehicle to provide tactile feedback according to the adjusted tactile feedback signal.

[0064] In this way, the tactile feedback braking component on the electric vehicle can be driven to simulate the operating sounds of various original sound sources in a tactile manner. The tactile feedback signal is generated by using the waveform associated with the vibration of the original sound source in the sound signal, which can truly restore the actual tactile feeling of the original sound source when emitting the sound for the user. The vehicle driving information is used to adjust the tactile feedback signal to make it more consistent with the actual driving state, which can improve the road feel of the driver / passenger.

[0065] Figure 2 is a flowchart illustrating a method for simulating tactile feedback of sound waves according to an embodiment of the present application. In this process, from a device perspective, the execution entity can be one or more electronic devices; from a program perspective, the execution entity can be the programs installed on these electronic devices. In this embodiment, the execution entity of this method can be processor 1001 in the embodiment shown in Figure 1.

[0066] 2 , the method 200 includes:

[0067] Step 210: Acquire vehicle driving information in real time;

[0068] Specifically, the vehicle driving information is used to indicate the driving status of the electric vehicle currently in motion, and may include vehicle start / stop status information, vehicle speed information, gear shift status information, steering status information, etc. For example, the above vehicle driving information can be obtained through the speed monitor of the electric vehicle and various sensors provided on the brake, accelerator, and steering wheel of the electric vehicle.

[0069] Optionally, the vehicle driving information may also include road condition information, such as the road condition information obtained by a road condition sensor provided on a tire of the electric vehicle.

[0070] Step 220: Obtain the sound wave signal corresponding to the original sound source;

[0071] Specifically, the original sound source refers to the target sound source that is desired to be simulated. For example, a running non-electric vehicle (such as an internal combustion engine vehicle), an aircraft (such as an airplane, a rocket, etc.), a horse-drawn carriage, a roller coaster, etc. can be used as the original sound source.

[0072] Furthermore, in order to improve the user experience, various types of non-electric vehicles (such as internal combustion engine vehicles), aircraft (such as airplanes, rockets), etc. can be included as the target sound source.

[0073] The sound wave signal corresponding to the original sound source refers to the sound emitted by the sound source in its actual operating state. For example, when a non-electric vehicle / aircraft is in operation, the vibration of its internal combustion engine and other components will cause the vehicle body / aircraft to emit a special vibration sound; when a horse-drawn carriage is in operation, the running of the horses will cause a vibration sound similar to "da da", and the contact between the wooden wheels of the carriage and the ground will also produce a rolling sound; when a roller coaster is in operation, the sliding contact between the body and the track will produce a corresponding sliding sound, and so on. The sound emitted by these original sound sources in their actual operating state will be used as the sound wave signal corresponding to the original sound source.

[0074] In the following embodiments of the present application, the following description is mainly based on a running non-electric vehicle as an original sound source, but it should be understood that the same processing logic applies to other original sound sources and will not be repeated.

[0075] A fixed original sound source can be set for the electric vehicle. Preferably, a variety of supported original sound source options can also be provided on the user interface of the electric vehicle or the user interface of the mobile phone app. For example, when a user is driving or riding an electric vehicle and wants to experience the driving experience of a certain type of non-electric vehicle, the user interface can select the non-electric vehicle of that type as the original sound source for simulation, thereby simulating the vibration tactile sensation of the non-electric vehicle of that type when emitting sound waves.

[0076] In some embodiments, multiple sound wave signals corresponding to multiple original sound sources can be obtained separately to simulate and generate different tactile feedback signals, thereby driving multiple tactile feedback brake assemblies located at different positions of the electric vehicle to produce different tactile feedback effects. For example, a driver's seat passenger may prefer to experience a driving experience that simulates a high-performance internal combustion engine vehicle, while a rear passenger seat passenger may prefer to experience a riding experience that simulates a horse-drawn carriage. Since the embodiments of the present application use tactile effects to achieve sound wave simulation, it is possible to provide passengers in different positions of the vehicle with a differentiated and personalized driving / riding experience, which is an effect that cannot be achieved by simply simulating sound waves with sound effects.

[0077] In some embodiments, in step 220, one or more sound wave signals corresponding to the original sound source may be obtained by any one or more of the following methods:

[0078] (1) Obtaining sound wave signals corresponding to one or more original sound sources through pre-sampling;

[0079] For example, the operating sounds of real non-electric vehicles can be pre-sampled and stored in a database. It's understandable that different models of non-electric vehicles have different operating sounds. To enhance the user experience, the actual operating sounds of multiple models of non-electric vehicles can be pre-sampled and stored. Furthermore, when a user drives or rides an electric vehicle and wishes to experience the driving experience of a specific model of non-electric vehicle, they can match the pre-sampled sound signals from the database.

[0080] (2) Generate the sound wave signal corresponding to the original sound source using a generative artificial intelligence model;

[0081] For example, a text description of a non-electric vehicle model, such as "the operating sound of Model A non-electric vehicle," can be input into the generative AI model to obtain the sound signal corresponding to that model. It is understood that sound signals corresponding to multiple original sound sources can be pre-stored and acquired from the generative AI model in advance, or sound signals corresponding to an unstored original sound source can be acquired in real time while the electric vehicle is in motion.

[0082] (3) Based on the audio output of the sound simulation device installed in the vehicle, the sound signal corresponding to the original sound source is obtained.

[0083] It can be understood that in the relevant field, there is a solution that realizes simulation by installing a sound simulation device inside the electric vehicle and playing the sound audio of the original sound source through the speakers inside the vehicle. This embodiment can directly obtain the sound audio from the speaker input or output end of the sound simulation device installed in the electric vehicle itself as the sound signal corresponding to the original sound source, and then use it to generate a tactile feedback signal.

[0084] Optionally, the sound signal may be a digital audio signal or an analog audio signal.

[0085] Optionally, the sound wave signal may be acquired locally or remotely.

[0086] Optionally, the sound signal can be an original sound signal or a preprocessed sound signal. For example, when the sound signal is a digital audio signal, the original sound signal can be preprocessed by upsampling, downsampling, fitting, scaling, or limiting, depending on the scenario. For another example, the digital audio signal can be subjected to noise reduction. For another example, the digital audio signal can be filtered to separate different audio channels, thereby retaining only the sound effects that are suitable or necessary for conversion into tactile feedback signals.

[0087] In some embodiments, it is understood that the operating sound / vibration effects emitted by a sound source such as a non-electric vehicle or aircraft can vary significantly during different operating stages. For example, the sound waves emitted by a non-electric vehicle during startup, acceleration, deceleration, constant speed driving, gear shifting, backfire, and shutdown can all differ. To achieve a more realistic tactile feedback effect, in step 220, the vehicle's driving state can be determined based on real-time vehicle driving information, and the sound wave signal corresponding to the real-time vehicle driving state can be specifically obtained from the sound source.

[0088] For example, the sound signals emitted by "Model A non-electric vehicle" in various driving states, such as starting, accelerating, decelerating, driving at a constant speed, shifting, backfiring, and shutting down, can be pre-sampled. For another example, descriptive statements such as "the starting sound of Model A non-electric vehicle" and "the shutting down sound of Model A non-electric vehicle" can be input into the generative artificial intelligence model to obtain the sound signals emitted by "Model A non-electric vehicle" in different driving states. This allows the corresponding sound signals to be retrieved based on the real-time vehicle driving state, enhancing the realism of the tactile feedback effect.

[0089] It is worth noting that, referring to FIG2 , unless the above-mentioned embodiment is used to specifically obtain the sound wave signal of the original sound source corresponding to the real-time vehicle driving state, in other cases, step 210 does not necessarily need to be performed before step 220 , and step 210 only needs to be performed before step 250 .

[0090] Step 230: Determine a waveform in the sound wave signal that is associated with the vibration of the original sound source;

[0091] In some embodiments, it can be understood that the waveform of an acoustic signal contains the shock wave of its original sound source and its resulting harmonics, and that the shock wave can truly reflect the vibration of the original sound source. Based on this, the shock wave in the acoustic signal can be extracted as a waveform associated with the vibration of the original sound source. As an exemplary embodiment, the dominant frequency of the acoustic signal can be identified and the shock wave can be extracted from the acoustic signal based on this dominant frequency.

[0092] In some embodiments, a digital algorithm can be used to extract the shock wave from the acoustic signal. As an exemplary embodiment, the digital algorithm can include a Fourier transform algorithm and / or a filtering algorithm. As an exemplary embodiment, a Fourier transform algorithm can be used to identify the dominant frequency of the acoustic signal, and a filtering algorithm can be used to extract the frequency component corresponding to the identified dominant frequency from the acoustic signal as the shock wave. For example, the Fourier transform algorithm can use a DTFT (discrete-time Fourier transform). As another example, the filtering algorithm can use a bandpass filtering algorithm. It is understood that the digital algorithm can be stored in the form of a program in a local memory, and the program can be called by a local processor for execution.

[0093] In some embodiments, when the acoustic wave signal acquired in step 220 is an analog audio signal, the analog audio signal may be converted to a digital audio signal, and the shock wave in the acoustic wave signal may be extracted using the digital algorithm based on the obtained digital audio signal. For example, the analog-to-digital conversion operation may be performed using a local analog-to-digital converter (ADC).

[0094] In some embodiments, frequency components within a preset frequency range from the sound signal can be extracted as a waveform associated with the vibration of the original sound source. It will be appreciated that by extracting the frequency components within the preset frequency range from the sound signal, components that are unsuitable or unnecessary for conversion into tactile feedback signals (such as human voices and background music) can be removed or significantly reduced from the sound signal while retaining components that are suitable or necessary for conversion into tactile feedback signals, thereby further enhancing the user's tactile feedback experience.

[0095] In some embodiments, a filter may be used to extract frequency components within a preset frequency range from the sound wave signal. As an exemplary embodiment, the filter may be a second-order Butterworth filter.

[0096] In some embodiments, the filter may be a digital filter, and the predetermined frequency range may be predetermined based on an application or content associated with the sound signal. As an exemplary embodiment, a digital bandpass filter may be used to extract frequency components within the predetermined frequency range from the sound signal using the upper and lower limits of the predetermined frequency range as cutoff frequencies.

[0097] In some embodiments, the filter may be an analog filter, and the predetermined frequency range may be below a fixed frequency. As an exemplary embodiment, frequency components below the fixed frequency in the sound signal may be extracted using an analog low-pass filter, where the cutoff frequency of the analog low-pass filter is pre-configured to be the fixed frequency. For example, the fixed frequency may be the lowest frequency of the human voice.

[0098] Optionally, when the acquired sound signal is a digital audio signal, an analog audio signal can be obtained by performing digital-to-analog conversion on the digital audio signal, and frequency components within a predetermined frequency range within the sound signal can be determined through the analog filter based on the obtained analog audio signal. For example, the digital-to-analog conversion operation can be performed using a local digital-to-analog converter (DAC).

[0099] Optionally, when the acquired sound signal is a digital audio signal, frequency components within a preset frequency range in the sound signal may also be acquired, which is not specifically limited in this application.

[0100] Step 240: Generate a tactile feedback signal based on the determined waveform associated with the vibration of the original sound source;

[0101] In some implementations, the determined waveform associated with the vibration of the original sound source can be rendered and used as the haptic feedback signal.

[0102] As an exemplary embodiment, the rendering can be performed using a mathematical algorithm, which includes but is not limited to a filtering algorithm, a waveform transformation algorithm, a multipath effect algorithm, a waveform superposition algorithm, a sharpness transformation algorithm, and a tail sound calculation algorithm. It can be understood that when a digital algorithm is used to determine the waveform associated with the vibration of the original sound source, the determined component can be rendered. For example, the mathematical algorithm can be stored in a local memory in the form of a program, and the local processor calls the program to perform the rendering operation. It should be understood that the tactile feedback based on the rendered vibration waveform can enable the human brain to associate with the corresponding original sound source, further enhancing the realism of the actual tactile feeling.

[0103] Step 250: Adjust the tactile feedback signal based on the vehicle driving information;

[0104] It should be emphasized that, with reference to FIG2 , the adjustment action of step 250 can be performed after the tactile feedback signal is generated in step 240, that is, "generate first, then adjust." The adjustment action of step 250 can also be performed during the process of generating the tactile feedback signal in steps 230 and 240, so that the tactile feedback signal generated in steps 230 and 240 is the adjusted tactile feedback signal, that is, "adjust first, then generate." The adjustment action of step 250 can also be performed both during the process of generating the tactile feedback signal and after generating the tactile feedback signal, and this application does not impose any restrictions on this.

[0105] In some embodiments, in order to achieve the adjustment of the tactile feedback signal in step 250, the frequency and / or intensity of the generated tactile feedback signal can be adjusted directly based on the vehicle driving information, so that the adjusted tactile feedback signal can simulate the tactile feedback effect of the original sound source under the corresponding driving state.

[0106] In some embodiments, adjusting the frequency and / or intensity of the tactile feedback signal further specifically includes: adjusting one or more of the vibration intensity, vibration frequency, speed of change of vibration frequency, speed of change of vibration intensity, duration of vibration, vibration phase, and time domain spectrum diagram of the tactile feedback signal.

[0107] In some embodiments, in order to achieve directional performance of vibration, at least two tactile feedback brake components are set on the vehicle to achieve the adjustment of the tactile feedback signal in step 250, and it also includes: based on the vehicle driving information, performing at least two differentiated adjustments on the generated tactile feedback signal, and using the adjusted at least two tactile feedback signals to respectively drive the at least two tactile feedback brake components set on the vehicle to adjust the direction of the vibration.

[0108] As an exemplary embodiment, referring to Figure 4, for example, two tactile feedback brake components are respectively arranged on the left and right sides of the seat. When the vehicle driving information indicates that the vehicle turns left, the generated tactile feedback signal is subjected to two differential adjustments, wherein the intensity and frequency of the tactile feedback signal input to the left component are gradually increased from weak to fast, and the tactile feedback signal input to the right component is gradually increased from weak to slow, so as to simulate the directional vibration.

[0109] In some embodiments, referring to FIG. 3 , to implement the adjustment of the tactile feedback signal in step 250 , the following steps may be performed:

[0110] Step 231: extracting the shock wave from the acoustic wave signal as the waveform associated with the vibration of the original sound source; the specific implementation steps of step 231, namely step 230, have been described in detail above.

[0111] Step 251: Adjust the intensity and / or frequency of the extracted shock wave based on the vehicle driving information; further, one or more of the vibration intensity, vibration frequency, speed of change of vibration frequency, speed of change of vibration intensity, duration of vibration, vibration phase, and time domain spectrum of the shock wave can be adjusted.

[0112] Step 241 : generating an adjusted tactile feedback signal based on the adjusted shock wave. Step 241 is also a specific implementation step of step 240 .

[0113] The adjustment of the intensity and / or frequency of the shock wave in step 251 will eventually enable the generated adjusted tactile feedback signal to simulate the tactile feedback effect of the original sound source under the corresponding driving state.

[0114] In some embodiments, in order to achieve the adjustment of the tactile feedback signal in step 250, the rendering parameters used in step 240 can be adjusted based on the vehicle driving information, so that the intensity and / or frequency of the generated tactile feedback signal are adjusted to simulate the tactile feedback effect of the original sound source in the corresponding driving state.

[0115] In the following, specific examples of adjusting the tactile feedback signal under various vehicle states will be listed to illustrate how the intensity and / or frequency of the generated tactile feedback signal can be adjusted to simulate the tactile feedback effect of the original sound source under the corresponding driving state.

[0116] As an exemplary embodiment, when the vehicle driving information indicates that the vehicle is moving at a low speed (for example, less than a preset speed threshold), the shock wave extracted in step 231 and / or the tactile feedback signal generated in step 240 (or 241) can be increased in intensity and / or decreased in frequency, ultimately increasing the intensity of the tactile feedback signal and decreasing its frequency, making the tactile feedback signal closer to the sound wave vibration generated when the original sound source moves at a low speed.

[0117] As an exemplary embodiment, when the vehicle driving information indicates that the vehicle is moving at high speed (for example, greater than a preset speed threshold), the shock wave extracted in step 231 and / or the tactile feedback signal generated in step 240 (or 241) can be reduced in intensity and / or increased in frequency, so that the intensity of the tactile feedback signal is reduced and the frequency is increased, making the tactile feedback signal closer to the sound wave vibration generated when the original sound source is moving at high speed.

[0118] As an exemplary embodiment, when the vehicle driving information indicates that the vehicle is in a variable speed motion, such as an acceleration or deceleration, the intensity and / or frequency of the shock wave extracted in step 231 and / or the tactile feedback signal generated in step 240 (or 241) are adjusted over time, so that the intensity and / or frequency of the tactile feedback signal undergo a linear change and / or at least one jump within a preset time corresponding to the variable speed motion. For example, if the acceleration is small, the signal intensity may be linearly reduced and the signal frequency may be linearly increased over a short period of time. If the acceleration is large, the signal intensity may be jump-decreased by a preset value and the signal frequency may be jump-increased by a preset value over a short period of time to simulate the impact force effect generated by a sudden acceleration.

[0119] As an exemplary embodiment, when the vehicle driving information indicates that the vehicle is in the startup state, the intensity and / or frequency of the shock wave extracted in step 231 and / or the tactile feedback signal generated in step 240 (or 241) can be adjusted, including gradually increasing the intensity and frequency of the tactile feedback signal from weak to strong. Furthermore, when the vehicle driving information indicates that the vehicle has been successfully started, the intensity and frequency of the tactile feedback signal can be gradually reduced from strong to weak. This allows the tactile feedback signal to more closely resemble the acoustic vibrations generated by the original sound source during startup.

[0120] As an exemplary embodiment, when vehicle driving information indicates that the vehicle is braking, the intensity and / or frequency of the shock wave extracted in step 231 and / or the tactile feedback signal generated in step 240 (or 241) can be adjusted. In any gear, the intensity of the tactile feedback signal is gradually increased from weak, and the frequency of the tactile feedback signal is gradually decreased from high until the vehicle switches gears. After the vehicle switches gears, the aforementioned intensity and / or frequency adjustment logic continues in the lower gear until the vehicle comes to a complete stop, at which point the signal intensity / frequency can be maintained at a low point. This allows the tactile feedback signal to more closely resemble the acoustic vibrations generated by the original sound source during braking.

[0121] As an exemplary embodiment, when the vehicle driving information indicates that the vehicle is in a flashback state, the intensity and / or frequency of the shock wave extracted in step 231 and / or the tactile feedback signal generated in step 240 (or 241) may be adjusted, including the following three situations:

[0122] Case 1: When the vehicle driving information indicates that a throttle stepping action and a throttle releasing action occur successively during vehicle driving, it indicates that the vehicle is in a backfire state; and / or,

[0123] Furthermore, when the vehicle driving information indicates that the vehicle is in the backfire state (Case 1), the intensity and / or frequency of the shock wave extracted in step 231 and / or the tactile feedback signal generated in step 240 (or 241) can be adjusted. Specifically, the following adjustments may be made: in response to the throttle pedaling action, the frequency of the tactile feedback signal is gradually increased from a first intermediate frequency, thereby gradually reducing the intensity of the tactile feedback signal from strong; and in response to the throttle release action, the frequency of the tactile feedback signal is gradually reduced from strong to a first intermediate frequency, thereby gradually increasing the intensity of the tactile feedback signal from weak. The first intermediate frequency is a value between the peak and the low point of the tactile feedback signal's frequency range, preferably the midpoint between the two. This allows the tactile feedback signal to more closely resemble the acoustic vibrations generated by the original sound source during the aforementioned throttle pedaling / release.

[0124] Case 2: When the vehicle driving information indicates that the vehicle does not shift gears to slow down and then downshifts during driving, causing the vehicle speed to decrease and then increase, it indicates that the vehicle is in a backfire state.

[0125] Furthermore, when the vehicle driving information indicates that the vehicle is in the backfire state (Case 2), the intensity and / or frequency of the shock wave extracted in step 231 and / or the tactile feedback signal generated in step 240 (or 241) can be adjusted. Specifically, the following adjustments may be made: in response to the vehicle decelerating without shifting, the intensity of the tactile feedback signal gradually increases from a weak value to a first intermediate value, and the frequency of the tactile feedback signal decreases from a high value to a second intermediate value; in response to the vehicle speed increasing during a downshift, the frequency of the tactile feedback signal rapidly increases from the second intermediate value to a peak value, and the intensity of the tactile feedback signal rapidly decreases from the first intermediate value. The second intermediate value frequency is a value midway between the peak and low points of the tactile feedback signal's frequency range, preferably the midpoint between the two. The first intermediate value intensity is a value midway between the peak and low points of the tactile feedback signal's intensity range, preferably the midpoint between the two. In this way, the tactile feedback signal can be made to more closely resemble the acoustic vibrations generated by the original sound source during the aforementioned rapid deceleration and shifting of the vehicle.

[0126] Case 3: When the vehicle driving information indicates that the accelerator is stepped on in a neutral state after the vehicle is started, it indicates that the vehicle is in a backfire state.

[0127] Preferably, when the vehicle driving information indicates that the vehicle is in any of the aforementioned backfire states, adjusting the tactile feedback signal further includes randomly adding short, explosive vibrations of high intensity / frequency. Specifically, the addition of short, explosive vibrations of high intensity / frequency can be achieved by randomly adjusting the vibration frequency, the rate of change of the vibration frequency, the vibration intensity, the rate of change of the vibration intensity, the duration of the vibration, the vibration phase, the time-domain spectrum of the vibration, etc. This allows the tactile feedback signal to more closely resemble the acoustic vibrations generated by the original sound source during backfire.

[0128] In some embodiments, when the vehicle driving information indicates that the electric vehicle is in a specific driving state, a sound wave signal corresponding to the specific driving state can be obtained from the original sound source in step 220. For example, the specific driving state includes starting, ignition off, backfire, and shifting. Therefore, a tactile feedback signal is generated in steps 230 and 240 to simulate the original sound source corresponding to the specific driving state, and the tactile feedback signal is adjusted based on the vehicle driving information in step 250.

[0129] As an exemplary embodiment, when the vehicle driving information indicates that the vehicle is in a starting state, the sound signal corresponding to the starting state of the original sound source is first obtained, and then a tactile feedback signal corresponding to the starting state is generated based on the sound signal corresponding to the starting state of the original sound source. The tactile feedback signal can then be adjusted based on the vehicle driving information before and after the start. For example, the tactile feedback signal can be adjusted corresponding to the speed change movement based on the start acceleration to achieve a more realistic start simulation effect.

[0130] As an exemplary embodiment, when the vehicle driving information indicates that the vehicle is in a flameout state, the sound wave signal corresponding to the flameout state of the original sound source is first obtained, and then a tactile feedback signal corresponding to the flameout state is generated based on the sound wave signal corresponding to the flameout state of the original sound source. The tactile feedback signal can be adjusted based on the vehicle driving information before and after the flameout. For example, the tactile feedback signal can be adjusted corresponding to the speed change movement based on the speed before the flameout to achieve a more realistic flameout simulation effect.

[0131] As an exemplary embodiment, when the vehicle driving information indicates that the vehicle is in a flashback state, the sound wave signal corresponding to the flashback state is first obtained from the original sound source. Then, a tactile feedback signal corresponding to the flashback state is generated based on the sound wave signal corresponding to the flashback state from the original sound source. The tactile feedback signal can be adjusted based on the vehicle driving information before and after the flashback. For example, the tactile feedback signal can be adjusted based on the speed before and after the flashback to achieve a more realistic flashback simulation effect. Such details are not further elaborated.

[0132] Step 260 : Drive the tactile feedback brake component to provide tactile feedback according to the adjusted tactile feedback signal.

[0133] Referring to FIG4 , in the present application, a haptic feedback brake assembly can be installed in a vehicle seat, including a driver's seat, a passenger seat, a rear seat, etc. The haptic feedback brake assembly receives a drive signal and generates corresponding vibrations based on the haptic feedback signal, so that the driver or passenger sitting in the seat can experience the haptic feedback effect generated by the vibration of the haptic feedback brake assembly.

[0134] It is understandable that, in response to a control command from a driver / passenger, the haptic feedback brake assembly on a certain seat can be individually driven to generate a haptic feedback effect, thereby providing a personalized haptic feedback experience.

[0135] In some implementations, haptic feedback brake assemblies located in different vehicle seats can be activated to produce differentiated haptic feedback effects. For example, the driver's seat could produce haptic feedback simulating that of a high-performance internal combustion engine vehicle, while the rear seats could produce haptic feedback simulating that of a horse-drawn carriage. This allows for a personalized driving / riding experience for passengers in different vehicle positions, an effect not achievable by simply simulating sound waves with acoustic effects.

[0136] 5 , according to some embodiments of the present application, a tactile feedback device for simulating sound waves according to an embodiment of the present application is provided. The device 500 is configured to perform the method of the above embodiment. The device 500 includes:

[0137] The driving information acquisition module 510 is used to obtain vehicle driving information in real time;

[0138] The sound signal acquisition module 520 is used to obtain the sound signal corresponding to the original sound source;

[0139] a tactile feedback signal generating module 530 for determining a waveform in the sound wave signal associated with the vibration of the original sound source, and generating a tactile feedback signal based on the determined waveform associated with the vibration of the original sound source;

[0140] a tactile feedback signal adjustment module 540 , configured to adjust the tactile feedback signal based on vehicle driving information;

[0141] The driving module 550 is configured to drive a tactile feedback brake assembly provided on the vehicle to provide tactile feedback based on the adjusted tactile feedback signal.

[0142] According to some embodiments of the present application, a tactile feedback device for simulating sound waves according to an embodiment of the present application is provided, which is used to execute the tactile feedback method for simulating sound waves shown in the above embodiment. The device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of the above embodiment.

[0143] According to some embodiments of the present application, a non-volatile computer storage medium is provided for a tactile feedback method for simulating sound waves, on which computer executable instructions are stored. The computer executable instructions are configured to execute the method of the above embodiment when executed by a processor.

[0144] Computer-readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory, read-only memory, electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. In addition, although the operations of the method of the present application are described in a specific order in the accompanying drawings, this does not require or imply that the operations must be performed in this specific order or that all of the operations shown must be performed to achieve the desired result. In addition, certain steps may be omitted, multiple steps may be combined into a single step, and / or a single step may be broken down into multiple substeps.

[0145] Although the spirit and principles of the present application have been described above with reference to several specific embodiments, it should be understood that the present application is not limited to the specific embodiments disclosed, and the division into various aspects does not mean that the features of these aspects cannot be combined. The present application is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A tactile feedback method for simulating sound waves, characterized in that: include: Get vehicle driving information in real time; Obtain the sound wave signal corresponding to the original sound source; Determine a waveform in the sound wave signal associated with the vibration of the original sound source, and generate a tactile feedback signal based on the determined waveform associated with the vibration of the original sound source; adjust the tactile feedback signal based on the vehicle driving information; and drive a tactile feedback brake component provided on the vehicle to provide tactile feedback based on the adjusted tactile feedback signal.

2. The method according to claim 1, wherein Acquire the sound signal corresponding to the original sound source through any one or more of the following methods: obtain the sound signal corresponding to one or more original sound sources based on pre-sampling; generate the sound signal corresponding to one or more original sound sources using a generative artificial intelligence model; obtain the sound signal corresponding to the original sound source based on the audio output of the vehicle's own sound simulation device.

3. The method according to claim 1, further comprising: obtaining a sound wave signal corresponding to an original sound source; Determining a vehicle driving state based on the vehicle driving information acquired in real time; Acquire a sound wave signal of the original sound source corresponding to the driving state of the vehicle.

4. The method according to claim 1, wherein Determining the waveform in the sound wave signal associated with the vibration of the original sound source further includes: extracting a shock wave in the sound wave signal as the waveform associated with the vibration of the original sound source. The method according to claim 4 , wherein the shock wave is extracted by identifying a dominant frequency of the acoustic wave signal. The method of claim 4 , wherein the shock wave is extracted using a digital algorithm. The method according to claim 6 , wherein the digital algorithm comprises a Fourier transform algorithm or a filtering algorithm.

8. The method according to claim 6, wherein when the acquired sound wave signal is an analog audio signal, a digital audio signal is obtained by performing analog-to-digital conversion on the analog audio signal, and the shock wave is extracted using the digital algorithm based on the obtained digital audio signal. 9 . The method according to claim 1 , wherein frequency components of a preset frequency range in the sound wave signal are extracted by a filter as a waveform associated with the vibration of the original sound source.

10. The method according to claim 9, wherein the filter is a second-order Butterworth filter.

11. The method according to claim 9, wherein the filter is a digital bandpass filter, and the preset frequency range is predetermined based on the original sound source.

12. The method of claim 9, wherein the filter is an analog low-pass filter.

13. The method according to claim 4, wherein: Generating a haptic feedback signal based on the determined waveform associated with the vibration of the original sound source also includes rendering the extracted shock wave and using the rendered shock wave as the haptic feedback signal.

14. The method according to claim 13, wherein the rendering is performed using a mathematical algorithm, and the mathematical algorithm includes at least one selected from a filtering algorithm, a waveform transformation algorithm, a multipath effect algorithm, a waveform superposition algorithm, a sharpness transformation algorithm, and a tail sound calculation algorithm.

15. The method according to claim 4, further comprising: The intensity and / or frequency of the extracted shock wave is adjusted based on the vehicle driving information to adjust the tactile feedback signal.

16. The method according to claim 15, further comprising adjusting the intensity and / or frequency of the shock wave: Adjust one or more of the vibration intensity, vibration frequency, vibration frequency change speed, vibration intensity change speed, vibration duration, vibration phase, and vibration time domain spectrum diagram of the shock wave.

17. The method according to claim 13, further comprising: The rendering parameters used for the rendering are adjusted based on the vehicle driving information to adjust the intensity and / or frequency of the tactile feedback signal.

18. The method of claim 1, further comprising: Based on the vehicle driving information, the intensity and / or frequency of the generated tactile feedback signal is adjusted.

19. The method according to claim 17 or 18, further comprising adjusting the intensity and / or frequency of the tactile feedback signal: Adjust one or more of the vibration intensity, vibration frequency, vibration frequency change speed, vibration intensity change speed, vibration duration, vibration phase, and vibration time domain spectrum diagram of the tactile feedback signal.

20. The method according to claim 1, wherein at least two tactile feedback brake assemblies are provided on the vehicle, and the tactile feedback signal is adjusted based on the vehicle driving information, further comprising: Based on the vehicle driving information, the generated tactile feedback signal is differentially adjusted in at least two directions, and the at least two tactile feedback brake components provided on the vehicle are driven respectively by the adjusted at least two tactile feedback signals to adjust the direction of vibration.

21. The method according to claim 1, adjusting the tactile feedback signal, comprising: When the vehicle driving information indicates that the vehicle is moving at a low speed, increasing the intensity and decreasing the frequency of the tactile feedback signal; or, When the vehicle driving information indicates that the vehicle is moving at a high speed, the intensity of the tactile feedback signal is reduced and the frequency is increased.

22. The method according to claim 1, adjusting the tactile feedback signal, comprising: When the vehicle driving information indicates that the vehicle is in a speed change motion, the intensity and / or frequency of the tactile feedback signal is caused to undergo a linear change and / or at least one jump corresponding to the speed change motion within a preset time.

23. The method according to claim 1, adjusting the tactile feedback signal, comprising: When the vehicle driving information indicates that the vehicle is in a starting state, gradually increasing the intensity and frequency of the tactile feedback signal from weak to strong; as well as, When the vehicle driving information indicates that the vehicle is successfully started, the intensity and frequency of the tactile feedback signal are gradually reduced from strong to weak.

24. The method according to claim 1, adjusting the tactile feedback signal, comprising: When the vehicle driving information indicates that the vehicle is in a braking state during driving, at any gear position, the intensity of the tactile feedback signal is gradually increased from weak, and the frequency of the tactile feedback signal is gradually decreased from high until the vehicle switches gears.

25. The method according to claim 1, adjusting the tactile feedback signal, comprising: In response to the throttle pedaling action, the frequency of the tactile feedback signal is gradually increased from the first intermediate frequency, so that the intensity of the tactile feedback signal gradually decreases from strong; as well as, In response to the switch release action, the frequency of the tactile feedback signal is gradually reduced from strong to the first intermediate frequency, and the intensity of the tactile feedback signal is gradually increased from weak.

26. The method of claim 1, adjusting the tactile feedback signal, comprising: In response to the vehicle decelerating without shifting gears, the intensity of the tactile feedback signal gradually increases from weak to a first intermediate intensity, and the frequency of the tactile feedback signal decreases from high to a second intermediate frequency; In response to the increase in vehicle downshift speed, the frequency of the tactile feedback signal is rapidly increased from the second intermediate frequency to a peak value, and the intensity of the tactile feedback signal is rapidly weakened from the first intermediate intensity.

27. The method according to claim 1, wherein when the vehicle driving information indicates that the vehicle is in a backfire state, adjusting the tactile feedback signal comprises: Randomly adds short bursts of vibration of high intensity / frequency.

28. The method of claim 1, further comprising: When the vehicle driving information indicates that an accelerator pedaling action occurs in a neutral state after the vehicle is started, it indicates that the vehicle is in a backfire state; and / or, When the vehicle driving information indicates that a throttle stepping action and a throttle releasing action occur successively during vehicle driving, it indicates that the vehicle is in a backfire state; and / or, When the vehicle driving information indicates that the vehicle does not shift gears to decelerate and then downshift during vehicle driving, resulting in the vehicle speed decreasing and then increasing, it indicates that the vehicle is in a backfire state.

29. The method according to claim 1, wherein When the vehicle driving information indicates that the vehicle is in a specific driving state, a sound wave signal of the original sound source corresponding to the specific driving state is obtained to generate a tactile feedback signal for simulating the original sound source corresponding to the specific driving state, and the tactile feedback signal is adjusted based on the vehicle driving information.

30. The method according to claim 29, wherein The specific driving state includes one or more of the following: a starting state, an ignition-off state, a backfire state, and a speed change state.

31. The method of claim 1 , further comprising: Acquiring sound wave signals corresponding to at least two original sound sources to simulate and generate tactile feedback signals corresponding to the at least two original sound sources; Based on the tactile feedback signals corresponding to the at least two original sound sources, tactile feedback brake assemblies arranged at at least two positions of the vehicle are driven to generate different tactile feedback effects.

32. The method according to claim 1, wherein any one or more of a running non-electric vehicle, an aircraft, a horse-drawn carriage, and a roller coaster is used as the original sound source.

33. A tactile feedback device for simulating sound waves, characterized in that: The device is configured to execute the method according to any one of claims 1 to 32, and includes: a driving information acquisition module for acquiring vehicle driving information in real time; a sound signal acquisition module for acquiring a sound signal corresponding to an original sound source; a tactile feedback signal generation module for determining a waveform in the sound signal associated with the vibration of the original sound source, and generating a tactile feedback signal based on the determined waveform associated with the vibration of the original sound source; a tactile feedback signal adjustment module for adjusting the tactile feedback signal based on the vehicle driving information; and a driving module for driving a tactile feedback brake component provided on the vehicle to provide tactile feedback based on the adjusted tactile feedback signal.

34. A tactile feedback device for simulating sound waves, characterized in that: include: at least one processor; And, a memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor to enable the at least one processor to execute: the method as described in any one of claims 1-32.

35. A computer-readable storage medium storing a program, wherein when the program is executed by a multi-core processor, the multi-core processor is caused to execute the method according to any one of claims 1 to 32.

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