Steering wheel haptic feedback based vehicle obstacle orientation cueing system and method

Abstract

The application discloses a steering wheel tactile feedback-based vehicle obstacle azimuth prompting system and method, relates to the technical field of vehicle auxiliary driving, and comprises an obstacle sensing module, an intelligent driving domain controller and a steering wheel tactile feedback module.The obstacle sensing module collects obstacle information around a vehicle and outputs obstacle detection data comprising at least distance information and azimuth information of the obstacles.The intelligent driving domain controller generates prompting information comprising an obstacle danger level and an obstacle azimuth interval according to the obstacle detection data.The steering wheel tactile feedback module is arranged inside a steering wheel and comprises a plurality of tactile execution units distributed in a plurality of azimuth regions of the steering wheel.A steering wheel control module receives the prompting information of the intelligent driving domain controller.The obstacle azimuth angle is converted into a steering wheel azimuth interval, and differential vibration intensity is outputted, so that a driver can accurately perceive the direction and danger degree of obstacles by means of both hands without observing a screen or a prompt lamp, and thus the driving safety and prompt intuitiveness are remarkably improved.

Description

Technical Field

[0001] This application relates to the field of vehicle driver assistance technology, and in particular to a vehicle obstacle location warning system and method based on steering wheel haptic feedback. Background Technology

[0002] Vehicle obstacle location alerts are used to provide drivers with information on the location and distance of obstacles around the vehicle during driving. They typically rely on environmental perception devices such as radar and cameras to monitor the vehicle's surroundings. With the development of in-vehicle human-machine interaction technology, existing vehicle obstacle alert methods mainly provide drivers with obstacle location and distance information through the central control display screen, voice prompts, or buzzer alarms.

[0003] However, with current technology, drivers often need to distract themselves by looking at the screen or rely on the vague direction of the sound source to judge the location of obstacles. Especially in parking, narrow roads, or complex traffic environments, drivers may find it difficult to accurately judge the specific location of obstacles from these prompts in a timely manner, resulting in insufficient intuitiveness and low directional recognition. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle obstacle location warning system and method based on steering wheel haptic feedback, which at least solves the problem that it is difficult for the driver to intuitively and accurately perceive the specific location of obstacles during the obstacle warning process.

[0005] This invention provides the following solution:

[0006] According to one aspect of the present invention, a vehicle obstacle location indication system based on steering wheel haptic feedback is provided, comprising:

[0007] The obstacle perception module collects information about obstacles around the vehicle and outputs obstacle detection data that includes at least the distance and orientation information of the obstacles.

[0008] The intelligent driving domain controller generates prompt information including the obstacle danger level and obstacle location range based on the obstacle detection data;

[0009] The steering wheel haptic feedback module is located inside the steering wheel and includes multiple haptic execution units distributed in multiple directional areas of the steering wheel. The multiple haptic execution units correspond to different directional ranges around the vehicle.

[0010] The steering wheel control module receives prompts from the intelligent driving domain controller, selects the corresponding tactile actuator for driving according to the obstacle location range, and controls the output of the tactile actuator according to the obstacle hazard level.

[0011] Specifically, when the obstacle is located in different directional ranges outside the vehicle, the steering wheel haptic feedback module dynamically outputs differentiated haptic feedback in the corresponding area of ​​the steering wheel.

[0012] Furthermore, the obstacle perception module includes ultrasonic radar, millimeter-wave radar, and a camera, and the obstacle perception module is connected to the intelligent driving domain controller via the vehicle bus to output obstacle detection data.

[0013] Furthermore, the intelligent driving domain controller generates prompt information based on obstacle detection data, including:

[0014] Threshold judgments are made on the distance data of obstacles to classify the danger level of obstacles;

[0015] Based on the azimuth data of the obstacle, the obstacle's position is divided into a preset azimuth range corresponding to the circumference of the steering wheel;

[0016] Based on the hazard level and the directional range, a prompt message is generated for driving the steering wheel control module.

[0017] Furthermore, the vibration control of the haptic actuator includes:

[0018] Vibration parameters are selected based on the aforementioned hazard level, including vibration intensity, vibration frequency, and vibration rhythm.

[0019] Based on the vibration parameters, vibration control commands are generated for the tactile actuation unit;

[0020] When the danger level is at its highest, it outputs continuous vibration and vibration mode.

[0021] Furthermore, the haptic feedback control when multiple obstacles exist includes:

[0022] For each detected obstacle, its hazard level and location range are determined based on the obstacle detection data;

[0023] For each obstacle, corresponding prompts and vibration parameters of the haptic actuator are generated based on its danger level and location range.

[0024] The system controls multiple tactile actuators corresponding to each obstacle to simultaneously output tactile feedback, and the vibration parameters of the tactile actuators corresponding to obstacles with higher danger levels are greater than those of the tactile actuators corresponding to obstacles with lower danger levels.

[0025] Furthermore, the steering wheel haptic feedback module includes:

[0026] Multiple haptic actuators are distributed around the circumference of the steering wheel, and the haptic actuators are used to output haptic feedback in corresponding areas;

[0027] The steering wheel embedded structure used to embed and fix the haptic actuator unit;

[0028] Based on the prompt information, a driving electrical signal is provided to the tactile execution unit.

[0029] Furthermore, determining the location range of the obstacle includes:

[0030] Obtain the distance and azimuth values ​​of obstacles based on obstacle detection data;

[0031] Based on the azimuth angle value, the vehicle circumference is divided into multiple preset azimuth intervals;

[0032] Based on the azimuth interval to which the azimuth angle value belongs, azimuth interval information is generated to drive the selection of the haptic execution unit.

[0033] Furthermore, the dynamic adjustment process of the haptic feedback specifically includes:

[0034] Acquire vehicle operating status parameters, including vehicle speed, steering wheel angle, and acceleration;

[0035] Adjust the trigger threshold of the haptic feedback based on the aforementioned operating status parameters;

[0036] Adjust the intensity, frequency, or duration of the vibration output according to the operating status parameters.

[0037] Furthermore, the collaborative output of the haptic feedback includes:

[0038] Multiple tactile actuators vibrate in a coordinated manner according to a preset rhythm;

[0039] Choose between single-point vibration or multi-point combined vibration based on the prompts;

[0040] When different vibration modes conflict, the execution unit corresponding to the azimuth range will be given priority in output.

[0041] According to two aspects of the present invention, a method for vehicle obstacle location indication based on steering wheel haptic feedback is provided, the method comprising:

[0042] S1. Collect obstacle information around the vehicle and obtain obstacle detection data including obstacle distance and orientation information;

[0043] S2. Based on the obstacle detection data, determine the distance to the obstacle using a threshold and classify the danger level of the obstacle;

[0044] S3. Based on the location information of the obstacle, map the location of the obstacle to a preset location range around the vehicle.

[0045] S4. Generate prompt information based on the danger level and the directional range. The prompt information is used to indicate the vibration output parameters of the tactile actuator and its corresponding position.

[0046] S5. Determine the tactile actuator that needs to be driven according to the prompt information, and output a drive signal to the corresponding tactile actuator so that it generates tactile feedback in the corresponding area of ​​the steering wheel that corresponds to the danger level and directional range.

[0047] S6. When there are multiple obstacles, generate prompt information for each obstacle and control multiple tactile execution units to output tactile feedback simultaneously, with the tactile execution unit corresponding to the obstacle with a higher danger level outputting stronger tactile feedback.

[0048] The above solution achieves the following beneficial technical effects:

[0049] This application converts the obstacle azimuth angle into a steering wheel azimuth range and outputs differentiated vibration intensity, allowing the driver to accurately perceive the direction and degree of danger of the obstacle with just their hands without having to look at the screen or warning lights, thereby significantly improving driving safety and the intuitiveness of the warning.

[0050] This application classifies the danger level by obstacle distance and binds the danger level with vibration intensity, frequency and rhythm to construct a multi-dimensional adjustable tactile output mechanism. The higher the danger level, the stronger or more continuous the vibration output by the tactile execution unit in the corresponding area, realizing a tactile expression mode with clear distinction between strong and weak, thereby effectively distinguishing different sources of risk in multi-obstacle scenarios.

[0051] This application dynamically adjusts the tactile trigger threshold and vibration parameters based on the vehicle's operating status, enabling the system to output corresponding tactile feedback under different operating conditions such as high speed, low speed, and turning, thereby improving the adaptability of driving. Attached Figure Description

[0052] Figure 1 This is an architecture diagram of the vehicle obstacle location warning system based on steering wheel haptic feedback according to the present invention;

[0053] Figure 2 This is a schematic diagram illustrating the vehicle obstacle location indication method of the present invention.

[0054] Figure 3 This is a flowchart of the vehicle obstacle location indication method based on steering wheel haptic feedback according to the present invention. Detailed Implementation

[0055] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] Example 1:

[0057] Figure 1 This is an architecture diagram of the vehicle obstacle location warning system based on steering wheel haptic feedback according to the present invention;

[0058] Figure 2 This is a schematic diagram illustrating the vehicle obstacle location indication method according to the present invention.

[0059] Please see the appendix Figure 1 and attached Figure 2 This invention provides a vehicle obstacle location warning system based on steering wheel haptic feedback, comprising:

[0060] The obstacle perception module collects information about obstacles around the vehicle and outputs obstacle detection data that includes at least the distance and orientation information of the obstacles.

[0061] Furthermore, the obstacle perception module includes ultrasonic radar, millimeter-wave radar, and a camera, and the obstacle perception module communicates with the intelligent driving domain controller through the vehicle bus to output obstacle detection data.

[0062] Specifically, the obstacle perception module can be composed of one or more of ultrasonic radar, millimeter-wave radar, and cameras, used to detect the distance and orientation information of obstacles around the vehicle. The raw detection data collected by the above sensors is sent to the intelligent driving domain controller in real time through the vehicle bus, such as the CAN bus, to form obstacle detection data for subsequent hazard level calculation and orientation interval division. For example, when the vehicle is traveling at low speed, ultrasonic radar can detect the distance of an obstacle 0.8m away from the vehicle, while millimeter-wave radar provides the azimuth angle information of the obstacle. The intelligent driving domain controller obtains reliable obstacle detection data accordingly.

[0063] The intelligent driving domain controller generates warning information, including the obstacle danger level and the obstacle location range, based on obstacle detection data;

[0064] Furthermore, the intelligent driving domain controller generates prompts based on obstacle detection data, including:

[0065] Threshold judgments are made on the distance data of obstacles to classify the danger level of obstacles;

[0066] Based on the azimuth data of the obstacle, the obstacle's position is divided into a preset azimuth range corresponding to the circumference of the steering wheel;

[0067] Based on the hazard level and orientation range, prompts are generated for the steering wheel control module.

[0068] Specifically, the intelligent driving domain controller is used to analyze and process obstacle detection data to generate prompt information that includes the obstacle danger level and obstacle location range. Through the prompt information, the steering wheel control module can select the correct tactile actuator and output vibration feedback that matches the danger level, so that the driver can obtain information about the surrounding obstacles without taking his eyes off the road.

[0069] The intelligent driving domain controller first makes a threshold judgment based on the distance information in the obstacle detection data to classify the danger level of the obstacle. That is, the obstacle distance is compared with multiple preset distance thresholds. For example, when the detected obstacle is close, less than 1m, it can be classified as a high danger level. When the obstacle distance is in the middle range, such as 1 to 2m, it can be classified as a medium danger level. When the distance is far, it is classified as a low danger level.

[0070] Distance-based hazard level classification enables the system to quickly identify the degree of potential collision risk, providing a basis for the strength of subsequent tactile feedback, thereby providing corresponding enhanced prompts in the tactile feedback. As a result, the driver can receive timely and hierarchical risk warnings during driving, improving safety.

[0071] After completing the hazard level classification, the vehicle's circumference is divided into certain angular ranges, such as 30° or 45° as an interval, corresponding to different tactile actuators on the steering wheel and the driver's muscle memory. When the detected azimuth angle falls within a certain angular range, it can be determined that the obstacle belongs to the corresponding azimuth interval. For example, if the detected obstacle azimuth angle is about 40°, it can be classified as the right front azimuth interval, corresponding to the tactile actuators in the right front area of ​​the steering wheel. Furthermore, the azimuth interval division can quantify continuous azimuth data into discrete intervals, enabling the system to quickly select the corresponding tactile actuators on the steering wheel based on the interval information. This achieves a one-to-one mapping between the obstacle direction and the steering wheel tactile feedback area, allowing the driver to locate the direction of the obstacle through touch, improving the intuitiveness of the prompts and the user experience.

[0072] After obtaining the danger level and location range of an obstacle, the intelligent driving domain controller combines the two to form a prompt message, which guides the steering wheel control module to output corresponding tactile feedback. The prompt message usually includes the following: the target number of the tactile actuator and the vibration output parameters corresponding to the danger level, thereby completing the association between environmental perception and tactile feedback. This enables the system to effectively encode obstacle information and transmit it to downstream modules, and to output appropriate vibration feedback at the correct location, so that the driver can be informed of the risk signal from the corresponding direction in a timely manner.

[0073] Furthermore, the vibration control of the haptic actuator includes:

[0074] Vibration parameters are selected based on the hazard level. Vibration parameters include vibration intensity, vibration frequency, and vibration rhythm.

[0075] Vibration control commands for the haptic actuator are generated based on vibration parameters.

[0076] When the danger level is at its highest, it outputs continuous vibration and vibration mode.

[0077] Specifically, the steering wheel control module first selects the corresponding vibration parameters based on the danger level in the prompt information. The vibration parameters include vibration intensity, vibration frequency, and vibration rhythm. The vibration parameters corresponding to different danger levels can be preset in the system. For example, a higher vibration intensity and frequency are selected when the danger level is high, a medium intensity and rhythm are selected when the danger level is medium, and only a slight vibration is output when the danger level is low. Thus, the vibration parameter selection method based on the danger level enables the driver to immediately distinguish the degree of danger of the obstacle through touch, improving the intuitiveness of the feedback.

[0078] After selecting the vibration parameters, the steering wheel control module generates the final vibration control command for the haptic actuator based on the vibration intensity, frequency, and rhythm. This command can include parameters such as the amplitude of the control signal, output frequency, and pulse interval, driving the haptic actuator to output vibration according to a preset vibration pattern. This causes the haptic actuator in the corresponding area to generate rhythmic, graded vibration feedback, mapping the vibration parameters to specific vibration actions. This results in haptic feedback with clear characteristics in both the time and amplitude domains, improving the recognizability of the prompts.

[0079] When the danger level in the warning message is the highest level, the steering wheel control module controls the haptic actuator to output continuous vibration or enhanced vibration mode based on vibration parameters. Enhanced vibration mode can include high-frequency continuous vibration, rapid pulse vibration, and vibration mode with gradually increasing intensity, which is used to significantly distinguish it from the lower level vibration warning. This ensures that the haptic warning is clear enough in emergency situations, has the effect of quickly conveying risk information, and improves the safety redundancy of driving.

[0080] Furthermore, haptic feedback control when multiple obstacles are present includes:

[0081] For each detected obstacle, its hazard level and location range are determined based on the obstacle detection data;

[0082] For each obstacle, corresponding prompts and vibration parameters of the haptic actuator are generated based on its danger level and location range.

[0083] The system controls multiple tactile actuators corresponding to each obstacle to simultaneously output tactile feedback, and the vibration parameters of the tactile actuators corresponding to obstacles with higher danger levels are greater than those of the tactile actuators corresponding to obstacles with lower danger levels.

[0084] Specifically, when multiple obstacles are detected around the vehicle simultaneously, the detection data for each obstacle is processed separately. The steering wheel control module determines the danger level based on the distance information of the obstacle and maps it to a certain directional range around the vehicle based on the obstacle's azimuth angle. For example, when a 0.6m obstacle is detected in front left of the vehicle and a 1.5m obstacle is detected in the rear right of the vehicle, the obstacle in front left is identified as having a higher danger level and corresponding to the front left directional range, while the obstacle in the rear right is identified as having a lower danger level and corresponding to the rear right directional range. This ensures that each obstacle is independently identified and its risk and location are accurately defined, thus providing basic data for subsequent tactile feedback. In other words, regardless of the number of obstacles, the system can maintain a sufficient analysis of environmental information.

[0085] After determining the danger level and location range of each obstacle, the steering wheel control module generates corresponding prompts and vibration parameters for the haptic actuator based on this information. For example, an obstacle in front left is considered to be of a higher danger level, and its corresponding vibration parameters can be set to a higher vibration intensity and frequency, while an obstacle in the rear right is considered to be of a lower danger level and corresponds to a gentler vibration parameter. This differentiates the encoding of multiple obstacles, enabling the haptic actuator to output clearly distinguishable vibration signals simultaneously. Even in a complex environment, it can accurately identify different risk levels in different directions through touch.

[0086] After obtaining the vibration parameters of multiple obstacles, the steering wheel control module controls multiple tactile actuators corresponding to each obstacle to simultaneously output tactile feedback. The vibrations of multiple tactile actuators will be manifested in different areas of the steering wheel, and the vibrations of the tactile actuators corresponding to obstacles with higher danger levels will be more significant. This achieves parallel output of multi-source tactile information, enabling the driver to perceive the status of obstacles in multiple directions with both hands at the same time, improving the density and recognition of prompt information, and significantly enhancing safety and control intuition in complex scenarios.

[0087] The steering wheel haptic feedback module is located inside the steering wheel and includes multiple haptic execution units distributed in multiple directional areas of the steering wheel. Each of the multiple haptic execution units corresponds to a different directional range around the vehicle.

[0088] Furthermore, the steering wheel haptic feedback module includes:

[0089] Multiple haptic actuators are distributed around the circumference of the steering wheel, and the haptic actuators are used to output haptic feedback in the corresponding areas;

[0090] An embedded structure in the steering wheel used to embed and fix the haptic actuator;

[0091] The system provides drive electrical signals to the haptic actuator based on the prompt information.

[0092] Specifically, the steering wheel haptic feedback module is used to output corresponding haptic feedback in different areas of the steering wheel according to the prompt information. To achieve this function, multiple haptic execution units are set inside the steering wheel along its circumference. Each execution unit corresponds to a directional area outside the vehicle. When the driver holds the steering wheel with both hands, he can directly perceive the specific location of the obstacle through the vibration of different areas. For example, when the prompt information indicates that an obstacle is located in the right front, the haptic execution unit located in the right front area of ​​the steering wheel will output vibration feedback.

[0093] To ensure effective vibration transmission, the steering wheel is equipped with an embedded structure for embedding and fixing the haptic actuator. For example, by pre-setting several mounting slots on the steering wheel frame that match the size of the haptic actuator, the haptic actuator can be prevented from loosening due to vehicle vibration, thus improving the stability and clarity of vibration signal transmission.

[0094] The steering wheel control module provides drive electrical signals to the corresponding haptic actuators based on the prompt information, so that they output vibration feedback that matches the danger level and orientation range of the obstacle. The drive signal can be used to control the vibration intensity, frequency or rhythm. For example, when the prompt information indicates that there is a higher danger level obstacle on the left, the left haptic actuator can output stronger or continuous vibration, so that the driver can intuitively perceive that there is a higher risk on the left.

[0095] The steering wheel control module receives prompts from the intelligent driving domain controller and selects the corresponding haptic actuator to drive according to the obstacle's location range. It also controls the output of the haptic actuator according to the obstacle's hazard level.

[0096] Specifically, when the obstacle is located in different directional ranges outside the vehicle, the steering wheel haptic feedback module dynamically outputs differentiated haptic feedback in the corresponding area of ​​the steering wheel.

[0097] Furthermore, determining the location range of obstacles includes:

[0098] Obtain the distance and azimuth values ​​of obstacles based on obstacle detection data;

[0099] The vehicle circumference is divided into multiple preset azimuth intervals based on the azimuth angle value;

[0100] Based on the azimuth interval to which the azimuth angle value belongs, azimuth interval information is generated to drive the selection of the haptic actuator.

[0101] Specifically, the intelligent driving domain controller first obtains the distance and azimuth values ​​of the obstacle from the obstacle detection data. The azimuth can represent the offset direction of the obstacle relative to the vehicle's centerline. For example, a positive azimuth indicates that the obstacle is located on the right side of the vehicle, and a negative azimuth indicates that the obstacle is located on the left side of the vehicle.

[0102] After obtaining the azimuth angle, the intelligent driving domain controller divides the vehicle's circumference into multiple azimuth intervals according to preset angles. For example, it can be divided into several areas every 30° or 45°, so that the vehicle's circumference has clear segment divisions to correspond to the position of the haptic execution unit on the steering wheel. For example, when the preset interval is every 45°, the vehicle's circumference can be divided into multiple azimuth intervals such as left front, front, right front, right side, and right rear.

[0103] Next, the intelligent driving domain controller determines the specific azimuth interval into which the obstacle falls based on its azimuth angle value, thereby generating azimuth interval information for driving the haptic actuator to select. For example, when the detected azimuth angle is about 40°, it can be classified into the right front azimuth interval, and this interval information is transmitted to the steering wheel control module, which selects the haptic actuator at the right front position of the steering wheel to output vibration feedback. This realizes the mapping of continuous azimuth angle data of obstacles to discrete azimuth intervals, and can accurately select the corresponding haptic actuator based on the azimuth interval, thereby improving the directional recognition capability of haptic prompts.

[0104] Furthermore, the dynamic adjustment process of haptic feedback specifically includes:

[0105] Acquire vehicle operating status parameters, including vehicle speed, steering wheel angle, and acceleration;

[0106] Adjust the trigger threshold for haptic cues based on the operating status parameters;

[0107] Adjust the intensity, frequency, or duration of the vibration output according to the operating status parameters.

[0108] Specifically, to make haptic cues more adaptable to different driving conditions, the steering wheel control module has set up a dynamic adjustment mechanism for haptic feedback. First, it acquires the vehicle's operating status parameters, which may include vehicle speed, steering wheel angle, and acceleration, and transmits them to the steering wheel control module in real time through the vehicle control bus. For example, when the vehicle is traveling at high speed, the vehicle speed parameter is larger, while when turning at low speed, the changes in steering wheel angle and acceleration are more significant.

[0109] After acquiring the operating status parameters, the steering wheel control module dynamically adjusts the trigger threshold for haptic cues based on these parameters. When the vehicle is traveling at high speed, the trigger threshold can be appropriately increased to avoid excessive vibration of the steering wheel due to distant obstacles. In low-speed or parking scenarios, the trigger threshold can be decreased to provide timely alerts for obstacles at closer distances. For example, when the vehicle is turning at low speed, lowering the threshold allows the driver to quickly perceive potential obstacles from the side of the vehicle.

[0110] Furthermore, the steering wheel control module adjusts the intensity, frequency, and duration of vibration output according to the vehicle's operating status. For example, when the vehicle is in a low-speed, multi-turn environment, such as entering a narrow road or underground parking garage, the vibration intensity is increased or the vibration duration is prolonged to enhance the driver's perception of the surrounding environment. Under high-speed, stable driving conditions, the vibration frequency is reduced or the vibration cycle is shortened to avoid affecting driving comfort and steering wheel grip stability. Through these dynamic adjustments, tactile feedback can maintain a reasonable and effective output in different driving scenarios, improving the driver's perception of obstacles.

[0111] Furthermore, the collaborative outputs of haptic feedback include:

[0112] Multiple tactile actuators vibrate in a coordinated manner according to a preset rhythm;

[0113] Choose between single-point vibration or multi-point combined vibration based on the prompts;

[0114] When different vibration modes conflict, the execution unit corresponding to the azimuth range will be given priority in output.

[0115] Specifically, the steering wheel control module can coordinate vibrations among multiple tactile actuators according to a preset rhythm, so that the vibrations in different areas are coordinated in time or rhythm. For example, when obstacles are detected in multiple directions, short vibrations are output sequentially among different actuators to alert the driver of potential risks in different directions.

[0116] Furthermore, the steering wheel control module can select single-point vibration or multi-point combined vibration based on the prompts. When an obstacle exists only in one direction, the haptic actuator in the corresponding area can output vibration independently. When obstacles exist in multiple directions simultaneously, multiple actuators are activated to combine vibration, allowing the driver to simultaneously distinguish risk warnings from different directions.

[0117] In situations where different vibration modes may conflict, the steering wheel control module prioritizes the output of the actuator corresponding to the obstacle's location range. This ensures that vibration cues in critical directions are not masked by other rhythms or combinations of modes. For example, when there is a high-risk obstacle to the left front and an attempt is made to output rhythmic vibrations across different areas, the tactile actuator corresponding to the left front will prioritize outputting high-intensity vibrations, while other areas will coordinate according to the remaining rhythms. This maintains the clarity and distinguishability of tactile information in environments with multiple obstacles and complex roads, allowing the driver to more accurately perceive risks in different directions.

[0118] Example 2:

[0119] Figure 3 This is a flowchart of the vehicle obstacle location indication method based on steering wheel haptic feedback according to the present invention.

[0120] A method for vehicle obstacle location indication based on steering wheel haptic feedback, the method including:

[0121] S1. Collect obstacle information around the vehicle and obtain obstacle detection data including obstacle distance and orientation information;

[0122] S2. Based on obstacle detection data, threshold judgment is made on the distance to obstacles to classify the danger level of obstacles;

[0123] S3. Based on the obstacle's orientation information, map the obstacle's orientation to a preset orientation range around the vehicle.

[0124] S4. Generate prompt information based on the danger level and orientation range. The prompt information is used to indicate the vibration output parameters of the tactile actuator and its corresponding position.

[0125] S5. Determine the haptic actuator that needs to be driven according to the prompt information, and output a drive signal to the corresponding haptic actuator so that it generates haptic feedback in the corresponding area of ​​the steering wheel that corresponds to the danger level and orientation range.

[0126] S6. When there are multiple obstacles, generate prompt information for each obstacle and control multiple tactile execution units to output tactile feedback simultaneously, with the tactile execution unit corresponding to the obstacle with a higher danger level outputting stronger tactile feedback.

[0127] Specifically, by acquiring and processing information about obstacles around the vehicle, tactile cues are provided regarding the location and hazard level of obstacles. First, distance and location information of obstacles around the vehicle are collected to form obstacle detection data. Then, a threshold judgment is made on the hazard level of the obstacle based on its distance, and it is mapped to a preset directional range around the vehicle based on the azimuth angle. On this basis, a cue message containing the hazard level and directional range is generated to indicate the vibration output parameters and corresponding positions of the corresponding tactile actuator. The tactile actuator is selected based on the cue message and outputs a drive signal to generate vibration feedback in the corresponding area of ​​the steering wheel that matches the hazard level and directional range. When multiple obstacles exist around the vehicle, a cue message is generated for each obstacle, and multiple tactile actuators are driven to output tactile feedback synchronously. The tactile actuator corresponding to the obstacle with a higher hazard level outputs a stronger vibration, so that the driver can perceive risks from different directions in a timely and accurate manner through touch.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle obstacle location warning system based on steering wheel haptic feedback, characterized in that, include: The obstacle perception module collects information about obstacles around the vehicle and outputs obstacle detection data that includes at least the distance and orientation information of the obstacles. The intelligent driving domain controller generates prompt information including the obstacle danger level and obstacle location range based on the obstacle detection data; The haptic feedback control when multiple obstacles exist includes: For each detected obstacle, its hazard level and location range are determined based on the obstacle detection data; For each obstacle, corresponding prompts and vibration parameters of the haptic actuator are generated based on its danger level and location range. The system controls multiple tactile actuators corresponding to each obstacle to output tactile feedback simultaneously, and the vibration parameters of the tactile actuators corresponding to obstacles with higher danger levels are greater than those of the tactile actuators corresponding to obstacles with lower danger levels. The steering wheel haptic feedback module is located inside the steering wheel and includes multiple haptic execution units distributed in multiple directional areas of the steering wheel. The multiple haptic execution units correspond to different directional ranges around the vehicle. The dynamic adjustment process of the tactile feedback specifically includes: Acquire vehicle operating status parameters, including vehicle speed, steering wheel angle, and acceleration; Adjust the trigger threshold of the haptic feedback based on the aforementioned operating status parameters; Adjust the intensity, frequency, or duration of the vibration output according to the aforementioned operating status parameters; The steering wheel control module receives prompts from the intelligent driving domain controller, selects the corresponding tactile actuator for driving according to the obstacle orientation range, and controls the output of the tactile actuator according to the obstacle hazard level. The collaborative output of the haptic feedback includes: Multiple tactile actuators vibrate in a coordinated manner according to a preset rhythm; Choose between single-point vibration or multi-point combined vibration based on the prompts; When different vibration modes conflict, the execution unit corresponding to the azimuth range will be given priority in output; When the vehicle is in a low-speed, multi-turn environment, increase the vibration intensity or extend the vibration duration. When the vehicle is in a high-speed, stable driving condition, reduce the vibration frequency or shorten the vibration cycle. Specifically, when the obstacle is located in different directional ranges outside the vehicle, the steering wheel haptic feedback module dynamically outputs differentiated haptic feedback in the corresponding area of ​​the steering wheel.

2. The vehicle obstacle location warning system based on steering wheel haptic feedback according to claim 1, characterized in that, The obstacle perception module includes ultrasonic radar, millimeter-wave radar, and camera, and is connected to the intelligent driving domain controller via the vehicle bus to output obstacle detection data.

3. The vehicle obstacle location warning system based on steering wheel haptic feedback according to claim 1, characterized in that, The intelligent driving domain controller generates prompt information based on obstacle detection data, including: Threshold judgments are made on the distance data of obstacles to classify the danger level of obstacles; Based on the azimuth data of the obstacle, the obstacle's position is divided into a preset azimuth range corresponding to the circumference of the steering wheel; Based on the hazard level and the directional range, a prompt message is generated for driving the steering wheel control module.

4. The vehicle obstacle location warning system based on steering wheel haptic feedback according to claim 3, characterized in that, The vibration control of the tactile actuator includes: Vibration parameters are selected based on the aforementioned hazard level, including vibration intensity, vibration frequency, and vibration rhythm. Based on the vibration parameters, vibration control commands are generated for the tactile actuation unit; When the danger level is at its highest, it outputs continuous vibration and vibration mode.

5. The vehicle obstacle location warning system based on steering wheel haptic feedback according to claim 1, characterized in that, The steering wheel haptic feedback module includes: Multiple haptic actuators are distributed around the circumference of the steering wheel, and the haptic actuators are used to output haptic feedback in corresponding areas; The steering wheel embedded structure used to embed and fix the haptic actuator unit; Based on the prompt information, a driving electrical signal is provided to the tactile execution unit.

6. The vehicle obstacle location warning system based on steering wheel haptic feedback according to claim 1, characterized in that, The determination of the location range of the obstacle includes: Obtain the distance and azimuth values ​​of obstacles based on obstacle detection data; Based on the azimuth angle value, the vehicle circumference is divided into multiple preset azimuth intervals; Based on the azimuth interval to which the azimuth angle value belongs, azimuth interval information is generated to drive the selection of the haptic execution unit.

7. A method for vehicle obstacle location indication based on steering wheel haptic feedback, characterized in that, The method for the vehicle obstacle location warning system based on steering wheel haptic feedback as described in any one of claims 1-6 includes: S1. Collect obstacle information around the vehicle and obtain obstacle detection data including obstacle distance and orientation information; S2. Based on the obstacle detection data, determine the distance to the obstacle using a threshold and classify the danger level of the obstacle; S3. Based on the location information of the obstacle, map the location of the obstacle to a preset location range around the vehicle. S4. Generate prompt information based on the danger level and the directional range. The prompt information is used to indicate the vibration output parameters of the tactile actuator and its corresponding position. S5. Determine the tactile actuator that needs to be driven according to the prompt information, and output a drive signal to the corresponding tactile actuator so that it generates tactile feedback in the corresponding area of ​​the steering wheel that corresponds to the danger level and orientation range. S6. When there are multiple obstacles, generate prompt information for each obstacle and control multiple tactile execution units to output tactile feedback simultaneously, with the tactile execution unit corresponding to the obstacle with a higher danger level outputting stronger tactile feedback.

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