Driving force feedback distribution control system and method based on six-sense tactile sense

Abstract

The invention discloses a driving force feedback distribution control system and method based on six-sense tactile sense, and relates to the field. Comprising an environment sensing module which is used for collecting obstacle information and road information around a vehicle and outputting an environment threat coefficient; the driver state monitoring module is used for detecting the hand position, the grip strength and the sight line direction of a driver and calculating the distraction degree of the driver; the central processing module is used for fusing environment and driver data and generating intensity and mode instructions of each tactile feedback point through a weight distribution algorithm; and the force feedback execution module comprises tactile generators distributed at a plurality of positions of the cockpit, and outputs vibration, pressure or temperature feedback according to instructions. The method has the advantages that the intuitionism and timeliness of danger perception and positioning are improved, the individuation and adaptive optimization of human-computer interaction are realized, and the dimension and robustness of information transmission are enhanced.

Description

Technical Field

[0001] This invention relates to the field of driving force feedback distribution control system and method based on six senses of touch. Background Technology

[0002] With the widespread adoption of Advanced Driver Assistance Systems (ADAS), traditional warning methods primarily based on vision and hearing are facing significant bottlenecks: information overload can easily lead to driver fatigue; single-channel warnings lack specificity in complex scenarios and cannot be personalized based on the driver's real-time status. Existing haptic feedback systems are mostly limited to vibration alerts at a single point on the steering wheel, failing to fully utilize the spatial distribution characteristics of tactile perception across multiple parts of the human body, resulting in rigid feedback patterns and a stiff interactive experience.

[0003] Meanwhile, human-computer interaction technology based on multimodal haptics (six senses) provides a new solution to the above problems.

[0004] Therefore, there is an urgent need for a collaborative control system that can deeply integrate high-precision environmental perception and real-time driver status monitoring, and thereby realize the intelligent dynamic distribution of tactile feedback in space, intensity and pattern, so as to fundamentally improve early warning efficiency, reduce cognitive load and enhance the naturalness and safety of human-machine co-driving.

[0005] Therefore, this invention proposes a driving force feedback distribution control system and method based on six senses of touch. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing a driving force feedback distribution control system and method based on six senses of touch.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: The driving force feedback distribution control system based on six senses of touch includes: The environmental perception module is used to collect information on obstacles and roads around the vehicle and output the environmental threat coefficient. The driver status monitoring module is used to detect the driver's hand position, grip strength, and line of sight, and to calculate the driver's distraction level. The central processing module is used to integrate environmental and driver data and generate intensity and pattern instructions for each tactile feedback point through a weighting algorithm. The force feedback actuator module contains tactile generators distributed in multiple locations in the cockpit, which output vibration, pressure, or temperature feedback upon command.

[0008] Preferably, the environmental perception module includes a millimeter-wave radar, a camera, and an inertial measurement unit.

[0009] Preferably, the driver status monitoring module includes an infrared camera and a capacitive grip force sensor.

[0010] Preferably, the force feedback execution module includes an eccentric rotor motor embedded in the steering wheel, an array of electro-actuated plates inside the seat, and a linear resonator for the foot pedal.

[0011] The driving force feedback distribution control method based on six senses of touch includes the following steps: S1: Collect environmental data and driver status data; S2: Calculate the environmental threat factor and driver distraction; S3: Calculate the distribution weight of each feedback point based on hand position and distraction degree; S4: Generates force feedback intensity and mode commands; drives the haptic actuator to output distributed feedback.

[0012] Preferably, in step S2, the formula for calculating the environmental threat factor is: ,in Environmental threat coefficient, The relative speed between the vehicle and the obstacle in front. This represents the distance between the vehicle and the obstacle in front. Let be the radius of curvature of the road on which the vehicle travels. This represents the absolute value of the maximum braking or lateral acceleration that the vehicle can provide under its current conditions. These are adjustable weighting coefficients.

[0013] Preferably, in step S2, the formula for calculating distractibility is: ,in: This refers to the degree of hand position deviation. , For real-time hand coordinates, The preset standard driving position hand coordinates are used, and W and H are normalization factors, which are the width and height constants of the steering wheel area, respectively, to make the pixel distance dimensionless. For grip strength fluctuation, ,in For the current instantaneous grip force, This serves as the baseline for average grip strength during the current driving phase. This refers to the line-of-sight offset. , This is the horizontal offset angle between the line of sight and the vehicle's direction of travel. To achieve an effective threshold for the offset; These are the weighting coefficients. .

[0014] Preferably: In step S3, the formula for calculating the weight of the feedback point distribution is as follows: ,in: This represents the distribution weight of the i-th feedback point, which determines the proportion of feedback intensity that the feedback point should receive; This represents the Euclidean norm, which is used to calculate the hand position P. h Location L of the feedback point i The straight-line distance between them; Indicates the distance adjustment parameter; k represents the distraction enhancement factor.

[0015] Preferably, step S4 includes the following steps: S41: For each feedback point i, the global environmental threat E t According to local weight w i The allocation is performed to determine the amplitude or energy level of the force / vibration that each actuator unit should output. The allocation formula is: F i = wi * E t ; S42: Establish a "threat type-feedback pattern" mapping rule base. The central processing module uses the semantic information from the environmental perception module and E... t The numerical range, and select the preset feedback mode M for each feedback point. i ; S43: Calculate the F i With the selected pattern M i Combined, a specific set of timing-specific control parameters is generated; S44: The tactile actuator executes according to the control parameters.

[0016] An electronic device includes a memory, a processor, and a computer program stored in the memory, characterized in that the processor executes the program to implement the steps of a driving force feedback distribution control method based on six senses of touch.

[0017] The beneficial effects of this invention are as follows: Enhancing the intuitiveness and timeliness of hazard perception and location: By combining environmental threat coefficients with distributed weights based on hand position, the system can generate intensity-proportioned feedback at the driver's nearest point, allowing the driver to intuitively judge the direction and urgency of the threat without visual confirmation, significantly shortening the closed-loop time of perception-decision-response.

[0018] Achieving personalized and adaptive optimization of human-computer interaction: By integrating a driver distraction assessment model, the system can dynamically adjust the overall feedback intensity and strategy, providing appropriate prompts when the driver is focused and enhancing feedback to effectively recall attention when distracted, avoiding "interference" or "omission" caused by fixed-intensity feedback, and significantly improving the system's acceptability and comfort.

[0019] Enhanced information transmission dimensions and robustness: Employing multimodal feedback such as vibration, pressure, and temperature, and supporting various waveform modes such as continuous and pulse, the system can differentiate and encode different types and levels of threats. Tactile "language" is particularly important in noisy visual environments or when the auditory channel is occupied, providing redundant and efficient information channels and enhancing the system's robustness in various complex scenarios. Attached Figure Description

[0020] Figure 1 This is a diagram of the architecture of the driving force feedback distribution control system based on six senses of touch proposed in this invention. Figure 2 This is a flowchart of the driving force feedback distribution control method based on six senses of touch proposed in this invention. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Example 1: A driving force feedback distribution control system based on six senses of touch, comprising: The environmental perception module is used to collect information on obstacles and roads around the vehicle and output the environmental threat coefficient. The driver status monitoring module is used to detect the driver's hand position, grip strength, and line of sight, and to calculate the driver's distraction level. The central processing module is used to integrate environmental and driver data and generate intensity and pattern instructions for each tactile feedback point through a weighting algorithm. The force feedback actuator module contains tactile generators distributed in multiple locations in the cockpit, which output vibration, pressure, or temperature feedback upon command.

[0024] The environmental perception module includes millimeter-wave radar, a camera, and an inertial measurement unit.

[0025] The driver status monitoring module includes an infrared camera and a capacitive grip force sensor.

[0026] The force feedback execution module includes an eccentric rotor motor embedded in the steering wheel, an array of electro-actuated plates inside the seat, and a linear resonator for the foot pedal.

[0027] Example 2: A driving force feedback distribution control method based on six senses of touch, comprising the following steps: S1: Collect environmental data and driver status data; S2: Calculate the environmental threat factor and driver distraction; S3: Calculate the distribution weight of each feedback point based on hand position and distraction degree; S4: Generates force feedback intensity and mode commands; drives the haptic actuator to output distributed feedback.

[0028] In step S2, the formula for calculating the environmental threat factor is: ,in Environmental threat coefficient, The relative speed between the vehicle and the obstacle in front. This represents the distance between the vehicle and the obstacle in front. Let be the radius of curvature of the road on which the vehicle travels. This represents the absolute value of the maximum braking or lateral acceleration that the vehicle can provide under its current conditions. These are adjustable weighting coefficients.

[0029] In step S2, the formula for calculating distractibility is: ,in: This refers to the degree of hand position deviation. , For real-time hand coordinates, The preset standard driving position hand coordinates are used, and W and H are normalization factors, which are the width and height constants of the steering wheel area, respectively, to make the pixel distance dimensionless. For grip strength fluctuation, ,in For the current instantaneous grip force, This serves as the baseline for average grip strength during the current driving phase. This refers to the line-of-sight offset. , This is the horizontal offset angle between the line of sight and the vehicle's direction of travel. To achieve an effective threshold for the offset; These are the weighting coefficients. .

[0030] In step S3, the formula for calculating the weight of the feedback point distribution is as follows: ,in: This represents the distribution weight of the i-th feedback point, which determines the proportion of feedback intensity that the feedback point should receive; This represents the Euclidean norm, which is used to calculate the hand position P. h Location L of the feedback point i The straight-line distance between them; Indicates the distance adjustment parameter; k represents the distraction enhancement factor.

[0031] Step S4 includes the following steps: S41: For each feedback point i, the global environmental threat E t According to local weight w i The allocation is performed to determine the amplitude or energy level of the force / vibration that each actuator unit should output. The allocation formula is: F i = wi * E t ; S42: Establish a "threat type - feedback pattern" mapping rule base. The central processing module uses semantic information from the environmental perception module (such as obstacle type: vehicle, pedestrian, lane line; threat type: collision, deviation, speeding) and E... t The numerical range, and select the preset feedback mode M for each feedback point. i ; S43: Calculate the F i With the selected pattern M i Combined, a specific set of timing-specific control parameters is generated; S44: The tactile actuator executes according to the control parameters.

[0032] Example 3: An electronic device, including a memory, a processor, and a computer program stored in the memory, characterized in that the processor executes the program to implement the steps of a driving force feedback distribution control method based on six senses of touch.

[0033] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A driving force feedback distribution control system based on six senses of touch, characterized in that, include: The environmental perception module is used to collect information on obstacles and roads around the vehicle and output the environmental threat coefficient. The driver status monitoring module is used to detect the driver's hand position, grip strength, and line of sight, and to calculate the driver's distraction level. The central processing module is used to integrate environmental and driver data and generate intensity and pattern instructions for each tactile feedback point through a weighting algorithm. The force feedback actuator module contains tactile generators distributed in multiple locations in the cockpit, which output vibration, pressure, or temperature feedback upon command.

2. The driving force feedback distribution control system based on six senses of touch as described in claim 1, characterized in that, The environmental perception module includes millimeter-wave radar, a camera, and an inertial measurement unit.

3. The driving force feedback distribution control system based on six senses of touch as described in claim 1, characterized in that, The driver status monitoring module includes an infrared camera and a capacitive grip force sensor.

4. The driving force feedback distribution control system based on six senses of touch as described in claim 1, characterized in that, The force feedback execution module includes an eccentric rotor motor embedded in the steering wheel, an array of electro-actuated plates inside the seat, and a linear resonator for the foot pedal.

5. A driving force feedback distribution control method based on six senses of touch, which is the control method of the driving force feedback distribution control system based on six senses of touch as described in claim 1, characterized in that, Includes the following steps: S1: Collect environmental data and driver status data; S2: Calculate the environmental threat factor and driver distraction; S3: Calculate the distribution weight of each feedback point based on hand position and distraction degree; S4: Generates force feedback intensity and mode commands; drives the haptic actuator to output distributed feedback.

6. The driving force feedback distribution control method based on six senses of touch according to claim 5, characterized in that, In step S2, the formula for calculating the environmental threat factor is: ,in Environmental threat coefficient, The relative speed between the vehicle and the obstacle in front. This represents the distance between the vehicle and the obstacle in front. Let be the radius of curvature of the road on which the vehicle travels. This represents the absolute value of the maximum braking or lateral acceleration that the vehicle can provide under its current conditions. These are adjustable weighting coefficients.

7. The driving force feedback distribution control method based on six senses of touch according to claim 5, characterized in that, In step S2, the formula for calculating distractibility is: ,in: This refers to the degree of hand position deviation. , For real-time hand coordinates, The preset standard driving position hand coordinates are used, and W and H are normalization factors, which are the width and height constants of the steering wheel area, respectively, to make the pixel distance dimensionless. For grip strength fluctuation, ,in For the current instantaneous grip force, This serves as the baseline for average grip strength during the current driving phase. This refers to the line-of-sight offset. , This is the horizontal offset angle between the line of sight and the vehicle's direction of travel. To achieve an effective threshold for the offset; These are the weighting coefficients. .

8. The driving force feedback distribution control method based on six senses of touch according to claim 5, characterized in that, In step S3, the formula for calculating the weight of the feedback point distribution is as follows: ,in: This represents the distribution weight of the i-th feedback point, which determines the proportion of feedback intensity that the feedback point should receive; This represents the Euclidean norm, which is used to calculate the hand position P. h Location L of the feedback point i The straight-line distance between them; Indicates the distance adjustment parameter; k represents the distraction enhancement factor.

9. The driving force feedback distribution control method based on six senses of touch according to claim 5, characterized in that, Step S4 includes the following steps: S41: For each feedback point i, the global environmental threat E t According to local weight w i The allocation is performed to determine the amplitude or energy level of the force / vibration that each actuator unit should output. The allocation formula is: F i = wi * E t ; S42: Establish a "threat type-feedback pattern" mapping rule base. The central processing module uses semantic information from the environmental awareness module and E... t The numerical range, and select the preset feedback mode M for each feedback point. i ; S43: Calculate the F i With the selected pattern M i Combined, a specific set of timing-specific control parameters is generated; S44: The tactile actuator executes according to the control parameters.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, When the processor executes the program, it implements any of the steps of the driving force feedback distribution control method based on six senses of touch as described in 5-9.

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