Accelerator control device haptic feedback control

Abstract

A system for generating haptic feedback to an operator of a motor vehicle includes a powertrain for generating a vehicle propulsive force. The system also includes an acceleration control device having a range of travel positions for regulating powertrain torque and vehicle acceleration. The system additionally includes a vibration transducer configured to mechanically vibrate the acceleration control device. The system also includes a vehicle sensor for detecting a request by the operator for generating powertrain torque and acceleration of the motor vehicle and an electronic controller in communication with the vehicle sensor. The controller receives the request by the operator and selectively applies a vibration to the acceleration control device via the vibration transducer that is related to the request by the operator. The controller additionally modulates a characteristic(s) of the vibration that is applied according to a vibration command parameter and is associated with a change in position of the acceleration control device and / or a time derivative of the change in position.

Description

[0001] introduce

[0002] This disclosure relates to systems and methods for controlling haptic feedback via vehicle acceleration control devices.

[0003] Modern passenger, recreational, and work vehicles (such as buses, trucks, tractors, etc.) typically include a powertrain with one or more power units (such as an internal combustion engine and one or more electric or traction motors). Electric vehicles (also known as EVs) use one or more traction motors for propulsion. Hybrid electric vehicles (HEVs) typically combine an internal combustion engine with some form of electric propulsion.

[0004] In vehicles propelled by internal combustion engines, the noise and subtle vibrations of the powertrain are often enhanced by the operator's perception and serve as indirect communication between the vehicle and its operator. In contrast, electric motors produce virtually no noise or vibration. As a result, EV operators may lack a reference point for the amount of power requested via the vehicle's acceleration control devices (such as the accelerator pedal) and generated by the vehicle's powertrain. Summary of the Invention

[0005] A system for generating tactile feedback to an operator of a motor vehicle includes a powertrain configured to generate torque for propelling the motor vehicle. The system also includes an acceleration control device having a travel position range, the acceleration control device being configured to regulate the generation of powertrain torque and acceleration of the motor vehicle. The system additionally includes a vibration transducer mechanically connected to the acceleration control device and configured to vibrate the acceleration control device. The system also includes a vehicle sensor configured to detect a request from the operator for generating the powertrain torque and acceleration of the motor vehicle, and an electronic controller in communication with the vehicle sensor. The electronic controller is configured to receive the detected operator request and selectively apply vibrations associated with the received operator request to the acceleration control device via the vibration transducer. The electronic controller is additionally configured to modulate one or more characteristics of the vibrations applied to the acceleration control device according to vibration command parameters and associated with a change in position of the acceleration control device and / or the time derivative of the change in position.

[0006] Acceleration control devices can be foot-operated accelerator pedals.

[0007] Vibration command parameters may include setting the vibration intensity to zero until the threshold position of the acceleration control device is crossed.

[0008] The vibration command parameters may include adjusting the vibration intensity according to the rate of position change of the acceleration control device.

[0009] The change in vibration intensity can be set to zero until the threshold rate of position change of the acceleration control device is exceeded.

[0010] The transitions between changes in vibration intensity can be smoothed to mitigate the abrupt changes in vibration intensity.

[0011] The vibration command parameters may include adjusting the vibration intensity according to at least one of the following expressions: I1 = I0 + f1(d), wherein the vibration intensity is a function of the stroke position of the acceleration control device; The vibration intensity is the product of the stroke position and the first or higher-order time derivative of the position change of the acceleration control device; and The vibration intensity is the sum of the function of the travel position and the first or higher-order time derivative of the position change of the acceleration control device.

[0012] The modulated characteristics of the vibration(s) may include vibration intensity. An electronic controller may be configured to modulate the vibration transducer via pulse width modulation (PWM) of an actuation signal, and thus vary the vibration intensity while maintaining the vibration frequency constant.

[0013] The electronic controller can be configured to receive additional input from the vehicle operator and adjust the vibration command parameters in response to the received input.

[0014] The electronic controller can be configured to receive a request for temporary or permanent opt-out based on the haptic feedback and activate the temporary or permanent opt-out.

[0015] A method for generating tactile feedback for an operator of a motor vehicle, the motor vehicle having a power system configured to generate torque for propelling the motor vehicle, is also disclosed.

[0016] This disclosure provides the following examples:

[0017] Example 1. A system for generating haptic feedback to an operator of a motor vehicle, the system comprising:

[0018] The powertrain is configured to generate torque for propelling the motor vehicle;

[0019] An acceleration control device having a travel position range, the acceleration control device being configured to regulate the generation of powertrain torque, and thereby generate the acceleration of the motor vehicle;

[0020] A vibration transducer is mechanically connected to the acceleration control device and configured to vibrate the acceleration control device;

[0021] Vehicle sensors are configured to detect requests from the operator regarding the torque and acceleration of the powertrain used to generate the motor vehicle; and

[0022] An electronic controller, which communicates with the vehicle sensors, is configured to:

[0023] Receive detected operator requests; and

[0024] Vibrations related to received operator requests are selectively applied to the acceleration control device via the vibration transducer;

[0025] The selective application of the vibration includes modulating one or more characteristics of the vibration, which is applied to the acceleration control device according to vibration command parameters and is associated with a change in the position of the acceleration control device and / or the time derivative of the change in position.

[0026] Example 2. A system for generating haptic feedback according to Example 1, wherein the acceleration control device is a foot-operated accelerator pedal.

[0027] Example 3. A system for generating haptic feedback according to Example 1, wherein the vibration command parameters include setting the intensity of the vibration to zero until a threshold position of the acceleration control device is crossed.

[0028] Example 4. A system for generating tactile feedback according to Example 1, wherein the vibration command parameters include: adjusting the intensity of the vibration according to the first and / or higher time derivatives of the position of the acceleration control device.

[0029] Example 5. A system for generating tactile feedback according to Example 4, wherein the change in the intensity of the vibration is set to zero until it exceeds a threshold rate of position change of the acceleration control device.

[0030] Example 6. A system for generating tactile feedback according to Example 4, wherein the transition between changes in the intensity of the vibration is smoothed to mitigate abrupt changes in the intensity of the vibration.

[0031] Example 7. A system for generating haptic feedback according to Example 4, wherein the vibration command parameters include adjusting the intensity of the vibration according to at least one of the following expressions:

[0032] I1 = I0 + f1(d), wherein the intensity of the vibration is a function of the stroke position of the acceleration control device;

[0033] The intensity of the vibration is the product of a function of the stroke position and a function of the first or higher-order time derivative of the position change of the acceleration control device; and

[0034] The intensity of the vibration is the sum of a function of the stroke position and a function of the first or higher-order time derivative of the position change of the acceleration control device.

[0035] Example 8. A system for generating tactile feedback according to Example 1, wherein one or more characteristics of the vibration include vibration intensity, and wherein the electronic controller is configured to adjust the vibration transducer via pulse width modulation (PWM) of an actuation signal, thereby causing the vibration intensity to vary while maintaining the frequency of the vibration constant.

[0036] Example 9. A system for generating tactile feedback according to Example 1, wherein the electronic controller is configured to receive additional input from the vehicle operator and adjust the vibration command parameters in response to the received input.

[0037] Example 10. A system for generating haptic feedback according to Example 1, wherein the electronic controller is configured to receive a request for exiting the haptic feedback generation and activate the exit from the haptic feedback generation.

[0038] Example 11. A method for generating haptic feedback to an operator of a motor vehicle, the motor vehicle having a power system configured to generate torque for propelling the motor vehicle, the method comprising:

[0039] The electronic controller receives requests from vehicle sensors from the vehicle operator for generating the powertrain torque and acceleration of the vehicle; and

[0040] Vibrations related to received operator requests are selectively applied to the acceleration control device via the electronic controller using a vibration transducer mechanically connected to the acceleration control device having a travel position range;

[0041] Selectively applying the vibration includes modulating one or more characteristics of the vibration via the electronic controller, the vibration being applied to the acceleration control device according to vibration command parameters and associated with a change in the position of the acceleration control device and / or the time derivative of the change in position.

[0042] Example 12. The method for generating haptic feedback according to Example 11, wherein the acceleration control device is a foot-operated accelerator pedal.

[0043] Example 13. The method for generating haptic feedback according to Example 11, wherein the vibration command parameters include: setting the intensity of the vibration to zero until a threshold position of the acceleration control device is crossed.

[0044] Example 14. The method for generating haptic feedback according to Example 11, wherein the vibration command parameters include: adjusting the intensity of the vibration according to the first and / or higher time derivatives of the position of the acceleration control device.

[0045] Example 15. A method for generating haptic feedback according to Example 14, wherein the change in the intensity of the vibration is set to zero until it exceeds a threshold rate of position change of the acceleration control device.

[0046] Example 16. The method for generating haptic feedback according to Example 14, wherein the transition between changes in the intensity of the vibration is smoothed to mitigate abrupt changes in the intensity of the vibration.

[0047] Example 17. A method for generating haptic feedback according to Example 14, wherein the vibration command parameters include adjusting the intensity of the vibration according to at least one of the following expressions:

[0048] I1 = I0 + f1(d), wherein the intensity of the vibration is a function of the stroke position of the acceleration control device;

[0049] The intensity of the vibration is the product of a function of the stroke position and a function of the first or higher-order time derivative of the position change of the acceleration control device; and

[0050] The intensity of the vibration is the sum of a function of the stroke position and a function of the first or higher-order time derivative of the position change of the acceleration control device.

[0051] Example 18. A method for generating haptic feedback according to Example 11, wherein modulating one or more characteristics of the vibration includes varying the intensity of the vibration, and wherein varying the intensity of the vibration is achieved by pulse width modulation (PWM) of an actuation signal directed to the vibration transducer while maintaining a constant frequency of the vibration.

[0052] Example 19. The method for generating haptic feedback according to Example 11 further includes:

[0053] The electronic controller receives additional input from the vehicle operator and adjusts the vibration command parameters in response to the received input; and

[0054] The electronic controller receives a request to exit from the haptic feedback and activates the exit from the haptic feedback.

[0055] Example 20. A system for generating haptic feedback for an operator of a motor vehicle, the system comprising:

[0056] The powertrain is configured to generate torque for propelling the motor vehicle;

[0057] A foot-operated accelerator pedal with a travel range, the accelerator pedal being configured to regulate the generation of torque and acceleration in the powertrain of the motor vehicle;

[0058] A vibration transducer is mechanically connected to the accelerator pedal and configured to vibrate the accelerator pedal;

[0059] Vehicle sensors are configured to detect requests from the operator regarding the torque and acceleration of the powertrain used to generate the motor vehicle; and

[0060] The electronic controller communicates with the vehicle sensors and is configured to:

[0061] Receive detected operator requests; and

[0062] Vibrations related to received operator requests are selectively applied to the accelerator pedal via the vibration transducer;

[0063] The selective application of the vibration includes varying the intensity of the vibration of the accelerator pedal according to vibration command parameters and in association with a change in the position of the accelerator pedal and / or the time derivative of the change in position; and

[0064] The electronic controller is configured to adjust the vibration transducer via pulse width modulation (PWM) of the actuation signal, thereby varying the vibration intensity while maintaining a constant vibration frequency.

[0065] The foregoing features and advantages, as well as other features and advantages, of this disclosure will become apparent when considered in conjunction with the accompanying drawings and the appended claims, based on the following detailed description of the embodiments and preferred modes for carrying out the described disclosure. Attached Figure Description

[0066] Figure 1 This is a schematic diagram of a representative motor vehicle positioned relative to the road surface according to this disclosure.

[0067] Figure 2 yes Figure 1The schematic close-up view of the passenger compartment of a motor vehicle shown in the figure illustrates a system for generating tactile feedback to the vehicle driver according to the present disclosure.

[0068] Figure 3 This is a first representative graph of various embodiments of the vibration intensity components according to the present disclosure, which are depicted as a function of time of the actuation stroke of an acceleration control device adjusted using a mathematical expression.

[0069] Figure 3A It corresponds to the source Figure 3 The graph shown is a representative graph of the vibration intensity components of an embodiment, illustrating the vibration intensity adjusted in various regions of the actuation stroke range of the acceleration control device according to the present disclosure.

[0070] Figure 4 This is a second representative graph of various embodiments of the vibration intensity component according to the present disclosure, which is depicted as a function of time the derivative of the actuation stroke of the acceleration control device adjusted using a mathematical expression.

[0071] Figure 5 This is a third representative graph of various embodiments of the vibration intensity component according to the present disclosure, which is depicted as a function of time the derivative of the actuation stroke of the acceleration control device adjusted using a mathematical expression.

[0072] Figure 5A It corresponds to the source Figure 5 The graph shown is a representative graph of vibration intensity versus time for an embodiment of vibration intensity components, illustrating the vibration intensity adjusted in various regions of the actuation stroke range of the acceleration control device according to the present disclosure.

[0073] Figure 6 It is in accordance with this disclosure Figure 1-5A The flowchart shown illustrates a method for generating haptic feedback for a motor vehicle operator. Detailed Implementation

[0074] The embodiments of this disclosure described herein are intended to be illustrative. Other embodiments may take various and alternative forms. Furthermore, the drawings are generally schematic and not necessarily drawn to scale. Some features may be enlarged or reduced to show detail of particular components. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but only as a representative basis for teaching those skilled in the art to employ this disclosure in different ways.

[0075] Certain terms may be used in the following description for reference only and are therefore not intended to be limiting. For example, terms such as “above” and “below” refer to orientation in the referenced figures. Terms such as “front,” “rear,” “front,” “rear,” “left,” “right,” “tail,” “side,” “upward,” “downward,” “top,” and “bottom” describe the orientation and / or position of portions of a part or element within a consistent but arbitrary frame of reference, as will be apparent from the text describing the part or element in question and the associated figures.

[0076] Furthermore, terms such as "first," "second," and "third" may be used to describe individual components. Such terms may include the words specifically mentioned above, derivatives of those words, and words with similar meanings, and these terms are used to describe the accompanying drawings and do not imply a limitation on the scope of this disclosure as defined by the appended claims. Additionally, the teachings may be described herein according to functional and / or logical block components and / or various processing steps. It should be understood that such block components may include multiple hardware, software, and / or firmware components configured to perform a specified function.

[0077] Referring to the accompanying drawings, where similar reference numerals refer to similar parts throughout several views, Figure 1 Vehicle 10 is schematically depicted. Vehicle 10 is generally characterized by a body 12 surrounded by an external environment 14 and located on a road surface 14A. Body 12 includes a left side portion 12-1, a right side portion 12-2, a front end portion 12-3, and a rear end portion 12-4. Body 12 defines a vehicle interior or passenger compartment 16 configured to accommodate a vehicle operator and(s) or more passengers, for example, in seats 18. Passenger compartment 16 may additionally accommodate various vehicle controls and assistance systems, which will be described in detail below.

[0078] Vehicle 10 also includes a powertrain 20 configured to generate propulsion for the vehicle. The powertrain 20 may include: an internal combustion (IC) engine 20-1, one or more electric or traction motors 20-2, and / or a fuel cell (not shown) configured to generate output torque T; and a transmission assembly 20-3 (e.g., a single-speed or multi-speed automatic transmission) for transmitting the powertrain torque T to at least some of the wheels 22. Thus, vehicle 10 may be configured as a plug-in electric vehicle (PEV), a hybrid electric vehicle (HEV), or powered by another prime mover (such as an IC engine). Vehicle 10 also includes energy storage devices 21, such as electrochemical cells or multi-cell rechargeable energy storage systems (RESS) configured to supply power to various systems, including the IC engine 20-1, one or more electric motors 20-2, and / or the fuel cell. Vehicle 10 typically also includes friction brakes (not shown), which are arranged at the wheels 22 and engaged by vehicle brake actuators 24 (such as brake pedals arranged within the vehicle compartment 16). In addition, vehicle 10 typically includes a parking brake 26, which may be configured as a lever, pedal, or switch (e.g., Figure 2 (As shown in the figure) is used to slow down the movement of the vehicle and ensure that the vehicle remains stationary.

[0079] like Figure 2 As shown, vehicle 10 additionally includes a vehicle operating mode selector 28 (such as a gear shift lever), which is configured to switch the powertrain 20 between a vehicle propulsion mode (e.g., driving, various forward gear ranges, or reverse) and a vehicle parking mode, wherein the vehicle parking mode is configured to block the vehicle propulsion mode and keep the vehicle stationary. The vehicle operating mode selector 28 is disposed within the vehicle compartment 16, within easy reach of the vehicle operator, such as near the steering wheel 30 (e.g.,...). Figure 2 (As shown) or on the console 32 between the front seats 18. The vehicle 10 also includes acceleration control devices 34, such as a foot-operated accelerator pedal located near the brake actuator 24. Figure 2 (as shown) or a hand-operated lever (not shown) arranged near the steering wheel 30. The acceleration control device 34 has an actuation stroke position range 34A, which is configured to regulate the generation of powertrain torque T and thus regulate the acceleration of the motor vehicle 10.

[0080] Vehicle 10 additionally includes vehicle key 35, such as physical key, smart key (e.g. Figure 2As shown in the diagram) or remote key (FOB) transmitter. The vehicle key 35 is configured to allow the vehicle operator to activate the powertrain 20 and auxiliary vehicle systems, such as the infotainment system 36 and heating, ventilation, and air conditioning (HVAC) systems with corresponding input interfaces. The vehicle 10 also includes an electronic controller 38 (such as... Figure 1 and Figure 2 (As shown in the diagram). The electronic controller 38 may be a central processing unit (CPU) or a body control module (BCM), configured to receive data signals from various vehicle sensors and manage the operation of the vehicle systems. Specifically, the electronic controller 38 communicates operationally with the powertrain 20, vehicle brake actuator 24, parking brake 26, vehicle mode selector 28, acceleration control device 34, and vehicle key 35. The electronic controller 38 may communicate operationally with such vehicle systems and sensors via a data network (e.g., a controller area network (CAN bus)) arranged in the vehicle 10.

[0081] Figure 2 The system 42 for generating tactile feedback to the operator of the motor vehicle 10, shown in the diagram and described in detail below, includes at least a powertrain 20, an energy storage device 21, an acceleration control device 34, and an electronic controller 38. The system 42 also includes a vibration transducer 44 mechanically connected to the acceleration control device 34. The vibration transducer 44 is configured to vibrate the acceleration control device 34 to enhance sensory communication between the motor vehicle and its driver. The system 42 specifically generates tactile feedback to the operator from the acceleration control device 34 when the powertrain 20 generates vehicle propulsion force based on the applied powertrain torque T and / or the time derivative of T. Thus, the tactile feedback generates a reference to the amount of power requested and applied by the vehicle's powertrain via the acceleration control device 34. The system 42 can also be activated by the vehicle key 35 by activating the powertrain 20 to enhance sensory communication between the vehicle and its operator.

[0082] The electronic controller 38 includes tangible and non-transitory memory 38A. Memory 38A may be a recordable medium that participates in providing computer-readable data or processing instructions. Such media can take various forms, including but not limited to non-volatile and volatile media. Non-volatile media used by the electronic controller 38 may include, for example, optical discs or magnetic disks, and other permanent storage. The volatile media of each of the controller's memories 38A may include, for example, dynamic random access memory (DRAM), which may constitute main memory. Such instructions may be transmitted by one or more transmission media, including coaxial cables, copper wires, and optical fibers, including wires containing system buses coupled to the vehicle system.

[0083] The memory 38A of the electronic controller 38 may also include floppy disks, hard disks, magnetic tapes, other magnetic media, CD-ROMs, DVDs, other optical media, etc. The electronic controller 38 may be equipped with a high-speed master clock, necessary analog-to-digital (A / D) and / or digital-to-analog (D / A) circuitry, input / output circuitry and devices (I / O), and appropriate signal conditioning and / or buffering circuitry. Algorithms required by or accessible to the electronic controller 38 (typically indicated via digit 46) may be stored in the memory 38A and executed automatically to provide the required functions for operating the vehicle 10 in the context of system 42. The electronic controller 38 is also configured to use appropriate algorithm(s) 46 to generate tactile feedback or actuation signals 48 and provide these signals to the vibration transducer 44 to regulate the vibration of the acceleration control device 34, as will be described in detail below.

[0084] Continue to refer to Figure 2 System 42 also includes a vehicle sensor 50 communicating with the electronic controller 38. The vehicle sensor 50 is configured to detect a request 52 from an operator, such as via a force F applied to the acceleration control device 34 and / or via a displacement d of the acceleration control device 34 and / or the time derivative of F and / or d, for generating powertrain torque T and acceleration of the motor vehicle 10. The electronic controller 38 is configured to receive the detected operator request 52. The electronic controller 38 is also configured to selectively apply vibrations associated with the received operator request 52 to the acceleration control device 34 via a vibration transducer 44. The electronic controller 38 is further configured to modulate one or more characteristics of the vibrations applied to the acceleration control device 34 according to vibration command parameters 54 and associated with a change in the position of the acceleration control device or the time derivative of such a change in position. Specifically, one of the modulated characteristics may be the vibration intensity of the acceleration control device 34, which varies proportionally to the change in the position of the acceleration control device according to the vibration command parameters 54. In other words, the vibration control parameter 54 includes the relationship between the actuation stroke of the acceleration control device (e.g., pedal position or degree of pressure) and the vibration intensity of the vibration transducer 44, and is used by the electronic controller 38 to generate tactile feedback for the vehicle operator. More broadly, the intensity and / or other characteristics of the vibration signal (such as frequency and pattern) can be not only a function of the position of the acceleration control device 34, but also a function of the first and / or higher-order time derivatives of the acceleration control device position and user preferences.

[0085] The electronic controller 38 can also receive various vehicle operating parameters (such as gravity acting on the vehicle body 12, traction control operations, etc.) from other vehicle sensors to establish or adjust vibration command parameters. In mathematical terms, the intensity of vibration can be adjusted according to the expression (58) I1=I0+f1(d) (e.g. Figure 3AAs shown in the diagram, the intensity of the vibration is a function of the stroke position of the acceleration control device. Figure 3 The four different representations of the term f1(d) are graphically depicted using different line types. Specifically, in expression 58, the term I0 represents the baseline intensity of the vibration generated at the acceleration control device 34, while the term f1(d) represents a selected function of the actuation stroke of the device across its actuation range 34A. Figure 3A It describes when f1 has Figure 3 When shown in the form of a dotted line (or chain line) type, it is the first representative curve of the vibration intensity over time as defined by expression 58.

[0086] Figure 5A The vibration command parameter 54 shown can have the following vibration intensity: the vibration intensity is adjusted according to the actuation rate of the acceleration control device 34 and the position of the subject accelerator control device. For example... Figure 3A As shown, the vibration command parameter 54 may include the intensity of a vibration that is set to zero via one or more algorithms 46 until a threshold position 56 of the acceleration control device 34 is crossed. The threshold position 56 of the acceleration control device 34 may be set as a relatively short stroke from the device's initial rest position along its actuation stroke range 34A. The setting of the threshold position 56 may accordingly create an initial dead zone within the stroke range 34A of the acceleration control device, for example, to simulate a typical user experience in a vehicle using an internal combustion engine.

[0087] Alternatively, the intensity of the vibration can be determined according to expression (60). To adjust (such as) Figure 5A As shown in the figure, the second component of the vibration intensity is the product of a function of the stroke position and a function of the first or higher-order time derivative of the position change of the acceleration control device. Specifically, in expression 60, the term... A specific function representing the rate of change (time derivative) of the position of the acceleration control device 34. Figure 4 Four different representations of f2 using different line types are shown. In another alternative, the intensity of the vibration can be expressed according to expression (62). To adjust (such as) Figure 5A As shown in the figure, the intensity of the vibration is the sum of the following: the baseline value, a function of the stroke position, and a function of the first or higher-order time derivative of the position change of the acceleration control device. Specifically, in expression 62, the term... The substitution function represents the rate of position change of the acceleration control device 34. Figure 5 Four different representations of f3 using different line types are shown.

[0088] Figure 5A A second representative curve of vibration intensity is plotted, which is a function of time for the actuation of the acceleration control device 34 as defined by expression 62. Figure 5A The second representative curve and the adopted Figure 3 The form of f1 is shown using the dashed line (chain line) type and the use of Figure 5 The form f3 shown in the example uses the dotted-dash line type. Similar to... Figure 3A ,exist Figure 5A In the curve depicted, vibration command parameter 54 can include the intensity of vibration, which is adjusted according to the actuation rate of acceleration control device 34 and the position of the subject accelerator control device. In expression 62, the change in vibration intensity can be set to zero until the rate of position change of acceleration control device 34. The threshold value or rate 63 is exceeded. In other words, the vibration control parameter 54 may additionally include the relationship between the actuation rate of the acceleration control device 34 (the rate of position change and higher-order time derivatives) and the vibration intensity of the vibration transducer 44, for generating tactile feedback. Each of the mathematical expressions 58, 60, and 62 can be programmed into the electronic controller 38 to operate the system 42.

[0089] Referring to expressions 58, 60, and 62, the transition 64 between changes in the intensity of the vibration applied to the acceleration control device 34 is... Figure 5A The transition 64 shown can be smoothed via specific programming of algorithm(s) 46. This smoothing of the transition 64 can be used to mitigate sudden changes in the intensity of vibrations and possible similar effects on the actuation of the acceleration control device 34 and, consequently, the torque T of the power system. (See reference...) Figure 3 and Figure 4 The vibration command parameters can also include vibration intensities that are individually adjusted in each region of the actuation stroke range 34A of the acceleration control device. As an example of a stepwise, continuous variation of the vibration intensity according to expression 58, in Figure 3 I1 is shown using solid lines, where each step corresponds to a specific interval of the 34-stroke acceleration control device. Small offsets of 68 (e.g.) can be used. Figure 3 and Figure 4 As shown, the vibration input from the vibration transducer 44 is the nominal value during the initial portion of the actuation stroke range 34A, during which the small offset 68 is added.

[0090] The electronic controller 38 can be configured to modulate the vibration transducer 44 via pulse width modulation (PWM) of the haptic feedback signal 48, thereby varying the vibration intensity while maintaining a constant pulse frequency and vibration. Algorithm(s) 46 can be pre-programmed using expressions 58, 60 and numerical values ​​of vibration command parameters. Optionally, the electronic controller 34 can be configured to receive additional input from the vehicle operator, for example via the infotainment system 36, and use the received input to select vibration command parameters 54. For example, the electronic controller 34 can adjust vibration command parameters 54 (i.e., adjust vibration intensity, etc.) in response to the vehicle operator selecting a vehicle sport or comfort driving mode. The electronic controller 38 can be configured to receive a request from the vehicle operator for opt-out 70 from the haptic feedback generation and activate a temporary (e.g., one vehicle key-cycle) or until the request is withdrawn opt-out 70 from the haptic feedback generation.

[0091] Figure 6 The above describes... Figure 1-5A The method 100 described herein generates tactile feedback to an operator of a motor vehicle (such as vehicle 10) via system 42. Method 100 is configured to facilitate the generation of a tactile reference via acceleration control device 34 for the amount of power requested and applied by the vehicle powertrain 20. Method 100 is initiated in block 102, wherein the method includes: recognizing a selection to activate tactile feedback generation via electronic controller 34 as described above, or receiving an exit 70 from tactile feedback generation and activating the requested exit. After block 102, if tactile feedback is activated, the method may proceed to block 104, or if the operator selects exit 70, the method may continue directly to block 110.

[0092] In block 104, the method includes receiving a signal via electronic controller 38 indicating that the powertrain 20 is activated (e.g., via vehicle key 35 and / or vehicle operating mode selector 28). Following block 104, the method proceeds to block 106. In block 106, the method includes detecting a vehicle operator request 52 via electronic controller 38, such as via a force F applied to acceleration control device 34 and / or a displacement d of the acceleration control device 34, for generating powertrain torque T and acceleration of the motor vehicle 10. Following block 106, the method proceeds to block 108. In block 108, the method includes selectively applying vibrations associated with the received operator request 52 to acceleration control device 34 via electronic controller 34 using vibration transducer 44.

[0093] In block 108, the method further includes modulating one or more characteristics (such as intensity, frequency, and / or mode) of the vibration applied to the acceleration control device 34 via the electronic controller 38. Modulation of one or more characteristics of the applied vibration(s) is achieved according to vibration command parameters 54 (pre-programmed into the controller 38 and / or input by the vehicle operator) and in association with changes in the position of the acceleration control device 34 and the first and higher-order time derivatives of the position. (See also...) Figure 1-5A As described, the change in vibration intensity at the acceleration control device 34 can be achieved by PWM of the tactile feedback signal 48 directed to the vibration transducer 44 while maintaining a constant vibration frequency. When the vehicle powertrain 20 requests and applies power via the acceleration control device 34, blocks 106 and 108 can form a tactile feedback modulation loop.

[0094] Similarly, as mentioned above... Figure 1-5A As described, the vibration command parameter 54 may include the intensity of vibration set to zero until a threshold position of the acceleration control device 34 is exceeded. The vibration command parameter 54 may also include the intensity of vibration adjusted according to the rate of position change of the acceleration control device 34. The change in vibration intensity may be set to zero until a threshold rate 63 for position change of the acceleration control device 34 is exceeded. The transition 64 between changes in the intensity of vibration applied to the acceleration control device 34 may be smoothed to mitigate abrupt changes in vibration intensity. The vibration command parameter 54 may include values ​​according to expression (58) I1 = I0 + f1(d) and expression (60). and (62) At least one of the adjusted vibration intensities, as referenced Figure 3-5A As described.

[0095] Following box 108, the method can proceed to box 110 to allow powertrain 20 to be disengaged or the overall vehicle system to be deactivated. Once the vehicle operator has selected the vehicle parking mode via vehicle operation mode selector 28, parking brake 26 has been engaged, torque generation of powertrain 20 has been disengaged, and / or vehicle 10 has been terminated by the operator using vehicle key 35, method 100 can return to box 102 or terminate in box 112. In general, method 100 enhances sensory communication between the vehicle and its operator. Specifically, the method allows for the generation of tactile feedback to the operator of the motor vehicle, providing a reference for dynamic forces requested by the operator and applied by the vehicle's powertrain.

[0096] Detailed description and accompanying drawings are provided to support and describe this disclosure, but the scope of this disclosure is defined only by the claims. While some best modes and other embodiments for carrying out the claimed disclosure have been described in detail, various alternative designs and embodiments exist for practicing the disclosure as defined in the appended claims. Furthermore, the features of the embodiments shown in the drawings or the various embodiments mentioned in this specification are not necessarily to be construed as mutually independent embodiments. Rather, each feature described in one example of the various examples of embodiments may be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings. Therefore, such other embodiments fall within the framework of the appended claims.

Claims

1. A system for generating haptic feedback to an operator of a motor vehicle, the system comprising: The powertrain is configured to generate torque for propelling the motor vehicle; An acceleration control device having a travel position range, the acceleration control device being configured to regulate the generation of powertrain torque, and thereby generate the acceleration of the motor vehicle; A vibration transducer is mechanically connected to the acceleration control device and configured to vibrate the acceleration control device; Vehicle sensors are configured to detect requests from the operator for the torque and acceleration of the powertrain that generate the motor vehicle; as well as An electronic controller, which communicates with the vehicle sensors, is configured to: Receive detected operator requests; as well as Vibrations related to received operator requests are selectively applied to the acceleration control device via the vibration transducer; The selective application of the vibration includes modulating one or more characteristics of the vibration, which is applied to the acceleration control device according to vibration command parameters and is associated with a change in the position of the acceleration control device and / or the time derivative of the change in position.

2. The system for generating haptic feedback according to claim 1, wherein the acceleration control device is a foot-operated accelerator pedal.

3. The system for generating haptic feedback of claim 1, wherein the vibration command parameters comprise: The intensity of the vibration is set to zero until the threshold position of the acceleration control device is exceeded.

4. The system for generating tactile feedback according to claim 1, wherein the vibration command parameters include: The intensity of the vibration is adjusted according to the first and / or higher time derivatives of the position of the acceleration control device.

5. The system for generating tactile feedback according to claim 4, wherein the change in the intensity of the vibration is set to zero until it exceeds a threshold rate of position change of the acceleration control device.

6. The system for generating haptic feedback according to claim 4, wherein the transition between changes in the intensity of the vibration is smoothed to mitigate abrupt changes in the intensity of the vibration.

7. The system for generating haptic feedback according to claim 4, wherein the vibration command parameters include adjusting the intensity of the vibration according to at least one of the following expressions: I1 = I0 + f1(d), wherein the intensity of the vibration is a function of the stroke position of the acceleration control device; The intensity of the vibration is the product of a function of the stroke position and a function of the first or higher-order time derivative of the position change of the acceleration control device; and The intensity of the vibration is the sum of a function of the stroke position and a function of the first or higher-order time derivative of the position change of the acceleration control device.

8. The system for generating haptic feedback according to claim 1, wherein one or more characteristics of the vibration include vibration intensity, and wherein the electronic controller is configured to adjust the vibration transducer via pulse width modulation (PWM) of the actuation signal, thereby causing the vibration intensity to vary while maintaining the frequency of the vibration constant.

9. The system for generating haptic feedback according to claim 1, wherein the electronic controller is configured to receive additional input from the vehicle operator and adjust the vibration command parameters in response to the received input.

10. The system for generating haptic feedback according to claim 1, wherein the electronic controller is configured to receive a request to exit from the haptic feedback generation and activate the exit from the haptic feedback generation.

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