Tactile and visual bimodal perception-based vehicle-mounted man-machine interaction early warning system and control method thereof

Abstract

The invention discloses a vehicle-mounted man-machine interaction early warning system based on touch and vision dual-mode perception, and the system comprises environment detection modules which are disposed at two sides of a vehicle tail, and are used for monitoring the conditions of obstacles behind a vehicle; the data processing module is connected with the environment detection module and is used for receiving and processing data; the early warning control module is connected with the data processing module and is used for receiving data and issuing a command; the device starting module is arranged in the vehicle door handle, and the device starting module is connected with the environment detection module, the data processing module and the early warning control module and used for starting and closing all the modules. The invention further discloses a control method of the vehicle-mounted man-machine interaction early warning system based on tactile and visual dual-mode perception, the interaction mode of the motor array and the indicator lamp is adjusted according to different conditions of obstacles behind the vehicle, and the vehicle-mounted man-machine interaction early warning system based on tactile and visual dual-mode perception has the advantages that interactivity between the vehicle and passengers is improved, and effectiveness and accuracy of interaction are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle intelligent cockpit human-computer interaction, and more specifically, the present invention relates to an in-vehicle human-computer interaction warning system based on tactile and visual dual-modal perception and its control method. Background Art

[0002] With the rapid development of the automotive industry, automotive safety technologies and user experiences have increasingly become the focus of major automotive companies and research institutions. Based on this, automotive multi-sensory safety warning systems have emerged. Currently, traditional automotive warning systems mostly rely on devices such as sound alarms and indicator lights on the dashboard. However, these methods have limitations in certain situations. For example, in high-speed driving or noisy environments, sound alarms may not be noticed by the driver in a timely manner; although the indicator lights on the dashboard are intuitive, they may not be able to promptly attract the driver's rapid attention in emergency situations. Therefore, a more direct and effective warning method is needed to make up for the deficiencies of existing systems.

[0003] Automotive seat vibration technology has received extensive attention and application in recent years. This technology arranges vibrators inside the seat to transmit vibration signals to the driver to remind them of the vehicle's status or potential dangers. For example, in a lane departure warning system, when the vehicle deviates from the driving route, the system will control the seat vibrator to vibrate and remind, thus effectively avoiding accidents.

[0004] LED lights, with their technical characteristics such as high efficiency, energy saving, long lifespan, and environmental protection, are widely used in automotive lighting and interior decoration. In recent years, with the continuous progress of lighting technology, automotive lights have not only been limited to lighting functions but have gradually developed into an important means of interaction. By changing the color, brightness, and flashing frequency of the lights, different information can be transmitted to the driver and passengers, such as vehicle status, navigation instructions, etc.

[0005] In future intelligent cockpits, indicator lights and seat vibration will become one of the important automotive warning technologies, which is an innovative and practical technology, bringing a safer and more intelligent driving experience to the automotive industry. Summary of the Invention

[0006] The purpose of the present invention is to design and develop an in-vehicle human-computer interaction warning system based on tactile and visual dual-modal perception, which provides effective warnings when the occupants get out of the vehicle, improving effectiveness and interactivity.

[0007] The present invention also designs and develops a control method for an in-vehicle human-computer interaction warning system based on tactile and visual dual-modal perception, which adjusts different interaction modes according to different obstacle situations behind the vehicle, monitors and warns in real time, and provides comprehensive safety guarantees.

[0008] The technical solution provided by the present invention is as follows:

[0009] A vehicle-mounted human-machine interaction warning system based on tactile and visual bimodal perception, comprising:

[0010] An environment detection module, which is arranged on both sides of the vehicle rear, and is used for monitoring the obstacle situation behind the vehicle;

[0011] A data processing module, which is connected to the environment detection module and is used for receiving and processing data;

[0012] A warning control module, which is connected to the data processing module and is used for receiving data and issuing commands;

[0013] A device startup module, which is arranged inside the vehicle door handle, and the device startup module is connected to the environment detection module, the data processing module and the warning control module, and is used for starting and closing all modules;

[0014] Among them, the warning control module includes:

[0015] A motor array, which is arranged inside the vehicle seat and can selectively vibrate or be stationary for the occupant on the seat;

[0016] An indicator light, which is arranged inside the vehicle door above the door handle and can be selectively turned off or lit.

[0017] Preferably, the environment detection module includes:

[0018] Two ultrasonic radars, which are respectively arranged on both sides of the vehicle rear and are used for monitoring the obstacle situation behind the vehicle;

[0019] Among them, the detection range of the two ultrasonic radars is configured to be 0.2 - 10m, the horizontal field of view covers ±60°, and the sampling frequency ≥ 20Hz.

[0020] Preferably, the warning control module further includes:

[0021] A controller, which receives the data processing result of the data processing module and controls the motor array and the indicator light.

[0022] Preferably, the motor array includes a plurality of vibration motors, and the plurality of vibration motors are evenly arranged inside the vehicle seat, and the spacing between the plurality of motor arrays is 200mm.

[0023] Preferably, the device startup module includes:

[0024] A power supply, which is connected to the environment detection module, the data processing module and the warning control module;

[0025] A piezoresistive sensor is embedded inside the vehicle door handle and is used to detect real-time pressure changes;

[0026] A switch device is connected to the piezoresistive sensor, the environment detection module, the data processing module, and the warning control module, and is used to turn on or off the piezoresistive sensor, the environment detection module, the data processing module, and the warning control module.

[0027] A control method for an in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception uses the in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception, and includes the following steps:

[0028] Step 1: When the vehicle speed is zero and the real-time pressure detected by the piezoresistive sensor exceeds the pressure threshold, the in-vehicle human-machine interaction warning system is started;

[0029] Step 2: Adjust the interaction mode of the motor array and the indicator lights according to the obstacle situation behind the vehicle collected:

[0030] If the obstacle behind the vehicle is within the safety areas on the left and right sides of the vehicle body and the moving speed of the obstacle is within 0 - 1 m / s, then the interaction mode of the motor array and the indicator lights is Mode 1;

[0031] If the obstacle behind the vehicle is within the safety areas on the left and right sides of the vehicle body and the moving speed of the obstacle is within 1 - 5 m / s, then the interaction mode of the motor array and the indicator lights is Mode 2;

[0032] If the obstacle behind the vehicle is within the safety areas on the left and right sides of the vehicle body and the moving speed of the obstacle is greater than 5 m / s, then the interaction mode of the motor array and the indicator lights is Mode 3.

[0033] Preferably, the pressure threshold is 5 N, and the safety area is a 1.5 m area from the left and right sides of the vehicle body.

[0034] Preferably, the moving speed of the obstacle satisfies:

[0035]

[0036] In the formula, c is the propagation speed of the in-vehicle ultrasonic radar, Δf is the difference between the transmission frequency and the reception frequency, f0 is the transmission frequency of the ultrasonic radar, and θ is the angle between the ultrasonic beam direction and the object movement direction.

[0037] Preferably, in Mode 1, the indicator light is always on and all the motors in the motor array do not vibrate;

[0038] In Mode 2, the indicator light pulses and all the vibrating motors in the single row on the same side as the vehicle door in the motor array vibrate intermittently;

[0039] In Mode 3, the indicator light flashes at a high frequency and all the vibration motors in the motor array vibrate continuously.

[0040] Among them, the pulse flashing frequency of the indicator light is 2 Hz, the high-frequency flashing frequency of the indicator light is 5 Hz, the vibration period of the intermittent vibration of the vibration motor is 50 ms, and the vibration period of the continuous vibration of the vibration motor is 200 ms.

[0041] Preferably, the obstacle data behind the vehicle collected in the second step needs to be preprocessed, and the preprocessing is to denoise the obstacle data behind the vehicle collected by wavelet transform.

[0042] The beneficial effects of the present invention are as follows:

[0043] (1) An in-vehicle human-machine interaction warning system based on tactile and visual dual-modal perception designed and developed by the present invention can, through the combination of vibration motors and indicator lights, effectively warn oncoming vehicles when the occupant gets out of the vehicle, thereby improving the interactivity between the vehicle and the occupant, ensuring the effectiveness and accuracy of the interaction, and more intuitively and efficiently enhancing driving safety.

[0044] (2) The control method of the in-vehicle human-machine interaction warning system based on tactile and visual dual-modal perception designed and developed by the present invention uses advanced sensor technology and data analysis algorithms to real-time monitor the vehicle surrounding environment and adjust different reminder modes according to different situations, realizing real-time monitoring and warning of the vehicle surrounding environment, greatly improving the safety of passengers during the process of getting out of the vehicle, fully considering the user's usage habits and convenience, ensuring the usability and practicality of the system, providing more comprehensive and timely safety protection for the occupant, providing rapid, accurate and effective warning signals, effectively avoiding the occurrence of accidents, contributing to the development and innovation of in-vehicle human-machine interaction technology, and providing strong technical support for future intelligent transportation systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic structural diagram of the in-vehicle human-machine interaction warning system based on tactile and visual dual-modal perception described in the present invention.

[0046] Figure 2 It is a schematic diagram of the installation position of the environmental monitoring module described in the present invention.

[0047] Figure 3 It is a schematic diagram of the installation positions of the piezoresistive sensor and the indicator light described in the present invention.

[0048] Figure 4 It is a schematic structural diagram of the motor array described in the present invention.

[0049] Figure 5 It is a schematic flow chart of the control method of the vehicle-mounted human-computer interaction early warning system based on tactile and visual bimodal perception according to the present invention.

[0050] Figure 6 It is a schematic diagram of the motor array in Mode 1 according to the present invention.

[0051] Figure 7 It is a schematic diagram of the motor array in Mode 2 according to the present invention.

[0052] Figure 8 It is a schematic diagram of the motor array in Mode 3 according to the present invention. Detailed implementation manners

[0053] The following further elaborates on the present invention in detail so that those skilled in the art can implement it with reference to the text of the specification.

[0054] As Figure 1 shown, a vehicle-mounted human-computer interaction early warning system based on tactile and visual bimodal perception provided by the present invention mainly consists of four functional modules, namely a device startup module 110, an environment monitoring module 120, a data processing module 130, and an early warning control module 140. Each module works in coordination to achieve real-time monitoring of the vehicle's surrounding environment and multi-modal early warning. The module composition only represents its functional responsibility in the system and does not represent the distinction of actual devices.

[0055] Among them, the environment monitoring module 120 is arranged on both sides of the rear of the vehicle and is used to monitor the environmental conditions (obstacle conditions) behind the vehicle in real time and transmit the data to the data processing module 130; the data processing module 130 is connected to the environment detection module 120 and is used to receive the data transmitted by the environment monitoring module 120, identify the obstacle conditions behind the vehicle, judge whether the current environment meets the getting-off conditions, and process it into a control signal for the early warning control module 140; the early warning control module 140 is connected to the data processing module 130 and is used to receive the control signal transmitted by the data processing module 130 and perform early warning control; the device startup module 110 is installed inside the vehicle door handle and is used to identify the driver's intention and start or close the entire device.

[0056] As Figure 2As shown, the environmental monitoring module 120 includes an ultrasonic radar 410 on the left side behind the vehicle and an ultrasonic radar 420 on the right side, which are used to monitor the environmental conditions (obstacle conditions) behind the vehicle in real time. Each ultrasonic radar is responsible for detecting the information of obstacles or moving objects within a certain azimuth, and transmits the data in real time. The detection range of the ultrasonic sensor array is configured to be 0.2 - 10 m, the horizontal field of view covers ±60°, the sampling frequency is ≥20 Hz, and the obstacle positioning is achieved by the time difference ranging method to meet the real-time requirements in complex urban traffic scenarios. And wavelet denoising is added in the radar signal preprocessing stage to suppress the interference of environmental factors.

[0057] As Figure 3 , Figure 4 shown, the warning control module 140 includes a controller, a motor array, and an indicator light. The motor array includes a plurality of vibration motors arranged in the vehicle seat, which can selectively vibrate or be stationary for the occupants on the seat; the indicator light 320 is arranged inside the door above the door handle, and can be selectively turned off or lit; the controller receives the data processing results of the data processing module 130 and controls the motor array and the indicator light 320.

[0058] In this embodiment, the motor array includes a first vibration motor 510, a second vibration motor 520, a third vibration motor 530, and a fourth vibration motor 540. The installation positions of the first vibration motor 510, the second vibration motor 520, the third vibration motor 530, and the fourth vibration motor 540 are evenly arranged by collecting the pressure values on the seat cushion and selecting the effective areas where the pressure is relatively concentrated.

[0059] In another embodiment, the distances between the first vibration motor 510, the second vibration motor 520, the third vibration motor 530, and the fourth vibration motor 540 are all 200 mm.

[0060] The device startup module 110 mainly includes a power supply, a piezoresistive sensor 310, and a switching device. The power supply is connected to the environmental detection module, the data processing module, and the warning control module to supply power to all modules. The piezoresistive sensor 310 is embedded inside the vehicle door handle and can accurately sense the pressure change on the door handle; the switching device is connected to the piezoresistive sensor 310, the environmental detection module, the data processing module, and the warning control module, and is used to turn on or off the piezoresistive sensor 310, the environmental detection module, the data processing module, and the warning control module.

[0061] In this embodiment, the sampling frequency of the piezoresistive sensor 310 is ≥100 Hz.

[0062] An in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception designed and developed by the present invention can effectively warn oncoming vehicles when a passenger gets out of the vehicle by combining a vibration motor and an indicator light, thereby improving the interactivity between the vehicle and the passenger and ensuring the effectiveness and accuracy of the interaction.

[0063] As Figure 5 shown, the present invention also provides a control method for an in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception. Using the in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception, the method includes the following steps:

[0064] Step 1: When the vehicle is in a parked or turned-off state and the passenger makes contact with the door handle, the piezoresistive sensor embedded inside the handle detects the pressure change in real time. When the pressure exceeds the pressure threshold, it is determined that the passenger intends to open the door. The device startup module is activated through the threshold trigger mechanism to complete the system power supply and initialization process, and the in-vehicle human-machine interaction warning system is turned on;

[0065] Step 2: The in-vehicle ultrasonic radar installed at the rear of the vehicle monitors the environment on both the left and right sides of the vehicle in real time, including detecting the distance between the objects on both sides behind the vehicle and the vehicle, and sending the data to the data processing module in real time. The data processing module receives the data transmitted by the ultrasonic radar, first performs data preprocessing to suppress the interference of environmental factors, further analyzes the processed data, determines whether the object behind is within the safe area on both the left and right sides of the vehicle body. If so, calculates the moving speed of the object behind and determines the risk situation based on it, classifies it according to different speed intervals, and sends different modes of control signals in different situations;

[0066] Among them, the data preprocessing refers to denoising the collected data;

[0067] The moving speed of the object behind satisfies:

[0068]

[0069] In the formula, c is the propagation speed of the in-vehicle ultrasonic radar, Δf is the difference between the transmitted frequency and the received frequency, f0 is the transmitted frequency of the ultrasonic radar, and θ is the angle between the ultrasonic beam direction and the object movement direction (if the beam is directly facing the object movement direction, cosθ takes a value of 1);

[0070] The different modes of control signals include:

[0071] If the moving speed of the obstacle is between 0 and 1 m / s, it is determined as a low-risk situation, then the interaction mode of the motor array and the indicator light is Mode 1;

[0072] If the moving speed of the obstacle is between 1 and 5 m / s, it is determined as a medium-risk situation, and the interaction mode between the motor array and the indicator light is Mode 2;

[0073] If the moving speed of the obstacle is greater than 5 m / s, it is determined as a high-risk situation, and the interaction mode between the motor array and the indicator light is Mode 3;

[0074] Step 3: The early warning control module receives a control signal, powers on the vibration motors installed on the seat and the indicator lights installed on the car door to make them work, and represents different early warning information through different working modes of the indicator lights and the vibration motors:

[0075] Mode 1: As Figure 6 shown, the indicator light installed on the car door is constantly on and all the motors in the motor array installed on the seat cushion do not vibrate, corresponding to low-risk information such as a stationary or slow-moving pedestrian behind;

[0076] Mode 2: As Figure 7 shown, the indicator light installed on the car door pulses and flashes, and all the vibration motors in the single row on the same side of the car door in the motor array installed on the seat cushion vibrate intermittently, corresponding to medium-risk information such as a low-speed electric vehicle behind;

[0077] Mode 3: As Figure 8 shown, the indicator light installed on the car door flashes at a high frequency and all the motors in the motor array installed on the seat cushion vibrate continuously, corresponding to high-risk information such as a vehicle traveling at a high speed behind.

[0078] Step 4: When the occupant receives a danger signal, stops getting out of the car and picks up the hand from the door handle, or closes the car door after getting out of the car safely, it is regarded as the end of the early warning and the early warning function is exited; when the occupant keeps the hand on the door handle all the time, it is regarded as the early warning not ending.

[0079] In this embodiment, the data preprocessing adopts the method of wavelet denoising, and the noise model of wavelet denoising is:

[0080] s(n) = f(n) + ε(n), (n = 1, 2, 3…N);

[0081] In the formula, s(n) is the noisy signal received by the data processing module, f(n) is the useful signal, ε(n) is the noise signal, N is the signal length, and the purpose of denoising is to remove ε(n) from s(n). That is, after the signal is decomposed by wavelet, the wavelet coefficients of the useful signal are larger, the wavelet coefficients of the noise signal are smaller, and the wavelet coefficients of the noise are smaller than those of the useful signal. Select a threshold value. The wavelet coefficients greater than or equal to the threshold value are considered to be generated by the useful signal and should be retained, while those less than the threshold value are considered to be generated by the noise and set to zero, so as to achieve the purpose of denoising. The specific steps are as follows:

[0082] Step 1, Wavelet transform and decomposition:

[0083] First, select an appropriate wavelet basis according to the signal characteristics, such as the Daubechies series (commonly db4 or db6), which is suitable for transient signal analysis due to its compact support and orthogonality. Use the selected wavelet basis to perform wavelet transform on the noisy signal s(n), decompose the signal into different frequency sub-bands, so that the characteristics of the signal can be captured at different scales, and dynamically adjust according to the signal length N and the noise spectrum characteristics, generally set to 3 - 5 layers. Assume the decomposition layer number is L, then perform L-layer wavelet decomposition on the signal to obtain the wavelet coefficients d j where j = 1, 2, …, L.

[0084] Step 2, Threshold processing:

[0085] Perform threshold processing on the wavelet coefficients of each layer. The processed wavelet coefficients satisfy:

[0086]

[0087] In the formula, D j is the wavelet coefficient after threshold processing, and λ is the threshold;

[0088] The threshold satisfies:

[0089]

[0090] In the formula, σ is the noise standard deviation, and N is the signal length.

[0091] Step 3, Inverse wavelet transform:

[0092] Perform inverse wavelet transform on the wavelet coefficients after threshold processing to obtain the denoised estimated signal

[0093] In this embodiment, since the radar wave speed is much greater than the speed of the vehicle or other moving objects, the influence of factors such as temperature and propagation medium on the radar wave speed is ignored for the propagation speed of the vehicle-mounted ultrasonic radar, and it is approximately taken as 340 m / s.

[0094] In this embodiment, the safety area is the area 1.5 m on both the left and right sides of the vehicle body.

[0095] In this embodiment, the pressure threshold is 5 N.

[0096] In this embodiment, the flashing frequency of the indicator light pulse is 2 Hz, the high-frequency flashing frequency of the indicator light is 5 Hz, the vibration period of the vibration motor for intermittent vibration is 50 ms, and the vibration period of the vibration motor for continuous vibration is 200 ms.

[0097] A control method for an in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception designed and developed by the present invention uses advanced sensor technology and data analysis algorithms to monitor the vehicle's surrounding environment in real time and adjust different reminder modes according to different situations, achieving real-time monitoring and warning of the vehicle's surrounding environment, greatly improving the safety of passengers during the getting-off process, fully considering the user's usage habits and convenience, ensuring the usability and practicality of the system, and providing more comprehensive and timely safety protection for the occupants.

[0098] Although the embodiments of the present invention have been disclosed as above, it is not limited to the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily made. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to specific details and the embodiments shown and described here.

Claims

1. A vehicle-mounted human-machine interaction warning system based on tactile and visual bimodal perception, characterized in that, Including: An environment detection module, which is set on both sides of the vehicle rear, for monitoring the obstacle situation behind the vehicle; A data processing module, which is connected to the environment detection module, for receiving and processing data; An early warning control module, which is connected to the data processing module, for receiving data and issuing commands; A device start module, which is set inside the vehicle door handle, and the device start module is connected to the environment detection module, data processing module and early warning control module, for starting and closing all modules; Wherein, the early warning control module includes: A motor array, which is set in the vehicle seat, and can optionally vibrate or be stationary to the occupants on the seat; An indicator light, which is set in the vehicle door near the upper part of the door handle, and can optionally be turned off or lit.

2. The vehicle-mounted human-machine interaction warning system based on tactile and visual bimodal perception according to claim 1, characterized in that, The environment detection module includes: Two ultrasonic radars, which are respectively set on both sides of the vehicle rear, for monitoring the obstacle situation behind the vehicle; Wherein, the detection ranges of the two ultrasonic radars are configured to be 0.2 - 10m, the horizontal field of view angle covers ±60°, and the sampling frequency ≥ 20Hz.

3. The vehicle-mounted human-machine interaction warning system based on tactile and visual bimodal perception according to claim 2, characterized in that, The early warning control module further includes: A controller, which receives the data processing result of the data processing module, and controls the motor array and the indicator light.

4. The vehicle-mounted human-computer interaction warning system based on tactile and visual bimodal perception according to claim 3, wherein The motor array includes a plurality of vibration motors, and the plurality of vibration motors are evenly arranged in the vehicle seat, and the spacing of the plurality of motor arrays is 200mm.

5. The vehicle-mounted human-machine interaction warning system based on tactile and visual bimodal perception according to claim 4, characterized in that, The device start module includes: A power supply, which is connected to the environment detection module, data processing module and early warning control module; A piezoresistive sensor, which is embedded inside the vehicle door handle, for detecting real-time pressure changes; A switch device, which is connected to the piezoresistive sensor, environment detection module, data processing module and early warning control module, for turning on or off the piezoresistive sensor, environment detection module, data processing module and early warning control module.

6. A control method for an in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception, using the in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception according to any one of claims 1-5, characterized in that, Including the following steps: Step 1: When the vehicle speed is zero and the real-time pressure detected by the piezoresistive sensor exceeds the pressure threshold, the in-vehicle human-machine interaction early warning system starts; Step 2: Adjust the interaction mode of the motor array and the indicator light according to the obstacle situation collected behind the vehicle: If the obstacle behind the vehicle is within the safety area on both the left and right sides of the vehicle body and the moving speed of the obstacle is 0 - 1m / s, then the interaction mode of the motor array and the indicator light is Mode 1; If the obstacle behind the vehicle is within the safety area on both the left and right sides of the vehicle body and the moving speed of the obstacle is 1 - 5m / s, then the interaction mode of the motor array and the indicator light is Mode 2; If the obstacle behind the vehicle is within the safety area on both the left and right sides of the vehicle body and the moving speed of the obstacle is greater than 5m / s, then the interaction mode of the motor array and the indicator light is Mode 3.

7. The control method of the in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception according to claim 6, characterized in that, The pressure threshold is 5N, and the safety area is the 1.5m area from both the left and right sides of the vehicle body.

8. The control method of the in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception according to claim 7, characterized in that, The moving speed of the obstacle satisfies: In the formula, c is the propagation speed of the on-vehicle ultrasonic radar, Δf is the difference between the transmitting frequency and the receiving frequency, f0 is the transmitting frequency of the ultrasonic radar, and θ is the included angle between the ultrasonic beam direction and the object movement direction.

9. The control method of the in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception according to claim 8, characterized in that, In the said Mode 1, the indicator light is constantly on and all the motors in the motor array do not vibrate; In the said Mode 2, the indicator light pulses and flashes, and all the vibrating motors in the single row on the same side as the vehicle door in the motor array vibrate intermittently; In the said Mode 3, the indicator light flashes at a high frequency and all the vibrating motors in the motor array vibrate continuously; Wherein, the pulse flashing frequency of the indicator light is 2 Hz, the high-frequency flashing frequency of the indicator light is 5 Hz, the vibration period of the vibrating motor vibrating intermittently is 50 ms, and the vibration period of the vibrating motor vibrating continuously is 200 ms.

10. The control method of the in-vehicle human-machine interaction warning system based on tactile and visual bimodal perception according to claim 9, characterized in that, The obstacle data behind the vehicle collected in the second step needs to be preprocessed, and the preprocessing is to denoise the obstacle data behind the vehicle collected by wavelet transform.

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