Steering wheel tactile feedback system for vehicle blind area prompting

Abstract

The invention discloses a steering wheel tactile feedback system for prompting a blind area of a vehicle, which comprises a vehicle state information acquisition unit for judging the steering intention of the vehicle; when the vehicle has the steering intention, the vehicle speed of the vehicle, the vehicle speed of the blind area and the distance between the vehicle of the blind area and the vehicle of the vehicle are collected; the tactile feedback working mode control unit is used for selecting a tactile feedback working mode suitable for the current working condition of the vehicle by calculating the length of the safe collision time between the vehicle and the blind area vehicle; the tactile feedback action execution mechanism unit comprises a servo motor, a transmission mechanism and a flexible contact area; the servo motor drives the transmission mechanism to reciprocate in the flexible contact area so that the steering wheel can vibrate. By controlling various rotating speeds of the servo motor, the speed and strength of reciprocating motion of the transmission mechanism are changed, multi-stage vibration of the steering wheel is achieved, and multi-stage vibration tactile feedback is provided for a driver.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent automobiles, and in particular relates to a steering wheel tactile feedback system for vehicle blind spot prompts. Background Art

[0002] When the car is driving, the driver will have a certain blind spot angle in the rearview mirror, and cannot clearly observe the vehicles on the left and right sides of the road before turning and changing lanes. Currently, there are auxiliary vehicle driving devices and blind spot monitoring systems that can prompt the driver with blind spot information in the form of multi-level alarms, but there is a certain delay time for the driver to use hearing as a prompt information, which cannot induce the driver to make a correct response in time. Summary of the invention

[0003] The purpose of the present invention is to provide a steering wheel tactile feedback system for vehicle blind spot prompts, which can timely remind the driver of potential dangers in the blind spot through tactile feedback, thereby improving driving safety.

[0004] The technical solution provided by the present invention is:

[0005] A steering wheel tactile feedback system for vehicle blind spot prompts, comprising:

[0006] A vehicle status information collection unit, which determines the turning intention of the vehicle; when the vehicle has the turning intention, collects the speed and distance information between the vehicle and the vehicle in the blind spot;

[0007] A tactile feedback working mode control unit, which selects a tactile feedback working mode suitable for the current vehicle working condition by calculating the length of the safe collision time between the vehicle and the vehicle in the blind spot;

[0008] A tactile feedback action actuator unit comprises a servo motor, a transmission mechanism and a flexible contact area; the servo motor drives the transmission mechanism to reciprocate in the flexible contact area to cause the steering wheel to vibrate; by controlling the various rotation speeds of the servo motor, the speed and intensity of the reciprocating motion of the transmission mechanism are changed to achieve multi-level vibration of the steering wheel, thereby providing the driver with multi-level vibration tactile feedback.

[0009] Preferably, it also includes: a vehicle position information acquisition unit, which acquires the current position of the vehicle through a preset high-precision map, and identifies whether the vehicle is in a turning scene at an intersection through a front camera; the vehicle position information acquisition unit determines the current driving scene of the vehicle based on the current position and the information acquired by the front camera, and if the vehicle enters a turning scene at an intersection, the vehicle status information acquisition unit determines the vehicle's turning intention.

[0010] Preferably, the vehicle status information acquisition unit determines the steering intention of the vehicle by acquiring the lateral displacement distance of the steering tie rod; if the lateral displacement of the steering tie rod accounts for approximately 20% to 50% of the total stroke, the vehicle has a steering intention.

[0011] Preferably, the formula for calculating the safe collision time is:

[0012]

[0013] Among them, T is the safe collision time; v is the relative speed between the vehicle and the blind spot vehicle; a is the relative acceleration between the vehicle and the blind spot vehicle; s is the distance between the blind spot vehicle and the vehicle.

[0014] Preferably, when the safety collision time is less than 1 second, the tactile feedback working mode control unit triggers the first-level reminder working mode, and the tactile feedback action execution mechanism unit controls the servo motor to operate at a rotation speed of 3000Rpm to achieve first-level vibration of the steering wheel; when the safety collision time is greater than 1 second and less than 2 seconds, the tactile feedback working mode control unit triggers the second-level reminder working mode, and the tactile feedback action execution mechanism unit controls the servo motor to operate at a rotation speed of 1200Rpm to achieve second-level vibration of the steering wheel.

[0015] Preferably, the servo motor and the transmission mechanism are arranged between the outer ring of the steering wheel and the inner ring of the steering wheel; the flexible contact area is arranged on the surface of the outer ring of the steering wheel and is parallel to the plane where the outer ring of the steering wheel is located.

[0016] Preferably, the flexible contact area includes: a surface contact layer, which is composed of anti-slip silicone; an intermediate buffer layer, which is composed of low-density polyurethane foam; and a bottom buffer layer, which is composed of high-elastic rubber or hard polyurethane; wherein the bottom buffer layer is arranged on the outer ring surface of the steering wheel, and the bottom buffer layer, the intermediate buffer layer and the surface contact layer are stacked in sequence from the inside to the outside.

[0017] Preferably, the left and right widths of the flexible contact area range from 0.2D to 0.3D, wherein D is the diameter of the hand-grip portion of the outer ring of the steering wheel.

[0018] The beneficial effects of the present invention are:

[0019] The steering wheel tactile feedback system for vehicle blind spot prompting provided by the present invention realizes accurate judgment and timely prompting of vehicle blind spot dangers through the coordinated work of a vehicle position information acquisition unit, a vehicle state information acquisition unit, a tactile feedback working mode control unit and a tactile feedback action execution mechanism unit; the vehicle position information acquisition unit can accurately identify the vehicle driving scene, and the vehicle state information acquisition unit provides rich vehicle state data in real time, so that the tactile feedback working mode control unit can accurately determine the prompt mode according to the safe collision time, and the flexible contact area design of the tactile feedback action execution mechanism unit can ensure that the driver can feel the vibration prompt comfortably and in time; it effectively shortens the driver's reaction time to blind spot dangers, greatly improves the timeliness of danger perception, can significantly reduce the probability of collision accidents under complex road conditions, and enhances driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a control flow chart of the steering wheel tactile feedback system for vehicle blind spot prompts according to the present invention.

[0021] Figure 2 It is a schematic diagram of the structure of the flexible tactile area of ​​the steering wheel cross section according to the present invention.

[0022] Figure 3 This is a schematic diagram of the position of the flexible tactile area described in the present invention.

[0023] Figure 4 This is a schematic diagram of the system modules of the present invention. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0025] like Figure 1 As shown, the present invention provides a steering wheel tactile feedback system for vehicle blind spot prompting, which includes:

[0026] A vehicle position information acquisition unit, which is used to acquire the driving information of the vehicle and determine the current driving scene of the vehicle according to the driving information; a vehicle state information acquisition unit, which is used to determine the turning intention of the vehicle and collect information about the vehicle and the vehicle in the blind spot; when it is determined that the vehicle has the intention to turn, the speed and distance information between the vehicle and the vehicle in the blind spot collected in real time from the sensor is received; a tactile feedback working mode control unit, which calculates the length of the safe collision time between the vehicle and the vehicle in the blind spot, and selects a tactile feedback working mode suitable for the current vehicle working condition according to the vibration mode rules corresponding to the dangerous conditions; the tactile feedback working mode includes a first-level reminder working mode and a second-level reminder working mode; a tactile feedback action execution mechanism unit, which includes a servo motor and a transmission mechanism 110 and a flexible contact Area 120; the servo motor drives the transmission mechanism to reciprocate in the flexible contact area 120 to make the steering wheel vibrate, thereby providing vibration tactile feedback for the driver; the tactile feedback action execution mechanism unit controls the various speeds of the servo motor according to different servo motor working instruction signals, changes the speed and intensity of the reciprocating motion of the transmission mechanism, realizes multi-level vibration of the steering wheel, and provides multi-level vibration tactile feedback for the driver; wherein, the servo motor working instruction signal includes primary vibration and secondary vibration; when the servo motor working instruction signal is primary vibration, the tactile feedback action execution mechanism unit controls the servo motor to operate at a speed of 3000Rpm; when the servo motor working instruction signal is secondary vibration, the tactile feedback action execution mechanism unit controls the servo motor to operate at a speed of 1200Rpm.

[0027] The vibration mode rules corresponding to the dangerous conditions include: when the safe collision time is less than 1 second, the first-level blind spot dangerous condition is met, the tactile feedback working mode control unit triggers the first-level reminder working mode, and the corresponding working instruction signal of the servo motor is the first-level vibration. The tactile feedback action execution mechanism unit controls the servo motor to operate at a speed of 3000Rpm according to the working instruction signal of the first-level vibration of the servo motor; when the safe collision time is greater than 1 second and less than 2 seconds, the second-level blind spot dangerous condition is met, the tactile feedback working mode control unit triggers the second-level reminder working mode, and the corresponding working instruction signal of the servo motor is the second-level vibration. The tactile feedback action execution mechanism unit controls the servo motor to operate at a speed of 1200Rpm according to the working instruction signal of the second-level vibration of the servo motor.

[0028] The specific implementation process is as follows:

[0029] Step 1: The vehicle position information acquisition unit acquires the current position information of the vehicle through a preset high-precision map, and identifies whether the vehicle is in an intersection turning scene through a front camera preset on the vehicle; the current position information of the vehicle and the information identified by the front camera constitute the driving information of the vehicle, and the vehicle position information acquisition unit determines the current driving scene of the vehicle based on the driving information of the vehicle, mainly for intersection turning scenes. If the current driving scene of the vehicle is not an intersection turning scene, no blind spot vibration prompt is performed; if the current driving scene of the vehicle is an intersection turning scene and the vehicle is determined to enter or has entered the intersection turning scene, the vehicle state information acquisition unit is used to determine the turning intention of the vehicle.

[0030] Step 2: If the vehicle is determined to enter or has entered the intersection turning scene, the vehicle status information acquisition unit obtains the left and right lateral displacement distance of the steering tie rod through the sensor to determine whether the vehicle has a turning intention; if the lateral displacement distance does not exceed the preset reference value, it is determined that the vehicle has no turning intention, and no blind spot vibration prompt is performed; if the lateral displacement of the steering tie rod accounts for about 20% to 50% of the total stroke, it is determined that the vehicle has a turning intention and the vehicle is about to turn through the intersection, and the vehicle status information acquisition unit monitors whether there is a vehicle in the blind spot in real time according to the preset rear camera. If no vehicle passes through the blind spot, no blind spot vibration prompt is performed; if a vehicle passes through the blind spot, the blind spot vibration prompt function is turned on, and the vehicle status information acquisition unit performs blind spot vehicle detection according to the preset rear laser radar, and the blind spot vehicle detection includes: the vehicle speed of the vehicle, the vehicle speed of the blind spot vehicle, the relative speed of the vehicle and the blind spot vehicle, the relative acceleration of the vehicle and the blind spot vehicle, and the distance between the blind spot vehicle and the vehicle.

[0031] Step three, the tactile feedback working mode control unit calculates the safe collision time between the vehicle and the blind spot vehicle according to the speed and distance information between the vehicle and the blind spot vehicle obtained by the vehicle status information acquisition unit, and selects the tactile feedback working mode suitable for the current vehicle operating condition based on the length of the calculated safe collision time.

[0032] Step 4: When the safety collision time is less than 1 second, the tactile feedback working mode control unit triggers the first-level reminder working mode, and the tactile feedback action execution mechanism unit sends a first-level vibration working command signal to the servo motor. The servo motor works at a speed of 3000Rpm, and accelerates the speed and intensity of the reciprocating motion of the transmission mechanism in the flexible contact area 120, so that the steering wheel generates a first-level vibration, provides the driver with a first-level vibration tactile feedback, and realizes a first-level blind spot vibration prompt; when the safety collision time is greater than 1 second and less than 2 seconds, the tactile feedback working mode control unit triggers the second-level reminder working mode, and the tactile feedback action execution mechanism unit sends a second-level vibration working command signal to the servo motor. The servo motor works at a speed of 1200Rpm, and the speed and intensity of the reciprocating motion of the transmission mechanism in the flexible contact area 120 are lower than the speed and intensity of the first-level blind spot vibration prompt, so that the steering wheel generates a second-level vibration, provides the driver with a second-level vibration tactile feedback, and realizes a second-level blind spot vibration prompt.

[0033] like Figure 2-3 As shown, the servo motor and transmission mechanism 110 are arranged between the steering wheel outer ring 211 and the steering wheel inner ring 212; the flexible contact area 120 is made of conductive rubber, arranged on the surface of the steering wheel outer ring 211, and parallel to the plane where the steering wheel outer ring 211 is located; the left and right widths of the flexible contact area 120 range from 0.2D to 0.3D, wherein D is the diameter of the hand-held part of the steering wheel outer ring 211, to ensure that most drivers can feel the vibration tactile feedback; wherein the flexible contact area 120 includes: a surface contact layer 121, which is composed of anti-slip silicone; an intermediate buffer layer 122, which is composed of low-density polyurethane foam; a bottom buffer layer 123, which is composed of high-elastic rubber or hard polyurethane; wherein the bottom buffer layer 123 is arranged on the outer surface of the steering wheel outer ring 211, and the bottom buffer layer 123, the intermediate buffer layer 122 and the surface contact layer 121 are stacked from the inside to the outside in sequence.

[0034] like Figure 4As shown, the vehicle control system includes: a GPS positioning module, a steering tie rod displacement detection module, a blind spot vehicle detection module, a laser radar safety collision time calculation module, and a motor working module; wherein the GPS positioning module uses the vehicle-mounted GPS system to determine the current position of the vehicle; the steering tie rod displacement detection module monitors the left and right lateral displacement of the steering tie rod through a linear displacement sensor (LVDT) set at the steering tie rod position; the blind spot vehicle detection module monitors in real time whether there is a vehicle in the blind spot through a preset rear camera; the laser radar safety collision time calculation module measures the vehicle speed of the vehicle, the speed of the blind spot vehicle, the relative speed of the vehicle and the blind spot vehicle, the relative acceleration of the vehicle and the blind spot vehicle, and the distance between the blind spot vehicle and the vehicle through the rear laser radar device, and calculates the safety collision time; the motor working module controls the servo motor to reach the corresponding speed according to the servo motor working instruction signal.

[0035] Car A is traveling on a road scene. The vehicle position information acquisition unit determines the current position information of Car A through the GPS positioning module, and identifies that Car A is in a turning scene at an intersection based on the front camera, and determines that Car A has entered the turning scene at the intersection; the vehicle status information acquisition unit obtains the steering tie rod displacement through the steering tie rod displacement detection module, and determines that the steering tie rod displacement accounts for about 20% to 50% of the total stroke, and determines that Car A has a turning intention; the vehicle status information acquisition unit detects the presence of a vehicle in the blind spot through the blind spot vehicle detection module, and obtains the speed and distance information between the vehicle and the blind spot vehicle through the laser radar safe collision time calculation module and calculates the safe collision time; the formula for calculating the safe collision time is:

[0036]

[0037] Wherein, T is the safe collision time; v is the relative speed between the vehicle and the vehicle in the blind spot; a is the relative acceleration between the vehicle and the vehicle in the blind spot; s is the distance between the vehicle in the blind spot and the vehicle;

[0038] If the safe collision time is less than 1 second, the tactile feedback working mode control unit triggers the first-level reminder working mode, the tactile feedback action execution mechanism unit sends a first-level vibration working instruction signal to the servo motor, and the motor working module controls the servo motor to work at a speed of 3000Rpm according to the first-level vibration working instruction signal, accelerates the speed and intensity of the reciprocating motion of the transmission mechanism in the flexible contact area 120, causes the steering wheel to generate a first-level vibration, provides the driver with a first-level vibration tactile feedback, and realizes a first-level blind spot vibration prompt; if the safe collision time is greater than 1 second and less than 2 seconds, the tactile feedback working mode control unit triggers the second-level reminder working mode, the tactile feedback action execution mechanism unit sends a second-level vibration working instruction signal to the servo motor, and the motor working module controls the servo motor to work at a speed of 1200Rpm according to the second-level vibration working instruction signal, and the speed and intensity of the reciprocating motion of the transmission mechanism in the flexible contact area 120 are lower than the speed and intensity of the first-level blind spot vibration prompt, causes the steering wheel to generate a second-level vibration, provides the driver with a second-level vibration tactile feedback, and realizes a second-level blind spot vibration prompt.

[0039] The present invention provides a steering wheel tactile feedback system for vehicle blind spot prompts, which is used to prompt the driver of dangerous information that a collision with a vehicle in the blind spot may occur in the case of turning road conditions or changing lanes, thereby improving driving safety. The steering wheel tactile feedback system for vehicle blind spot prompts provided by the present invention is designed with an integrated vehicle position information acquisition unit, a vehicle state information acquisition unit, a tactile feedback working mode control unit, and a tactile feedback action execution mechanism unit; wherein the vehicle position information acquisition unit can accurately locate the vehicle and identify the driving scene, so that the system can quickly respond in key scenes such as turning at intersections; the vehicle state information acquisition unit collects multi-dimensional information in real time to provide accurate data support for danger judgment; the tactile feedback working mode control unit determines the appropriate working mode according to the degree of danger to achieve accurate prompts; the flexible contact area design of the tactile feedback action execution mechanism unit ensures that most drivers can feel the vibration in their hands without interfering with normal driving operations; these designs cooperate with each other, allowing the driver to perceive the blind spot danger more timely and accurately, greatly improving the timeliness of danger perception, enhancing driving safety, while optimizing the driving experience, adapting to various complex driving conditions, and significantly improving the practicality and reliability of the system.

[0040] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A steering wheel tactile feedback system for vehicle blind spot prompts, characterized in that: include: A vehicle status information collection unit, which determines the turning intention of the vehicle; When the vehicle has the intention to turn, collect the speed and distance information between the vehicle and the vehicle in the blind spot; A tactile feedback working mode control unit, which selects a tactile feedback working mode suitable for the current vehicle working condition by calculating the length of the safe collision time between the vehicle and the vehicle in the blind spot; A tactile feedback action actuator unit comprises a servo motor, a transmission mechanism and a flexible contact area; the servo motor drives the transmission mechanism to reciprocate in the flexible contact area to cause the steering wheel to vibrate; by controlling the various rotation speeds of the servo motor, the speed and intensity of the reciprocating motion of the transmission mechanism are changed to achieve multi-level vibration of the steering wheel, thereby providing the driver with multi-level vibration tactile feedback.

2. The steering wheel tactile feedback system for vehicle blind spot prompting according to claim 1, characterized in that: Also includes: The vehicle position information acquisition unit obtains the current position of the vehicle through a preset high-precision map and identifies whether the vehicle is in a turning scene at an intersection through a front camera; The vehicle position information acquisition unit determines the current driving scene of the vehicle based on the current position and the information acquired by the front camera. If the vehicle enters a turning scene at an intersection, the vehicle state information acquisition unit determines the vehicle's turning intention.

3. The steering wheel tactile feedback system for vehicle blind spot prompting according to claim 2, characterized in that: The vehicle state information acquisition unit determines the steering intention of the vehicle by acquiring the lateral displacement distance of the steering tie rod; If the lateral displacement of the steering tie rod accounts for approximately 20% to 50% of the total stroke, the vehicle has a turning intention.

4. The steering wheel tactile feedback system for vehicle blind spot prompting according to claim 1, characterized in that: The formula for calculating the safe collision time is: Among them, T is the safe collision time; v is the relative speed between the vehicle and the blind spot vehicle; a is the relative acceleration between the vehicle and the blind spot vehicle; s is the distance between the blind spot vehicle and the vehicle.

5. The steering wheel tactile feedback system for vehicle blind spot prompting according to claim 4, characterized in that: When the safety collision time is less than 1 second, the tactile feedback working mode control unit triggers the first-level reminder working mode, and the tactile feedback action execution mechanism unit controls the servo motor to operate at a speed of 3000Rpm to achieve first-level vibration of the steering wheel; when the safety collision time is greater than 1 second and less than 2 seconds, the tactile feedback working mode control unit triggers the second-level reminder working mode, and the tactile feedback action execution mechanism unit controls the servo motor to operate at a speed of 1200Rpm to achieve second-level vibration of the steering wheel.

6. The steering wheel tactile feedback system for vehicle blind spot prompting according to claim 1, characterized in that: The servo motor and the transmission mechanism are arranged between the outer ring of the steering wheel and the inner ring of the steering wheel; the flexible contact area is arranged on the surface of the outer ring of the steering wheel and is parallel to the plane where the outer ring of the steering wheel is located.

7. The steering wheel tactile feedback system for vehicle blind spot prompting according to claim 6, characterized in that: The flexible contact area includes: a surface contact layer, which is composed of anti-slip silicone; an intermediate buffer layer, which is composed of low-density polyurethane foam; and a bottom buffer layer, which is composed of high-elastic rubber or hard polyurethane; wherein the bottom buffer layer is arranged on the outer ring surface of the steering wheel, and the bottom buffer layer, the intermediate buffer layer and the surface contact layer are stacked in sequence from the inside to the outside.

8. The steering wheel tactile feedback system for vehicle blind spot prompting according to claim 7, characterized in that: The left and right widths of the flexible contact area range from 0.2D to 0.3D, wherein D is the diameter of the hand-held portion of the outer ring of the steering wheel.

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