Tactile feedback system and method and application of tactile feedback system and method in vehicle interaction

Abstract

The invention provides a tactile feedback system and method and application of the tactile feedback system and method in vehicle interaction, and relates to the technical field of tactile feedback, and the method comprises the steps: configuring the overall architecture of the tactile feedback system, setting a central tactile control unit HCU, configuring a heterogeneous data source interface based on the central tactile control unit HCU, and obtaining a standardized input data set, vehicle-mounted control domain communication is integrated based on a heterogeneous data source interface, and a tactile actuator array communication interface is configured based on a central tactile control unit (HCU). According to the method, a vehicle interaction scene category set including a safety early warning scene category, a navigation guide scene category, a fatigue and light sensation reminding scene category, a motion sickness relieving scene category and an entertainment synchronization scene category is pre-configured, and a scene touch mapping model and a trigger event analysis set are constructed; and executing priority scheduling and tactile feedback parameter selection on trigger events under different scenes.

Description

Technical Field

[0001] This invention relates to the field of haptic feedback technology, specifically to a haptic feedback system, method, and its application in vehicle interaction. Background Technology

[0002] With the development of intelligent connected vehicles and smart cockpit technology, the human-machine interaction methods inside vehicles have gradually evolved from traditional mechanical buttons, indicator lights, and sound and light alarms to a comprehensive interactive form that integrates multiple displays, voice interaction, gesture recognition, and in-vehicle entertainment systems. To a certain extent, this has expanded the types of channels for vehicle interaction and improved the intuitiveness of prompts and the interactive experience in some scenarios. However, overall, tactile feedback is still only being tested on a few models and a few interactive components, and has not yet become a common application in the field of vehicle interaction.

[0003] However, existing haptic feedback solutions are typically designed around a single control unit and a single function. Most only provide fixed-pattern vibration cues on the steering wheel or seat for a specific type of event. The trigger signals are scattered across different electronic control units such as body control, driver assistance, and in-vehicle entertainment. There is a lack of unified standardized input data modeling and a unified scenario segmentation mechanism, making it difficult to achieve integrated haptic management for various vehicle interaction scenarios such as lane departure warning, navigation guidance, driver fatigue reminder, motion sickness relief, and entertainment synchronization. At the same time, existing solutions generally do not comprehensively schedule the priority, urgency, and spatial orientation of trigger events in different scenarios. The intensity, timing, and location of haptic feedback often cannot precisely correspond to the actual level of danger and navigation needs, which can easily cause key signals to be masked by entertainment vibrations or cause multiple cues to overlap, resulting in a cognitive burden on drivers and passengers. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the prior art by providing a haptic feedback system, method, and its application in vehicle interaction, thereby solving the problems raised in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] This invention proposes a tactile feedback method, comprising the following steps:

[0007] S100: Configure the overall architecture of the haptic feedback system, set up a central haptic control unit (HCU), configure heterogeneous data source interfaces based on the central haptic control unit (HCU), and obtain a standardized set of input data. Integrate vehicle control domain communication based on the heterogeneous data source interfaces, and configure haptic actuator array communication interfaces based on the central haptic control unit (HCU).

[0008] S200: Classify vehicle interaction scenarios based on a standardized input data set, obtain a scenario-labeled input data set, and configure a scenario haptic mapping model based on the scenario-labeled input data set;

[0009] S300: Collects and analyzes trigger signals based on a standardized input data set, configures a set of trigger event analysis, and performs scenario recognition and initial selection of tactile feedback parameters based on a scenario tactile mapping model;

[0010] S400: Deploys a haptic actuator array, integrates haptic actuators and a local control module, executes haptic feedback control commands, and performs local closed-loop control;

[0011] S500: Based on the set of triggered event analysis, execute the safety warning tactile feedback process, calculate the remaining navigation time prediction value, execute the navigation guidance tactile feedback process, and execute the fatigue and light-sensing reminder tactile feedback process.

[0012] Preferably, S100 specifically includes:

[0013] S100.1 Configure the overall architecture of the haptic feedback system, set up the central haptic control unit (HCU), and configure heterogeneous data source interfaces based on the central haptic control unit (HCU).

[0014] S100.2. Integrate vehicle control domain communication based on heterogeneous data source interface, and configure tactile actuator array communication interface based on central tactile control unit (HCU).

[0015] Preferably, step S200 specifically includes:

[0016] S200.1. Classify vehicle interaction scenarios based on a standardized input data set and obtain a scenario labeling input data set;

[0017] S200.2 Configuring a context-tactile mapping model based on context-labeled input data sets.

[0018] Preferably, S300 specifically includes:

[0019] S300.1, Acquisition and parsing of trigger signals based on standardized input data sets;

[0020] S300.2. Initial selection of scene recognition and tactile feedback parameters based on the scene tactile mapping model.

[0021] Preferably, S400 specifically includes:

[0022] S400.1 Deploy the haptic actuator array;

[0023] S400.2, integrates haptic actuator and local control module;

[0024] S400.3 Executes haptic feedback control commands and performs local closed-loop control.

[0025] Preferably, S500 specifically includes:

[0026] S500.1, Execute a safety warning tactile feedback process based on the set of triggered events analysis;

[0027] S500.2 Calculate the predicted remaining navigation time, execute the navigation guidance tactile feedback process, and execute the fatigue and light-sensing reminder tactile feedback process.

[0028] This invention also proposes a haptic feedback system that executes a haptic feedback method, specifically including the following modules:

[0029] The architecture interface configuration module is used to configure the overall architecture of the haptic feedback system, set the central haptic control unit (HCU), configure heterogeneous data source interfaces based on the central haptic control unit (HCU), obtain a standardized set of input data, integrate vehicle control domain communication based on the heterogeneous data source interfaces, and configure haptic actuator array communication interfaces based on the central haptic control unit (HCU).

[0030] The scenario mapping configuration module is used to classify vehicle interaction scenario categories based on a standardized input data set, obtain a scenario-labeled input data set, and configure a scenario haptic mapping model based on the scenario-labeled input data set.

[0031] The trigger event analysis module is used to collect and parse trigger signals based on a standardized input data set, configure the trigger event analysis set, and perform scene recognition and initial selection of tactile feedback parameters based on the scene haptic mapping model.

[0032] The haptic array control module is used to deploy the haptic actuator array, integrate the haptic actuators and the local control module, execute haptic feedback control commands, and perform local closed-loop control.

[0033] The scenario-linked feedback module is used to execute a safety warning tactile feedback process based on the set of triggered events, calculate the predicted value of the remaining navigation time, execute a navigation guidance tactile feedback process, and execute a fatigue and light-sensing reminder tactile feedback process.

[0034] A flexible substrate, a control module embedded within the flexible substrate, at least one tactile actuator, and a sensor module for activating the control module, the control module being able to control the tactile actuator to generate different tactile feedback modes.

[0035] Based on the above methods and systems, this invention also proposes a haptic feedback method and the application of a haptic feedback system in vehicle interaction.

[0036] Compared with the prior art, the beneficial effects of the present invention are:

[0037] This invention can be deployed in a unified haptic feedback architecture for single haptic products, partial vehicle interaction systems, and the central interaction platform of the whole vehicle. It introduces a central haptic control unit (HCU) and heterogeneous data source interfaces to standardize data from in-vehicle sensors, external environmental sensors, vehicle network communication units, in-vehicle entertainment systems, and user personal devices. The data is uniformly mapped into a standardized set of input data carrying event type identifier parameters, trigger source identifier parameters, urgency level parameters, and spatial orientation parameters. At the same time, it also pre-configures a set of vehicle interaction scenario categories, including safety warning scenario categories, navigation guidance scenario categories, fatigue and light sensing reminder scenario categories, motion sickness relief scenario categories, and entertainment synchronization scenario categories. It also constructs a scenario haptic mapping model and a set of trigger event analysis, and performs priority scheduling and haptic feedback parameter selection for trigger events under different scenarios. Attached Figure Description

[0038] Figure 1 A flowchart of a tactile feedback method provided in an embodiment of this application.

[0039] Figure 2 This is a framework diagram of a haptic feedback system provided in an embodiment of this application. Detailed Implementation

[0040] For examples, please refer to Figure 1 and Figure 2 This invention proposes a haptic feedback method. This method is based on runtime, and the haptic feedback system specifically includes an architecture interface configuration module, a scene mapping configuration module, a trigger event analysis module, a haptic array control module, a scene linkage feedback module, and a flexible substrate.

[0041] Specifically, the architecture interface configuration module is used to configure the overall architecture of the haptic feedback system, set up the central haptic control unit (HCU), configure heterogeneous data source interfaces based on the HCU, acquire a standardized input data set, integrate vehicle control domain communication based on the heterogeneous data source interfaces, and configure the haptic actuator array communication interface based on the HCU. The scenario mapping configuration module is used to classify vehicle interaction scenarios based on the standardized input data set, acquire a scenario-annotated input data set, and configure a scenario-haptic mapping model based on the scenario-annotated input data set. The trigger event analysis module is used to collect and parse trigger signals based on the standardized input data set and configure trigger events. The system analyzes a set of data and performs scenario recognition and initial selection of tactile feedback parameters based on a scenario-based haptic mapping model. A haptic array control module deploys a haptic actuator array, integrates the haptic actuators and a local control module, executes haptic feedback control commands, and performs local closed-loop control. A scenario-linked feedback module executes a safety warning haptic feedback process based on a set of triggered event analyses, calculates the predicted remaining navigation time, executes a navigation guidance haptic feedback process, and executes fatigue and light-sensing reminder haptic feedback processes. A flexible substrate is embedded within the control module, at least one haptic actuator, and a sensor module for activating the control module. The control module can control the haptic actuator to generate different haptic feedback modes.

[0042] The application of haptic feedback methods based on haptic feedback systems in vehicle interaction specifically includes the following steps:

[0043] Step S100: Configure the overall architecture of the haptic feedback system and set up a central haptic control unit (HCU). The central haptic control unit obtains a standardized set of input data through a heterogeneous data source interface and integrates vehicle control domain communication and haptic actuator array communication interfaces.

[0044] Step S200: Based on the standardized input data set, classify the vehicle interaction scenario categories, obtain the scenario annotation input data set, and configure the scenario haptic mapping model.

[0045] Step S300: Based on the standardized input data set, collect and parse the trigger signals, configure the trigger event analysis set, and perform scenario recognition and initial selection of tactile feedback parameters through the scenario tactile mapping model.

[0046] Step S400: Deploy the haptic actuator array, integrate the haptic actuators and the local control module, execute haptic feedback control commands, and perform local closed-loop control.

[0047] Step S500: Based on the trigger event analysis set, execute the safety warning tactile feedback process, calculate the remaining navigation time prediction value, execute the navigation guidance tactile feedback process, and execute the fatigue and light-sensing reminder tactile feedback process.

[0048] In some specific embodiments, step S100 specifically includes:

[0049] Step S100.1: Configure the overall architecture of the haptic feedback system, set up the central haptic control unit (HCU), and configure heterogeneous data source interfaces based on the central haptic control unit (HCU). When configuring a haptic feedback system in a vehicle, a central haptic control unit (HCU) is set up in the vehicle's onboard electronic and electrical architecture. The central haptic control unit (HCU) serves as the centralized control core of the haptic feedback system. The central haptic control unit (HCU) includes: a processor, non-volatile memory, an onboard communication interface, and a haptic actuator array communication interface. The haptic actuator array is used to output haptic feedback in the vehicle cabin. The haptic actuator array communication interface is used to transmit haptic feedback control messages between the central haptic control unit (HCU) and the haptic actuator array. The processor is electrically connected to the non-volatile memory, the vehicle communication interface, and the haptic actuator array communication interface. The non-volatile memory stores the haptic interaction control program and haptic feedback configuration parameters for the operation of the haptic feedback system. The processor is configured to call the haptic interaction control program, parse the input signals received through the vehicle communication interface, generate haptic feedback control commands based on the haptic feedback configuration parameters, and send the haptic feedback control commands to the haptic actuator array through the haptic actuator array communication interface, so that the haptic actuator array outputs haptic feedback in the vehicle cabin corresponding to the vehicle interaction scenario. The central haptic control unit (HCU) acquires vehicle operating status, external environment status, and user interaction status. Multiple data source interfaces are configured on the HCU, each establishing an independent data communication link with a predetermined type of data source. These data source types include: vehicle interior sensors, vehicle exterior environment sensors, V2X communication units, in-vehicle entertainment systems, and user personal devices. Vehicle interior sensors provide data on vehicle operating status such as speed, braking status, steering status, longitudinal acceleration, and lateral acceleration. Vehicle exterior environment sensors provide data on external environment status such as distance to obstacles, relative speed of surrounding objects, and ambient light intensity. The V2X communication unit provides information on road infrastructure and surrounding vehicle coordination. The in-vehicle entertainment system provides media playback status and media content rhythm information. The user personal device provides user identification information and user haptic preference settings. The processor in the central haptic control unit (HCU) receives raw input data from in-vehicle sensors, external environmental sensors, V2X communication units, in-vehicle entertainment systems, and user personal devices via a data source interface. It adds a timestamp field, a data source type field, and a priority field to each piece of raw input data in a uniform format. The raw input data with the timestamp field, data source type field, and priority field added is organized into a standardized input data set, which is used for the haptic interaction control program to call and process.

[0050] Step S100.2: Integrate vehicle control domain communication based on heterogeneous data source interface, and configure the haptic actuator array communication interface based on the central haptic control unit (HCU). This enables the HCU to simultaneously consider the operating status in the vehicle control domain when generating haptic feedback control commands, establishing an integrated vehicle control domain communication relationship between the HCU and the vehicle control domain. The HCU accesses the vehicle communication network of the vehicle control domain through the vehicle communication interface. The vehicle communication network includes a CAN bus for communication in the vehicle power domain and chassis domain, and an in-vehicle Ethernet for cockpit domain and high-bandwidth data transmission. The central haptic control unit (HCU) establishes a periodic status data subscription relationship with the vehicle's main domain controller on the CAN bus of the controller area network, and establishes a message exchange channel with the cockpit domain controller on the in-vehicle Ethernet for haptic feedback-related commands and events. The HCU periodically acquires vehicle operating status data through the in-vehicle communication interface, including vehicle speed, gear shift status, braking status, lane keeping assist system operating status, and adaptive cruise control system operating status. It also periodically acquires vehicle body status data through the in-vehicle communication interface, including door opening / closing status, seatbelt tension status, seat adjustment position, and interior lighting status. When generating haptic feedback control commands based on a standardized input data set, the HCU uses the vehicle operating status data and vehicle body status data as constraints to limit the timing, duration, and intensity of the haptic feedback control commands. Upon execution of the haptic feedback control commands, the HCU sends a haptic event report to the vehicle's main domain controller through the in-vehicle communication interface, including the haptic feedback trigger reason and the haptic feedback execution result. The system outputs spatially directional tactile feedback within the vehicle cabin. The central tactile control unit (HCU) establishes a group-addressable communication connection with the tactile actuator array via a tactile actuator array communication interface. The tactile actuator array consists of multiple tactile actuators, which are installed on the steering wheel, seat cushion, seat back, headrest, seat belt, door armrest, and center armrest. The tactile actuator array communication interface uses a group-addressable identifier to logically partition the tactile actuators installed in different locations. Each tactile actuator is assigned a unique tactile actuator address and a tactile actuator installation location identifier. When the central tactile control unit (HCU) generates tactile feedback control commands based on a standardized set of input data, it maps the target installation location identifier to the corresponding set of tactile actuator addresses. The haptic actuator array communication interface sends haptic feedback control messages to the haptic actuator address set. The haptic feedback control messages include haptic mode parameters, haptic intensity parameters, and haptic duration parameters, so that the haptic actuators at the corresponding installation positions in the haptic actuator array are driven according to the haptic feedback control messages and perform haptic feedback actions.

[0051] In some specific embodiments, step S200 specifically includes:

[0052] Step S200.1: Classify vehicle interaction scenarios based on the standardized input data set and obtain the scenario-labeled input data set. In the central haptic control unit (HCU), during the operation of the haptic feedback system, the processor in the HCU sequentially reads each standardized input data piece from the configured standardized input data set. Each standardized input data piece carries a timestamp field, a data source type field, and a priority field. The processor in the HCU constructs a scenario recognition feature parameter set for each standardized input data piece. The scenario recognition feature parameter set includes event type identifier parameters, trigger source identifier parameters, urgency level parameters, duration statistics parameters, and spatial orientation parameters. The event type identifier parameter is used to distinguish between lane departure warning events, forward collision warning events, blind spot collision warning events, door opening warning events, navigation steering prompt events, navigation route deviation prompt events, ambient light intensity change events, motion sickness relief request events, and media rhythm change events during vehicle operation. The trigger source identifier parameter is used to identify which data source the event originates from: internal vehicle sensors, external vehicle environmental sensors, V2X communication unit, in-vehicle entertainment system, or user's personal device. The urgency level parameter is used to distinguish different urgency levels of events within the range of integers 1 to 4. When the urgency level parameter is 4, it indicates the highest urgency level. When the urgency level parameter is 1, it indicates the low urgency level of the prompt level. The duration statistics parameter is used to indicate the length of time that the same event type identifier parameter persists within a preset statistical time window, which is set to 5 seconds. Spatial orientation parameters are used to indicate, within the vehicle's coordinate system, which spatial region—left, right, front, rear, or omnidirectional—an event occurs on. The vehicle's coordinate system is defined with the vehicle's geometric center as the origin, the vehicle's forward direction as the longitudinal positive direction, and the left-hand direction as the lateral positive direction. A set of vehicle interaction scenario categories is pre-configured in the non-volatile memory of the central haptic control unit (HCU). This set includes: safety warning scenarios, navigation guidance scenarios, fatigue and light-sensing alert scenarios, motion sickness relief scenarios, and entertainment synchronization scenarios.The safety warning scenario category is used to carry vehicle interaction scenarios corresponding to lane departure warning events, forward collision warning events, blind spot collision warning events, and door opening warning events. The navigation guidance scenario category is used to carry vehicle interaction scenarios corresponding to navigation turn prompt events and navigation route deviation prompt events. The fatigue and light sensing reminder scenario category is used to carry vehicle interaction scenarios corresponding to ambient light intensity change events and driver fatigue judgment results obtained based on driving behavior analysis and eyelid closure feature analysis. The motion sickness relief scenario category is used to carry vehicle interaction scenarios corresponding to motion sickness relief requests issued by users through the in-vehicle interactive interface or user personal devices. The entertainment synchronization scenario category is used to carry vehicle interaction scenarios corresponding to media rhythm change events. The processor in the central haptic control unit (HCU) matches a target vehicle interaction scenario category for each standardized input data based on event type identifier parameters, trigger source identifier parameters, and urgency level parameters. It generates scenario-annotated input data carrying vehicle interaction scenario category annotations and summarizes all scenario-annotated input data into a scenario-annotated input data set. Each scenario-annotated input data in the scenario-annotated input data set carries the corresponding vehicle interaction scenario category.

[0053] Step S200.2: Configure the scenario-based haptic mapping model based on the scenario-annotated input data set. The processor in the central haptic control unit (HCU) constructs a scenario feature parameter set for each scenario-annotated input data in the scenario-annotated input data set. The scenario feature parameter set includes: urgency score, spatial orientation parameter, trigger frequency statistics, user haptic preference parameter, and vehicle operating status additional parameters. The urgency score is used to refine the urgency level parameter within a real number range of 0 to 1. The spatial orientation parameter is used to refine the location of the vehicle interaction scenario in the vehicle's body coordinate system, indicating which area (left front, left, left rear, right front, right, right rear, or forward full-width area) the vehicle's interaction scenario applies to. The trigger frequency statistics are used to indicate the number of times the event type corresponding to the same scenario-annotated input data is triggered within a preset statistical time window. The user haptic preference parameter is used to indicate the haptic intensity preference and haptic mode preference configured by the user in the haptic interaction settings interface. The vehicle operating status additional parameters are used to indicate the normalized values ​​of vehicle speed, longitudinal acceleration, and lateral acceleration corresponding to the current scenario-annotated input data at the same moment. The processor in the central haptic control unit (HCU) uses a weighted summation method to quantify the urgency score. The HCU sets three risk factors: vehicle speed risk normalization value, distance risk normalization value, and trigger frequency normalization value. The vehicle speed risk normalization value represents the normalized deviation of the current vehicle speed from a preset safe speed threshold, set at 80 km / h. The distance risk normalization value represents the normalized deviation of the current target distance from a preset safe distance threshold, set at 30 meters. The trigger frequency normalization value represents the normalized deviation of the event trigger frequency within a preset statistical time window from a preset frequency threshold, set at 3 times. The processor in the HCU calculates the urgency score as follows:

[0054] E emg =w v ·V norm +w d ·D norm +w f ·F norm

[0055] In the formula: E emg It is an urgency rating, V norm This is the speed risk normalization value, used to represent the normalized deviation of the current vehicle speed from a preset safe speed threshold, which is set at 80 kilometers per hour. norm This is the distance risk normalization value, used to represent the normalized deviation of the current target distance from a preset safe distance threshold, which is set to 30 meters. normThis is the trigger frequency normalization value, used to represent the normalized deviation of the event trigger frequency within a preset statistical time window relative to a preset frequency threshold. The preset statistical time window is set to 5 seconds, and the preset frequency threshold is set to 3 times. v It is the vehicle speed risk weighting coefficient, w d It is the distance risk weighting coefficient, w f It is the trigger frequency weighting coefficient, and the three satisfy:

[0056] w v +w d +w f =1

[0057] The optimal values ​​for the weighting coefficients should satisfy the following:

[0058] 0.3≤w v ≤0.5, 0.3≤w d ≤0.5, 0.1≤w f ≤0.3

[0059] After the urgency score is calculated, the processor in the central haptic control unit (HCU) configures a scenario haptic mapping rule for each vehicle interaction scenario category based on the vehicle interaction scenario category, urgency score, spatial orientation parameters, user haptic preference parameters, and additional parameters of vehicle operating status. The scenario haptic mapping rule is used to map the vehicle interaction scenario category and scenario feature parameter set to a haptic feedback instruction parameter set. The haptic feedback instruction parameter set includes haptic mode parameters, haptic intensity parameters, haptic duration parameters, and haptic target position parameters. The tactile target position parameters are mapped to the address set of tactile actuators installed in the steering wheel, seat cushion, seat back, headrest, seat belt, door armrest, and center armrest through spatial orientation parameters. The tactile intensity parameter and the urgency score value adopt a linear mapping relationship. When the urgency score value is equal to 0, the tactile intensity parameter is set to 20% of the rated output intensity of the tactile actuator. When the urgency score value is equal to 1, the tactile intensity parameter is set to 100% of the rated output intensity of the tactile actuator. When the urgency score value is between 0 and 1, the tactile intensity parameter is linearly interpolated according to the urgency score value between 20% and 100%. The scenario haptic mapping model is stored in the central haptic control unit (HCU) in a parameterized form as a scenario haptic mapping model parameter set. Each set of parameters in the scenario haptic mapping model parameter set corresponds to a vehicle interaction scenario category and a range of urgency score values. When the processor in the central haptic control unit (HCU) runs, it calls the scenario haptic mapping model parameter set to generate a corresponding haptic feedback instruction parameter set for each scenario label input data in the scenario label input data set.

[0060] In some specific embodiments, step S300 specifically includes:

[0061] Step S300.1: Acquire and parse trigger signals based on standardized input data sets. The processor in the central haptic control unit (HCU) acquires the trigger signals to be parsed from the standardized input data set within a preset trigger signal analysis time window. The duration of the trigger signal analysis time window is set to 200 milliseconds. Within each trigger signal analysis time window, the processor in the HCU reads all standardized input data within the corresponding time range, forming a standardized input data subset for the current analysis time window. Based on the scenario-labeled input data set, the processor in the HCU searches for the corresponding scenario-labeled input data record for each standardized input data in the standardized input data subset of the current analysis time window. Each scenario-labeled input data record carries the vehicle interaction scenario category, urgency level parameter, urgency score, spatial orientation parameter, and trigger frequency statistics. Within the current analysis time window, the processor in the Central Haptic Control Unit (HCU) filters candidate trigger events based on urgency level parameters and urgency scores. Scenario-labeled input data with an urgency level parameter greater than or equal to 2, as well as scenario-labeled input data belonging to the entertainment synchronous scenario category, are marked as candidate trigger events. All candidate trigger events are arranged in order of arrival time of the scenario-labeled input data and aggregated into a candidate trigger event queue. To distinguish between single events and simultaneous trigger events, the processor in the HCU calculates the arrival time interval between adjacent candidate trigger events in the candidate trigger event queue. When the arrival time interval is less than 100 milliseconds, adjacent candidate trigger events are merged into the same group of simultaneous trigger events. The simultaneous trigger event group and the unmerged single candidate trigger events together constitute the trigger event analysis set.

[0062] Step S300.2: Scene recognition and initial selection of tactile feedback parameters based on the scene-based haptic mapping model. The processor in the central haptic control unit (HCU) invokes the scene-based haptic mapping model for each individual trigger event and each group of simultaneous trigger events in the trigger event analysis set. For a single trigger event, the processor in the HCU directly reads the vehicle interaction scene category, urgency score, spatial orientation parameters, user haptic preference parameters, and vehicle operating status additional parameters corresponding to that single trigger event, using these parameters as the input parameter set for the scene-based haptic mapping model. For a group of simultaneous trigger events, the processor in the HCU sorts the simultaneous trigger events within the group according to their urgency scores from largest to smallest, determining the trigger event with the largest urgency score as the dominant trigger event and the trigger events with smaller urgency scores as the set of cooperative trigger events. When multiple events with equal urgency scores exist within a simultaneous event group, the processor in the Central Haptic Control Unit (HCU) queries a preset event priority table based on the vehicle interaction scenario category. The event with higher priority in the event priority table is identified as the dominant event. The processor in the HCU uses the vehicle interaction scenario category, urgency score, and spatial orientation parameters corresponding to the dominant event, and merges the spatial orientation parameters corresponding to the set of co-triggered events into extended spatial orientation parameters. The merged extended spatial orientation parameters, the user tactile preference parameters corresponding to the dominant event, and the vehicle operating status additional parameters are used as the input parameter set for the scenario tactile mapping model. The processor in the HCU uses the scenario tactile mapping model parameter set stored in parameterized form to perform inference operations on the input parameter set, outputting an initial set of tactile feedback command parameters corresponding to each single event or each group of simultaneous events. The initial set of tactile feedback command parameters includes initial values ​​for tactile mode parameters, tactile intensity parameters, tactile duration parameters, and tactile target position parameters.

[0063] In some specific embodiments, step S400 specifically includes:

[0064] Step S400.1: Deploy the haptic actuator array. In the vehicle cabin, to ensure haptic feedback corresponds to the areas of contact with the driver's body, a set of installation areas for the haptic actuator array is configured. This set of installation areas includes the steering wheel rim area, seat cushion surface area, seat back surface area, headrest surface area, seat belt shoulder contact area, upper surface area of ​​the door armrest, and upper surface area of ​​the center armrest. In embodiments requiring enhanced foot haptic feedback, it further includes the upper surface area of ​​the driver's seat foot pedal and the front area of ​​the driver's seat floor. Multiple haptic actuators are arranged within each installation area. Each haptic actuator is reliably fixed to the corresponding vehicle interior structure via a haptic actuator mounting bracket. The mechanical strength of the haptic actuator mounting bracket meets the requirement of withstanding a combined load of twice the vehicle's maximum longitudinal acceleration and twice the vehicle's maximum lateral acceleration during vehicle operation. The tactile actuators in the steering wheel rim area are arranged in several sectors along the circumference of the rim, with at least one tactile actuator in each sector. The number of tactile actuators in the steering wheel rim area is set to 4 to 12, so that the tactile feedback system can output tactile feedback in the left and right hand grip areas, as well as the top and bottom of the steering wheel. The tactile actuators on the seat cushion and seat back surfaces are arranged in a rectangular grid pattern, with a grid spacing of 30 mm to 60 mm. The number of tactile actuators on the seat cushion and seat back surfaces is set to 4 to 16. The number of tactile actuators on the headrest surface is set to 2 to 8, the number of tactile actuators on the seatbelt shoulder contact area is set to 2 to 6, and the number of tactile actuators on the upper surface of the door armrest and the upper surface of the center armrest are each set to 2 to 8. In the implementation of foot-sensing cues, the number of tactile actuators on the upper surface of the driver's seat foot pedal and the number of tactile actuators in the front area of ​​the driver's seat floor are set to 2 to 4. Each tactile actuator is assigned a unique tactile actuator address and a tactile actuator installation location identifier in the tactile actuator array. The tactile actuator installation location identifier is used to uniquely identify the installation location of the tactile actuator in the steering wheel rim area, seat cushion surface area, seat back surface area, headrest surface area, seat belt shoulder contact area, upper surface area of ​​door armrest, upper surface area of ​​center armrest, upper surface area of ​​driver's seat foot pedal, and front area of ​​driver's seat floor. The tactile actuator address is used for selective access by the central tactile control unit (HCU) under the packet addressing mechanism of the tactile actuator array communication interface. The tactile actuator array is electrically connected to the tactile actuator array communication interface of the central tactile control unit (HCU) through a multi-path tactile actuator branch bus. Each tactile actuator branch bus serves one or more installation areas. The communication bandwidth and power supply capacity of each tactile actuator branch bus meet the requirements of simultaneously driving all tactile actuators in the corresponding installation area under the rated tactile intensity parameters.By deploying arrays of tactile actuators at specific contact points in the cabin, the tactile feedback system can output spatially directional tactile feedback in areas that directly contact the driver's body, such as the steering wheel rim area, seat cushion surface area, seat back surface area, headrest surface area, seat belt shoulder contact area, upper surface area of ​​door armrest, upper surface area of ​​center armrest, and optional upper surface area of ​​driver's foot pedal and front area of ​​driver's floor.

[0065] Step S400.2: Integrate haptic actuators and a local control module. In the case of retrofitting existing vehicles, to achieve haptic feedback without altering the original steering wheel, seat, seatbelt, door armrest, and center armrest structures, a flexible substrate haptic assembly is configured. This flexible substrate haptic assembly includes a flexible substrate layer, an embedded haptic actuator group, a local haptic drive control submodule, a temperature sensor, and flexible electrical connection terminals. The flexible substrate layer employs a multi-layered flexible material stack structure, including a flexible polyester film layer, a conductive circuit layer, and a buffer pad layer. The total thickness of the flexible substrate layer is set to 1 mm to 5 mm, and the minimum bending radius is set to 30 mm to ensure that the flexible substrate layer can conform to the curved surfaces of the steering wheel rim, seat, and door armrest without wire fatigue breakage. The embedded haptic actuator group is divided into multiple haptic execution sub-regions according to the surface area of ​​the flexible substrate layer. Each haptic execution sub-region embeds 1 to 4 haptic actuators, which are welded or crimped to the conductive circuit layer of the flexible substrate layer. Each haptic actuator, when embedded in the flexible substrate, maintains its surface flush with or slightly protruding from the outer surface of the substrate. The protrusion height is set to 0.1 mm to 0.5 mm to ensure that haptic feedback can effectively act on the skin of the driver or passengers or be transmitted through clothing without affecting the comfort of the original components. The local haptic drive control submodule is centrally located in the non-tactile area of ​​the flexible substrate. This submodule includes a drive circuit for generating the drive current waveform, a local controller chip for controlling the output of the drive circuit, and a sampling circuit for monitoring current and voltage. The local haptic drive control submodule connects to the haptic actuator array communication interface of the central haptic control unit (HCU) via flexible electrical connection terminals. The flexible electrical connection terminals use automotive-grade connectors, with a rated operating voltage matching the vehicle's 12V or 24V DC voltage, and a rated operating current sufficient to drive all connected embedded haptic actuators continuously under conditions where the haptic intensity parameter equals the rated output intensity of the haptic actuator. Temperature sensors are arranged one-to-one with each embedded haptic actuator on the inner side of the flexible substrate. The measurement points of the temperature sensors are in close contact with the surface of the haptic actuator through a heat-conducting material, used to measure the surface temperature of the haptic actuator in real time. The temperature measurement resolution is preferably better than 0.5 degrees Celsius, and the measurement period is set to 50 milliseconds. The flexible substrate haptic assembly is installed on the outer surface of the steering wheel rim, the surface of the seat cushion, the surface of the seat back, the shoulder contact area of ​​the seat belt, the upper surface of the door armrest, and the upper surface of the center armrest through mechanical fixing structures and detachable fixing accessories. The mechanical fixing structures include positioning buckles, adhesive fixing straps, or woven sleeve structures to ensure that the flexible substrate haptic assembly remains stably attached during vehicle operation and can be removed and replaced during maintenance.By integrating haptic actuators and local control modules into a flexible substrate, the haptic feedback system can quickly upgrade existing vehicles without altering the original vehicle wiring and structural components, while also providing the haptic actuators with nearby drive control and temperature monitoring capabilities.

[0066] Step S400.3: Execute the tactile feedback control command and perform local closed-loop control. After the central tactile control unit (HCU) sends a tactile feedback control message through the tactile actuator array communication interface, the local tactile drive control submodule in each tactile actuator or each flexible substrate tactile component parses the message header field, message sequence number field, tactile actuator address set field, tactile mode parameter field, tactile intensity parameter field, tactile duration parameter field, and tactile temperature target parameter field in the tactile feedback control message. When the tactile actuator address set field contains the address of the tactile actuator that the local tactile drive control submodule is responsible for, the local tactile drive control submodule generates a drive control sequence based on the tactile mode parameter field, tactile intensity parameter field, and tactile duration parameter field, and drives the corresponding tactile actuator. The local haptic drive control submodule collects the drive current and drive voltage of the haptic actuator while driving it. The sampling period for the drive current is set to 1 to 2 milliseconds, and the sampling period for the drive voltage is set to 1 to 2 milliseconds. The local haptic drive control submodule compares the drive current and drive voltage with the target haptic intensity parameter. When the estimated output intensity corresponding to the drive current and drive voltage is lower than 90% of the target haptic intensity parameter, the local haptic drive control submodule increases the pulse width or amplitude of the drive current while ensuring the safe operating range of the haptic actuator. When the estimated output intensity corresponding to the drive current and drive voltage is higher than 110% of the target haptic intensity parameter, the local haptic drive control submodule decreases the pulse width or amplitude of the drive current so that the actual haptic intensity output by the haptic actuator fluctuates within ±10% of the target haptic intensity parameter. The local haptic drive control submodule periodically reads the measurement results from the corresponding temperature sensor during each haptic feedback duration. It compares the haptic actuator surface temperature measured by the temperature sensor with the haptic temperature target parameter and the haptic temperature safety threshold. The haptic actuator surface temperature rise relative to the vehicle cabin ambient temperature corresponding to the haptic temperature target parameter is set to 1 to 6 degrees Celsius. The haptic temperature safety threshold is set to 42 degrees Celsius in the central haptic control unit (HCU). When the haptic actuator surface temperature measured by the temperature sensor is lower than the temperature corresponding to the haptic temperature target parameter and lower than 42 degrees Celsius, [the system will stop operation]. The local haptic drive control submodule allows maintaining the current drive current or increasing the drive current within a limited range to shorten the time to reach the target haptic temperature parameter. When the surface temperature of the haptic actuator measured by the temperature sensor is close to 42 degrees Celsius, the local haptic drive control submodule reduces the drive current. When the surface temperature of the haptic actuator measured by the temperature sensor exceeds 42 degrees Celsius, the local haptic drive control submodule immediately reduces the drive current to a safe maintenance level or shuts down the drive output of the haptic actuator, and sends a haptic execution status feedback message containing a message sequence number and a temperature anomaly flag to the central haptic control unit (HCU).At the end of each round of haptic feedback execution, the local haptic drive control submodule determines whether the haptic actuator has an open-circuit fault, short-circuit fault, or temperature sensor malfunction based on the driving current sampling results, driving voltage sampling results, and temperature sensor sampling results. When a fault is detected, the local haptic drive control submodule internally records the fault type and prohibits further driving of the faulty haptic actuator. Simultaneously, it reports a fault event message containing the fault type, haptic actuator address, and haptic execution status to the central haptic control unit (HCU) through the haptic actuator array communication interface. By executing haptic feedback control commands and performing local closed-loop control, the haptic feedback system can, based on the haptic mode parameters, haptic intensity parameters, and haptic duration parameters given by the central haptic control unit (HCU), perform fine-grained adjustment and real-time safety constraints on the haptic actuator output through the distributed local haptic drive control submodules. This ensures the consistency and repeatability of the haptic feedback effect and improves the operational safety and fault self-diagnosis capability of the haptic actuator array.

[0067] In some specific embodiments, step S500 specifically includes:

[0068] Step S500.1: Execute the safety warning tactile feedback process based on the trigger event analysis set. The execution of the safety warning tactile feedback process includes: the processor in the central tactile control unit (HCU) identifies trigger events in the trigger event analysis set that fall under the safety warning scenario category. The safety warning scenario category includes lane departure warning events, forward collision warning events, blind spot collision warning events, door opening warning events, and network security warning events provided by the vehicle-to-everything (V2X) communication unit. The processor in the HCU reads the urgency score, spatial orientation parameters, and event type identifier parameters corresponding to each safety warning scenario category trigger event, and marks safety warning scenario category trigger events with urgency scores in the range of 0.66 to 1 as high-intensity safety warning trigger events. The processor in the Central Haptic Control Unit (HCU) configures haptic feedback priority scheduling rules for safety warning scenario trigger events, setting them as the highest priority. When a safety warning scenario trigger event, a navigation guidance scenario trigger event, a fatigue and light-sensing alert scenario trigger event, a motion sickness relief scenario trigger event, and an entertainment synchronization scenario trigger event coexist within the same trigger signal analysis time window, the processor in the HCU prioritizes generating a set of haptic feedback instruction parameters for the safety warning scenario trigger event. During the execution of the haptic feedback control message corresponding to the safety warning scenario trigger event, the generation of haptic feedback control messages corresponding to the navigation guidance scenario trigger event, the fatigue and light-sensing alert scenario trigger event, the motion sickness relief scenario trigger event, and the entertainment synchronization scenario trigger event is paused. The processor in the central haptic control unit (HCU) maps the spatial orientation parameters of the event triggered by the safety warning scenario category to include dangerous directions outside the vehicle on the left, right, front, and all directions. When the vehicle is in a dangerous direction on the left, the processor selects the left haptic actuator in the steering wheel rim area, the left haptic actuator in the seat back surface area, and the haptic actuator in the shoulder contact area of ​​the seat belt to form a haptic actuator target set. When the vehicle is in a dangerous direction on the right, the processor selects the right haptic actuator in the steering wheel rim area, the right haptic actuator in the seat back surface area, and the haptic actuator in the shoulder contact area of ​​the seat belt to form a haptic actuator target set. When the vehicle is in a dangerous direction in front or all directions, the processor selects the upper half of the steering wheel rim area, the leading edge of the seat cushion surface area, and the upper part of the seat back surface area to form a haptic actuator target set.When the processor in the Central Haptic Control Unit (HCU) invokes the scenario haptic mapping model and the haptic feedback mode library, it maps the urgency score of the high-intensity safety warning trigger event to a haptic intensity parameter that is not less than 70% of the rated output intensity of the haptic actuator. From the haptic feedback mode library, it selects at least one of intermittent pulse vibration mode and continuous high-frequency vibration mode. The intermittent pulse vibration mode has a single pulse duration parameter set to 100-300 milliseconds, a pulse interval time set to 150-400 milliseconds, and a pulse repetition count within a single safety warning haptic feedback event set to 3-6 times. The continuous high-frequency vibration mode has a haptic frequency parameter set to 150-250 Hz and a haptic duration parameter set to 200-800 milliseconds. The processor in the HCU encapsulates the haptic actuator target set, haptic mode parameters, haptic intensity parameters, and haptic duration parameters into a haptic feedback instruction parameter set, generates a haptic feedback control message, and sends it to the haptic actuators corresponding to the haptic actuator target set via the haptic actuator array communication interface. The technical solution for implementing the safety warning tactile feedback process configures the trigger events of safety warning scenario categories as the highest priority in the tactile feedback priority scheduling rules. It selects tactile actuators in the steering wheel rim area, seat cushion surface area, seat back surface area, and seatbelt shoulder contact area according to the vehicle's left-side danger direction, right-side danger direction, front danger direction, and all-around danger direction, forming a target set of tactile actuators. Combined with a high-intensity intermittent pulse vibration mode and a continuous high-frequency vibration mode with tactile intensity parameters not less than 70% of the rated output intensity of the tactile actuators, lane departure warning events, forward collision warning events, blind spot collision warning events, door opening warning events, and cybersecurity warning events receive safety warning tactile feedback with clear spatial directionality and high-intensity tactile performance. This reduces the risk of driver missed detection and improves the ability to quickly identify danger directions.

[0069] Step S500.2: Calculate the predicted remaining navigation time, execute the navigation guidance haptic feedback process, and execute the fatigue and light-sensing reminder haptic feedback process. Executing the navigation guidance haptic feedback process includes: the processor in the central haptic control unit (HCU) identifies trigger events in the trigger event analysis set that fall under the navigation guidance scenario category. The navigation guidance scenario category includes navigation turn prompt events and navigation route deviation prompt events. The navigation turn prompt events include left turn prompt events, right turn prompt events, and U-turn prompt events. The processor in the central haptic control unit (HCU) reads the target turning direction, remaining navigation distance parameter, and current vehicle speed parameter from each navigation turn prompt event. It combines the remaining navigation distance parameter with the current vehicle speed parameter to calculate the predicted remaining navigation time. The predicted remaining navigation time is used to represent the predicted time from the current moment to the target turning position. The processor in the central haptic control unit (HCU) divides the navigation haptic feedback stage based on the predicted remaining navigation time. When the predicted remaining navigation time is between 8 and 15 seconds, the navigation haptic feedback stage is marked as a long-term alert stage. When the predicted remaining navigation time is between 3 and 8 seconds, the navigation haptic feedback stage is marked as a medium-term alert stage. When the predicted remaining navigation time is between 0 and 3 seconds, the navigation haptic feedback stage is marked as an imminent alert stage. In the long-term alert stage, a low-intensity navigation haptic feedback level is selected. In the medium-term alert stage, a medium-intensity navigation haptic feedback level is selected. In the imminent alert stage, a medium-high intensity navigation haptic feedback level is selected. The processor in the central haptic control unit (HCU) maps a left turn prompt event to the navigation guidance direction to the left front of the vehicle, a right turn prompt event to the navigation guidance direction to the right front of the vehicle, and a U-turn prompt event to the navigation guidance direction in front of the vehicle, based on the target turning direction and spatial orientation parameters of the navigation turn prompt event. The target set of haptic actuators corresponding to the left turn prompt event includes haptic actuators on the left side of the steering wheel rim area and haptic actuators on the left side of the seat cushion surface area; the target set of haptic actuators corresponding to the right turn prompt event includes haptic actuators on the right side of the steering wheel rim area and haptic actuators on the right side of the seat cushion surface area; and the target set of haptic actuators corresponding to the U-turn prompt event includes haptic actuators on the upper half of the steering wheel rim area and haptic actuators on the upper part of the seat back surface area.When the processor in the central haptic control unit (HCU) calls the scenario-based haptic mapping model and the haptic feedback mode library, it maps the urgency score corresponding to the navigation guidance scenario category to a haptic intensity parameter within 30% to 80% of the rated output intensity of the haptic actuator. During the long-term cues phase, it selects at least one of a low-to-medium intensity continuous vibration mode and a rhythmic intermittent pulse vibration mode, with the haptic intensity parameter within 30% to 50%. The single pulse duration parameter is set to 150 to 250 milliseconds, and the pulse interval time is set to 400 to 800 milliseconds. During the mid-term alert phase, a moderate-intensity rhythmic intermittent pulse vibration mode with tactile intensity parameters ranging from 40% to 70% is selected, with a single pulse duration set to 150 to 300 milliseconds and a pulse interval set to 250 to 500 milliseconds. During the near-alert phase, at least one of a medium-to-high intensity continuous vibration mode and a high-rhythm intermittent pulse vibration mode with tactile intensity parameters ranging from 60% to 80% is selected, with a single pulse duration set to 200 to 400 milliseconds and a pulse interval set to 150 to 300 milliseconds. When a navigation route deviation alert event is triggered, the processor in the central haptic control unit (HCU) maps the event to the vehicle's omnidirectional navigation guidance orientation. It selects symmetrical tactile actuators in the steering wheel rim area and symmetrical tactile actuators in the seat cushion surface area to form a tactile actuator target set, outputting two to three consecutive sets of navigation route deviation tactile feedback in a rhythmic intermittent pulse vibration mode. The interval between repeated triggers of the navigation route deviation tactile feedback is set to 500 milliseconds. The technical solution for implementing haptic feedback in navigation guidance divides the process into long-term, mid-term, and near-term warning stages based on the predicted remaining navigation time. It selects haptic actuators in the steering wheel rim area, seat cushion surface area, and other navigation guidance areas on the left front, right front, and front of the vehicle, respectively, to form a target set of haptic actuators. Combined with graded haptic intensity parameters set within 30% to 80% of the rated output intensity of the haptic actuators at different stages, as well as rhythmic intermittent pulse vibration and continuous vibration modes, the driver can perceive steering timing and direction in advance through haptic feedback. When a navigation route deviation warning event is triggered, the driver can promptly identify driving deviations through symmetrical left-right haptic feedback, reducing the cognitive burden of relying solely on visual and voice prompts.The fatigue and light-sensing tactile feedback process includes: The processor in the central tactile control unit (HCU) constructs a 5-minute monitoring window for fatigue and light sensing during vehicle operation. Within each window, ambient light intensity data is collected from internal and external vehicle sensors. A confidence parameter for the driver fatigue assessment result, derived from driving behavior analysis and eyelid closure feature analysis, is retrieved from the driving behavior analysis results. This confidence parameter, ranging from 0 to 1, indicates the degree of driver fatigue. The processor in the HCU calculates the percentage of low-light duration, P, within each monitoring window. low Percentage of low light duration P low This value represents the ratio of the duration of ambient light intensity below a preset low light threshold to the length of the fatigue and light sensing monitoring time window. The preset low light threshold is set to 30 lux. The processor in the central tactile control unit (HCU) counts the number of oncoming strong light flashes (N) within the fatigue and light sensing monitoring time window when the ambient light intensity is above a preset strong light threshold and the duration is less than 2 seconds. glare The preset strong light threshold is set to 2000 lux, and the number of times the oncoming strong light flashes is N. glare Normalized to the normalized value G of the oncoming strong light flash norm The normalized value of the oncoming strong light flashing is G. norm By flashing the oncoming bright light N times glare Divide by the reference flash count of 10 and truncate within the range of 0 to 1. The processor in the central haptic control unit (HCU) will calculate the low-light duration percentage P. low Normalized value of oncoming strong light flashing G norm And the confidence parameter P of the driver fatigue assessment results drow Combined construction of fatigue and light-sensing alertness score E fat Fatigue and light perception alertness score E fat The calculation is performed using a weighted summation method, specifically as follows:

[0070] E fat =w l ·P low +w g ·G norm +w d ·P drow

[0071] In the formula: E fat It is the fatigue and light perception alertness score, P low It is the percentage of low light duration, G norm It is the normalized value of the oncoming strong light flash, P drow It is the confidence parameter for the driver fatigue assessment result, w l It is the low illumination weighting coefficient, w gIt is the weighting coefficient for the flickering of strong oncoming light, w d These are the weighting coefficients for the driver fatigue assessment results, and the weights satisfy: w l +w g +w d =1.

[0072] Low illumination weighting coefficient w l The value range is from 0.3 to 0.5, and the weighting coefficient w for oncoming strong light flicker is... g The value range is from 0.2 to 0.4, and the weighting coefficient w for the driver fatigue assessment result is... d The value range is from 0.2 to 0.4, and the low illumination weighting coefficient w l The value is 0.4, and the weighting coefficient w for oncoming strong light flicker is... g The value is 0.3, and the weighting coefficient w for the driver fatigue assessment result is... d The value is 0.3.

[0073] The processor in the central haptic control unit (HCU) calculates the fatigue and light-sensing alert score E. fat Next, the fatigue and light-sensing alertness score E will be calculated. fat Compared with a preset fatigue alert threshold, which is set at 0.6, when the fatigue and light-sensing alert score E... fat When the value is greater than or equal to 0.6, the fatigue and light-sensing reminder scenario category trigger events are marked in the vehicle interaction scenario category set, and the scenario haptic mapping model and haptic feedback mode library are called to select the combination of gradually increasing vibration mode and low-frequency continuous vibration mode. The haptic frequency parameter of the low-frequency continuous vibration mode is set to 10 Hz to 30 Hz, the haptic intensity parameter is gradually increased from 20% of the rated output intensity of the haptic actuator to 60% of the rated output intensity of the haptic actuator, and the haptic duration parameter is set to 2000 ms to 5000 ms. When a fatigue and light-sensing alert scenario is triggered, the processor in the central haptic control unit (HCU) configures the haptic actuators in the steering wheel rim area and the haptic actuators in the lumbar support area of ​​the seat back surface as the target set of haptic actuators. During the haptic feedback of the fatigue and light-sensing alert, the haptic actuator in the steering wheel rim area outputs a low-amplitude but rhythmic low-frequency continuous vibration, while the haptic actuator in the lumbar support area of ​​the seat back surface outputs a gradually increasing vibration mode. When the fatigue and light-sensing alert score value E is within two consecutive fatigue and light-sensing monitoring time windows... fat When the value is consistently greater than or equal to 0.8, the processor in the central haptic control unit (HCU) raises the upper limit of the haptic intensity parameter to 80% of the rated output intensity of the haptic actuator, and sets the repeated trigger suppression interval for fatigue and light-sensing haptic feedback to 300 milliseconds. The technical solution for executing the fatigue and light-sensing haptic feedback process integrates the proportion of low-light duration (P) within a 5-minute fatigue and light-sensing monitoring time window. lowNormalized value of oncoming strong light flashing G norm And the confidence parameter P of the driver fatigue assessment results drow Construct a fatigue and light-sensing alert rating value E fat It outputs progressively stronger low-frequency tactile feedback to the tactile actuators in the steering wheel rim area and the lumbar support area of ​​the seat back surface area, achieving a fatigue and light-sensing warning score of E. fat As the intensity of tactile feedback increases, the system adaptively enhances the tactile intensity parameter and shortens the interval between repeated triggers to suppress tactile feedback. This provides drivers with continuous and progressively stronger tactile alerts in scenarios involving prolonged low light, frequent oncoming glare, and increased driver fatigue. This helps reduce the risk of fatigued driving and mitigate the impact of complex lighting environments on driving safety. In this invention, the central tactile control unit (HCU) is not limited to a central controller throughout the vehicle. It can also be a local control module bound to a single interactive component or a local controller covering only the cockpit area. This allows the tactile feedback system to be suitable for both centralized applications involving whole-vehicle interaction and tactile interaction applications in single product forms such as light-sensitive steering wheels, anti-fatigue seats, and seatbelt tactile reminder components. Through the above steps, this invention can be deployed in a unified haptic feedback architecture for single haptic products, partial vehicle interaction systems, and the whole vehicle central interaction platform. It introduces a central haptic control unit (HCU) and heterogeneous data source interfaces to standardize data from vehicle internal sensors, external environmental sensors, vehicle network communication units, in-vehicle entertainment systems, and user personal devices. This data is uniformly mapped into a standardized input data set carrying event type identifier parameters, trigger source identifier parameters, urgency level parameters, and spatial orientation parameters. Simultaneously, it pre-configures a set of vehicle interaction scenario categories, including safety warning scenario categories, navigation guidance scenario categories, fatigue and light sensing reminder scenario categories, motion sickness relief scenario categories, and entertainment synchronization scenario categories. It also constructs a scenario haptic mapping model and a set of trigger event analysis, and performs priority scheduling and haptic feedback parameter selection for trigger events under different scenarios.

[0074] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tactile feedback method, characterized in that, Includes the following steps: S100. Configure the overall architecture of the haptic feedback system and set up a central haptic control unit (HCU). The central haptic control unit obtains a standardized set of input data through a heterogeneous data source interface and integrates vehicle control domain communication and haptic actuator array communication interfaces. S200. Based on the standardized input data set, classify the vehicle interaction scenario categories, obtain the scenario annotation input data set, and configure the scenario haptic mapping model. S300: Based on the standardized input data set, collect and parse trigger signals, configure the trigger event analysis set, and perform scenario recognition and initial selection of tactile feedback parameters through the scenario tactile mapping model; S400: Deploys a haptic actuator array, integrates haptic actuators and a local control module, executes haptic feedback control commands, and performs local closed-loop control; S500: Based on the trigger event analysis set, execute the safety warning tactile feedback process, calculate the remaining navigation time prediction value, execute the navigation guidance tactile feedback process, and execute the fatigue and light-sensing reminder tactile feedback process.

2. The tactile feedback method as described in claim 1, characterized in that, Specifically, S100 is as follows: S100.1 When configuring a haptic feedback system in a vehicle, a central haptic control unit (HCU) is set in the vehicle's on-board electronic and electrical architecture. The central haptic control unit (HCU) is used as the centralized control core of the haptic feedback system. The central haptic control unit (HCU) includes: a processor, non-volatile memory, an on-board communication interface, and a haptic actuator array communication interface. S100.

2. When generating haptic feedback control commands, the central haptic control unit (HCU) simultaneously considers the operating status in the vehicle control domain. An in-vehicle control domain communication integration relationship is established between the central haptic control unit (HCU) and the vehicle control domain. The central haptic control unit (HCU) accesses the in-vehicle communication network of the vehicle control domain through the in-vehicle communication interface. The in-vehicle communication network includes a controller area network (CAN bus) for communication in the vehicle power domain and chassis domain, and an in-vehicle Ethernet for data transmission in the cockpit domain and high bandwidth.

3. The tactile feedback method as described in claim 1, characterized in that, Specifically, S200 is as follows: S200.1 During the operation of the haptic feedback system, the processor in the central haptic control unit (HCU) reads each standardized input data sequentially from the configured standardized input data set; S200.2 The processor in the central haptic control unit (HCU) constructs a set of scene feature parameters for each scene-labeled input data in the scene-labeled input data set.

4. The tactile feedback method as described in claim 1, characterized in that, Specifically, S300 is as follows: S300.1 The processor in the central haptic control unit (HCU) collects the trigger signal to be analyzed from the standardized input data set with a preset trigger signal analysis time window. The time length of the trigger signal analysis time window is set to 200 milliseconds. The processor in the central haptic control unit (HCU) reads all the standardized input data within the corresponding time range of each trigger signal analysis time window to form a subset of the standardized input data for the current analysis time window. S300.2 The processor in the central haptic control unit (HCU) calls the contextual haptic mapping model for each individual trigger event and each group of simultaneous trigger events in the trigger event analysis set.

5. The tactile feedback method as described in claim 1, characterized in that, Specifically, S400 is: S400.1, Configure the set of mounting areas for the haptic actuator array; S400.2 In the case of retrofitting existing vehicles, in order to achieve tactile feedback without changing the original steering wheel, seats, seat belts, door armrests and center armrest structures, a flexible base tactile component is configured. S400.3 After the central haptic control unit (HCU) sends a haptic feedback control message through the haptic actuator array communication interface, the local haptic drive control submodule in each haptic actuator or each flexible substrate haptic component parses the fields in the haptic feedback control message. When the haptic actuator address set field contains the address of the haptic actuator that the local haptic drive control submodule is responsible for, the local haptic drive control submodule generates a drive control sequence based on the haptic mode parameter field, haptic intensity parameter field, and haptic duration parameter field, and drives the corresponding haptic actuator.

6. The tactile feedback method as described in claim 1, characterized in that, Specifically, S500 is as follows: S500.1, Implement the safety warning tactile feedback process; S500.2 The processor in the central haptic control unit (HCU) identifies trigger events in the trigger event analysis set that belong to the navigation guidance scenario category of the vehicle interaction scenario. The navigation guidance scenario category includes navigation steering prompt events and navigation route deviation prompt events. The processor in the central haptic control unit (HCU) reads the target steering direction, remaining navigation distance parameter and current vehicle speed parameter from each navigation steering prompt event. It combines the remaining navigation distance parameter with the current vehicle speed parameter to calculate the remaining navigation time prediction value. The remaining navigation time prediction value is used to represent the predicted time from the current moment to the target steering position.

7. A haptic feedback system, performing a haptic feedback method as described in any one of claims 1-6, characterized in that, include: The architecture interface configuration module is used to configure the overall architecture of the haptic feedback system; The scenario mapping configuration module is used to classify vehicle interaction scenario categories based on a standardized input data set and to obtain a scenario labeling input data set. The trigger event analysis module is used to collect and analyze trigger signals based on a standardized input data set. Haptic array control module, used to deploy haptic actuator array; The scenario-linked feedback module is used to execute a safety warning tactile feedback process based on the set of triggered events. A flexible substrate, a control module embedded within the flexible substrate, at least one tactile actuator, and a sensor module for activating the control module, the control module being able to control the tactile actuator to generate different tactile feedback modes.

8. The application of a haptic feedback method as described in any one of claims 1-6 or a haptic feedback system as described in claim 7 in vehicle interaction.

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