A remote controller for a remote control vehicle and a tactile control method thereof

Abstract

This application provides a remote controller for a remote-controlled car and its tactile control method. The method includes the following steps: The remote-controlled car is equipped with a first vibration acquisition unit located on the left side of the car body and a second vibration acquisition unit located on the right side of the car body. A first tactile output unit and a second tactile output unit are located on both sides of the remote controller's grip. First vibration signals and second vibration signals are acquired respectively during the remote-controlled car's passage through an obstacle, and corresponding first and second vibration features are extracted. Both the first and second vibration features include timing features, intensity features, and symmetry discrimination features. The timing features, intensity features, and symmetry discrimination features of the first and second vibration features are compared to identify the dominant disturbance event of the remote-controlled car. Based on the identified event, the tactile guidance side and tactile guidance mode of the remote controller are determined. This method improves the operator's ability to perceive the direction of instantaneous disturbance.

Description

Technical Field

[0001] This application relates to the field of remote controls, and more particularly to a remote control for a remote-controlled car and a tactile control method thereof. Background Technology

[0002] As a common remote-controlled device, remote-controlled cars are typically controlled remotely by the operator using a remote controller to adjust their steering and driving status. The operator primarily relies on visual observation to determine the car's current attitude, road conditions, and any disturbances. Especially in high-speed, short-wheelbase, and fast-response remote-controlled car applications, the vehicle is prone to momentary vibrations, attitude deviations, or unilateral disturbances when traversing obstacles such as gravel, bumps, road edges, and sloping steps. These changes often occur rapidly and are short-lived, making them difficult for the operator to accurately identify visually.

[0003] In the existing technology, although there are solutions that obtain vehicle status information through vibration sensors, collision sensors or acceleration detection devices and output vibration feedback or tactile prompts on the remote control, the relevant solutions can only achieve status feedback at the level of vibration or obstacle detection. The feedback content is usually relatively general and it is difficult to further distinguish the directional attributes of the disturbance to the vehicle.

[0004] However, when a remote-controlled car encounters an obstacle and only the left wheel is disturbed before the right wheel, or when the vibration on one side is significantly stronger than the other, existing solutions often fail to effectively identify which side is the dominant disturbed side, nor can they further distinguish whether the disturbance is unilateral or bilateral, resulting in a lack of directionality and specificity in the output tactile information. In these situations, although the operator can sense that the car has vibrated or passed an obstacle, it is still difficult to establish a clear correspondence between which side of the vehicle is disturbed and how to correct the control. Especially in high-speed remote control scenarios, if the operator cannot quickly determine the dominant disturbed side when the instantaneous disturbance occurs, directional judgment may lag, or even continue to input incorrect directional input towards the disturbed side, leading to further deterioration of the vehicle's attitude, decreased control stability, or even loss of control. Therefore, this paper proposes a remote controller for remote-controlled cars and its tactile control method that can improve the operator's ability to perceive the direction of instantaneous disturbances. Summary of the Invention

[0005] In view of this, it is necessary to provide a remote controller for remote-controlled vehicles and its tactile control method that can improve the operator's ability to perceive the direction of instantaneous disturbance, so as to solve the above problems.

[0006] Embodiments of this application provide a tactile control method for a remote control of a remote-controlled car, the method comprising the following steps: The remote control car is equipped with a first vibration acquisition unit located on the left side of the vehicle body and a second vibration acquisition unit located on the right side of the vehicle body. The remote control grip is equipped with a first tactile output unit and a second tactile output unit on both sides. The first vibration signal and the second vibration signal of the remote control car during the process of passing through the obstacle are collected respectively, and the corresponding first vibration feature and second vibration feature are extracted. The first vibration feature and the second vibration feature both include time sequence feature, intensity feature and symmetry discrimination feature. The timing characteristics, intensity characteristics, and symmetry discrimination characteristics of the first vibration characteristic and the second vibration characteristic are compared to identify the dominant disturbance event of the remote control vehicle. When the first vibration feature exhibits at least one of the following relative to the second vibration feature: early entry response, stronger response, and asymmetric dominance, it is identified as a left-dominant disturbance event. When the second vibration feature exhibits at least one of the following relative to the first vibration feature: an earlier entry response, a stronger response, and asymmetric dominance, it is identified as a right-side dominant disturbance event. When the first vibration response and the second vibration response occur synchronously and change symmetrically, it is identified as a symmetrical passing event; Based on the identified events, determine the tactile guidance side and tactile guidance method of the remote control.

[0007] In at least one embodiment of this application, the left-side dominant disturbance event and the right-side dominant disturbance event are instantaneous dominant disturbance events formed by the remote-controlled vehicle during the process of passing through an obstacle; The symmetrical passage event is an instantaneous symmetrical disturbance event formed when the left and right sides of the remote-controlled vehicle pass through the obstacle simultaneously; The symmetry discrimination feature is used to distinguish between unilaterally dominant disturbed events and bilaterally synchronous passing events; When the first vibration response and the second vibration response have a symmetrical correspondence in terms of response timing, response duration, and response change rhythm, it is determined to be a symmetrical passing event. When the first vibration response and the second vibration response have an asymmetrical correspondence in terms of response timing, response duration, and response change rhythm, it is determined to be a left-dominant disturbance event or a right-dominant disturbance event.

[0008] In at least one embodiment of this application, the timing features include at least one of the following: the start time of the first vibration response and the second vibration response, the time when a significant response state is reached, and the start and end times of the duration interval. By comparing the timing characteristics, the side that enters the response stage first, reaches the significant response stage first, or exits the response stage first in the first vibration response and the second vibration response is determined.

[0009] In at least one embodiment of this application, the intensity characteristics include at least one of the peak value, duration, and response change amplitude of the first vibration response and the second vibration response; By comparing the intensity characteristics, the side with a more significant response, longer duration, or greater dominance during obstacle passage is determined between the first and second vibration responses.

[0010] In at least one embodiment of this application, a left-side dominant disturbance event is identified when the first vibration response satisfies at least one of the following conditions relative to the second vibration response: The first vibration response enters the response phase before the second vibration response; The first vibration response reaches the significant response stage before the second vibration response; The peak value of the first vibration response is greater than the peak value of the second vibration response; The duration of the first vibration response is longer than the duration of the second vibration response; The first vibration response dominates the second vibration response during obstacle passage.

[0011] In at least one embodiment of this application, a right-side dominant disturbance event is identified when the second vibration response satisfies at least one of the following conditions relative to the first vibration response: The second vibration response enters the response phase before the first vibration response; The second vibration response reaches the significant response stage before the first vibration response; The peak value of the second vibration response is greater than the peak value of the first vibration response; The duration of the second vibration response is longer than the duration of the first vibration response; The second vibration response dominates the first vibration response during obstacle passage.

[0012] In at least one embodiment of this application, the response phase should be entered synchronously; The first vibration response and the second vibration response simultaneously reach the significant response stage; The duration of the first vibration response corresponds to the duration of the second vibration response; The first vibration response and the second vibration response change synchronously and symmetrically during the passage of the obstacle.

[0013] In at least one embodiment of this application, the step of "determining the haptic guidance side and haptic guidance mode of the remote control based on the identified dominant disturbance event or symmetrical pass-through event" includes the following steps: When a left-side dominant disturbance event is identified, the second tactile output unit is controlled to output a correction guidance tactile sensation. When a right-side dominant disturbance event is identified, the first tactile output unit is controlled to output a correction guidance tactile sensation. When a symmetrical pass event is detected, the first tactile output unit and the second tactile output unit are controlled to synchronously output a neutral pass tactile sensation. The tactile guidance method includes at least one of single tactile output, continuous tactile output, and pulsed tactile output.

[0014] In at least one embodiment of this application, the correction guidance tactile feedback is used to prompt the operator to avoid continuing to make correction inputs toward the dominant disturbed side, and to guide the operator to establish a control correction direction opposite to the direction of the vehicle body disturbance. The first tactile output unit and the second tactile output unit are respectively located on the left and right sides of the remote control grip, so that a left-side dominant disturbance event corresponds to a right-side correction guidance tactile output, and a right-side dominant disturbance event corresponds to a left-side correction guidance tactile output.

[0015] A remote controller for a remote-controlled car includes a first tactile output unit, a second tactile output unit, and a control unit, the control unit being configured to perform the relevant steps in any of the methods described above.

[0016] The aforementioned remote controller for remote-controlled vehicles and its tactile control method identify dominant disturbance events or symmetrical passing events by comparing the timing characteristics, intensity characteristics, and symmetry discrimination characteristics of the vibration responses on the left and right sides. The identification results are then converted into reverse-side correction guidance tactile sensations or bilateral neutral passing tactile sensations, thereby reducing the operator's directional judgment lag and the risk of incorrect direction correction. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the tactile control method for a remote control of a remote-controlled car as described in this application. Detailed Implementation

[0018] The embodiments of this application will now be described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0019] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or may also have an intervening component. When a component is considered to be "placed" on another component, it can be directly placed on the other component or may also have an intervening component. The terms "top," "bottom," "upper," "lower," "left," "right," "front," "back," and similar expressions used in this article are for illustrative purposes only.

[0020] Embodiments of this application provide a remote controller for a remote-controlled car and a tactile control method thereof, the method comprising the following steps: S1: The remote control car is equipped with a first vibration acquisition unit located on the left side of the car body and a second vibration acquisition unit located on the right side of the car body. The remote control grip is equipped with a first tactile output unit and a second tactile output unit on both sides.

[0021] S2: Collect the first vibration signal and the second vibration signal during the process of the remote-controlled car passing through the obstacle, and extract the corresponding first vibration feature and second vibration feature. Both the first vibration feature and the second vibration feature include time sequence feature, intensity feature and symmetry discrimination feature.

[0022] S3: Compare the timing characteristics, intensity characteristics, and symmetry discrimination characteristics of the first vibration characteristic and the second vibration characteristic to identify the dominant disturbance event of the remote control vehicle.

[0023] S31: When the first vibration feature exhibits at least one of the following characteristics relative to the second vibration feature: early entry response, stronger response, and asymmetric dominance, it is identified as a left-side dominant disturbance event.

[0024] S32: When the second vibration feature exhibits at least one of the following relative to the first vibration feature: an earlier entry response, a stronger response, and asymmetric dominance, it is identified as a right-side dominant disturbance event.

[0025] S33: When the first vibration response and the second vibration response occur synchronously and change symmetrically, they are identified as a symmetrical passing event.

[0026] S4: Based on the identified events, determine the tactile guidance side and tactile guidance method of the remote control.

[0027] The aforementioned remote controller for remote-controlled vehicles and its tactile control method identify dominant disturbance events or symmetrical passing events by comparing the timing characteristics, intensity characteristics, and symmetry discrimination characteristics of the vibration responses on the left and right sides. The identification results are then converted into reverse-side correction guidance tactile sensations or bilateral neutral passing tactile sensations, thereby reducing the operator's directional judgment lag and the risk of incorrect direction correction.

[0028] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0029] Please see Figure 1This application provides a remote controller for a remote-controlled vehicle and its tactile control method, applied in a control system where the remote-controlled vehicle and remote controller work together. Specifically, the remote-controlled vehicle is equipped with a first vibration acquisition unit located on the left side of the vehicle body and a second vibration acquisition unit located on the right side of the vehicle body. A first tactile output unit and a second tactile output unit are respectively located on the left and right sides of the remote controller's grip. The first and second vibration acquisition units can respectively employ an accelerometer, a vibration sensor, or an inertial detection device, preferably arranged in the vehicle body area near the left and right sides of the remote-controlled vehicle's walking mechanism, so as to preferentially acquire the instantaneous vibration response of the corresponding side when the remote-controlled vehicle passes over gravel, bumps, road shoulder edges, or sloping steps. The first and second tactile output units can respectively employ an eccentric vibration motor, a linear motor, or a pulse tactile generator, and are respectively located on the left and right sides of the remote controller's grip, so that the operator can directly perceive tactile guidance information from different sides through their left and right hands when holding the remote controller.

[0030] During normal operation of the remote-controlled vehicle, the control unit continuously receives the first vibration signal and the second vibration signal output by the first vibration acquisition unit and the second vibration acquisition unit. When the remote-controlled vehicle enters the obstacle-crossing phase, the control unit extracts features from the first vibration signal and the second vibration signal respectively to form the first vibration feature and the second vibration feature.

[0031] Furthermore, both the first and second vibration features include temporal features, intensity features, and symmetry discrimination features. The temporal features characterize when the corresponding side's vibration response begins, reaches a significant state, and ends. The intensity features characterize the strength and duration of the corresponding side's vibration response. The symmetry discrimination features characterize whether the left and right side vibration responses change synchronously and correspondingly during obstacle passage. With this setup, the system no longer simply obtains the general result that the vehicle body vibrated, but transforms the left and right side vibration information into identification criteria that can be used to further determine the dominant disturbance direction.

[0032] Furthermore, the control unit compares the first vibration characteristic and the second vibration characteristic. Specifically, it first compares the temporal characteristics of the vibration responses on both sides to determine which side enters the response phase first, which side reaches a significant response state first, and which side exits the response phase first. Secondly, it compares the intensity characteristics of the vibration responses on both sides to determine which side has a larger peak value, a longer duration, or a more significant overall response during obstacle passage. Further, it compares the symmetry discrimination characteristics of the vibration responses on both sides to determine whether the vibration responses on both sides change synchronously or whether there are significant asymmetrical changes. Through the above comparisons, the system can identify whether the remote-controlled vehicle is currently in a left-dominant disturbance event, a right-dominant disturbance event, or a symmetrical passage event.

[0033] In a specific scenario, when the left wheel of the remote-controlled car first runs over gravel, the left wheel assembly passes along the edge of an obstacle, or the left side of the vehicle experiences a noticeable lift, jerking, or vibration, the first vibration characteristic relative to the second vibration characteristic will exhibit at least one of the following: early response, stronger response, and asymmetric dominance. In this case, the control unit identifies the current event as a left-dominant disturbed event. That is, during the instant the obstacle is passed, the left side is the dominant disturbed side. Conversely, when the right wheel of the remote-controlled car first runs over a bump, the right wheel assembly passes along the edge of a curb, or the right side of the vehicle experiences a noticeable vibration disturbance, the second vibration characteristic relative to the first vibration characteristic will exhibit at least one of the following: early response, stronger response, and asymmetric dominance. The control unit then identifies the current event as a right-dominant disturbed event.

[0034] Furthermore, when the remote-controlled car's wheels pass through lateral obstacles almost simultaneously, cross step edges simultaneously, or pass symmetrical protrusions simultaneously, the first and second vibration responses usually appear synchronously, exhibiting symmetrical correspondence in their duration and rhythm. In this case, the control unit identifies it as a symmetrical passing event. It should be noted that the introduction of symmetrical passing events is not to add a new normal state, but rather to clearly distinguish between simultaneous passing on both sides and unilateral dominant disturbance, preventing the system from misjudging simultaneous passing on both sides as left-side or right-side dominant disturbance, thereby improving the accuracy of the identification results.

[0035] After identifying the aforementioned events, the control unit further determines the tactile guidance side and tactile guidance mode of the remote control. Specifically, when a left-dominant disturbance event is identified, the second tactile output unit is controlled to output a correction guidance tactile feedback. When a right-dominant disturbance event is identified, the first tactile output unit is controlled to output a correction guidance tactile feedback. When a symmetrical passage event is identified, the first and second tactile output units are controlled to simultaneously output a neutral passage tactile feedback.

[0036] Furthermore, the guiding tactile feedback can employ at least one of the following: single-shot tactile output, continuous tactile output, and pulsed tactile output. Single-shot tactile output is suitable for short-term, sudden unilateral disturbance scenarios; continuous tactile output is suitable for scenarios where the dominant disturbance is persistent; and pulsed tactile output is suitable for scenarios where obstacles are continuously undulating or where the passing rhythm is obvious. Neutral passing tactile feedback is used to indicate to the operator that the current passage is symmetrical on both sides, without needing to establish a clear unilateral correction direction.

[0037] The reason why the second tactile output unit provides correction guidance in the event of a dominant disturbance on the left, instead of the first tactile output unit directly outputting a prompt on the same side, is because this embodiment aims not only at feedback on the direction of the disturbance, but also at guidance for corrective maneuvering. In high-speed, short-wheelbase, and fast-response remote-controlled car scenarios, operators mainly rely on visual observation. Often, after seeing a disturbance on the left side of the vehicle, they instinctively continue to correct to the left, leading to incorrect direction correction. By outputting corrective tactile guidance on the side opposite to the dominant disturbance side, the operator can more quickly establish the awareness that they should not continue to correct towards the disturbed side, but should focus on correcting in the opposite direction, thereby reducing the risk of incorrect direction correction. In other words, the tactile output in this embodiment does not simply reproduce the direction of the vehicle disturbance, but transforms the disturbance information into guiding control prompts.

[0038] For example, in a specific application scenario, when a remote-controlled car travels at high speed over the edge of a sloping step, the left wheel contacts the step first, causing the left side of the vehicle to lift and vibrate noticeably. The first vibration response precedes the second vibration response, and the peak value of the first vibration response is larger and its duration is longer. After the control unit identifies this as a left-dominant disturbance event, it immediately controls the second tactile output unit located on the right side of the remote control to output continuous pulse-like tactile feedback, guiding the operator to avoid further increasing the corrective input to the left. Through the tactile changes in the right-hand area, the operator can more quickly develop a reverse corrective awareness, thereby reducing the risk of the vehicle further veering to the left or deteriorating its posture.

[0039] For example, in another specific scenario, a remote-controlled car is traveling forward over a transverse speed bump. The left and right wheels contact the obstacle almost simultaneously, with the first and second vibration responses occurring synchronously and exhibiting a symmetrical correspondence in both their change and duration. In this case, the control unit recognizes this as a symmetrical passage event and controls the first and second tactile output units to simultaneously output a neutral passing tactile feedback. This serves to indicate to the operator that the passage is simultaneous on both sides, eliminating the need for establishing a clear left or right lateral deviation correction. In this way, the system can clearly distinguish between scenarios requiring correction guidance and those that do not.

[0040] In summary, this embodiment collects vibration signals from the left and right sides of the remote-controlled vehicle and extracts timing features, intensity features, and symmetry discrimination features. It further compares the differences between the vibration responses on the left and right sides to identify left-side dominant disturbance events, right-side dominant disturbance events, and symmetrical passage events. Based on the identified events, it determines the tactile guidance side and tactile guidance method of the remote control. In particular, by using the reverse side output correction guidance tactile method, it improves the operator's ability to perceive the instantaneous disturbance direction, reduces the risk of incorrect direction correction, and thus improves the control stability and passage safety of the remote-controlled vehicle in complex obstacle scenarios.

[0041] In one specific embodiment, both the left-side dominant disturbance event and the right-side dominant disturbance event are defined as instantaneous dominant disturbance events formed by the remote-controlled vehicle during the process of passing through an obstacle.

[0042] Furthermore, the symmetrical passage event is defined as an instantaneous symmetrical disturbance event formed when the left and right sides of the remote-controlled vehicle simultaneously pass through an obstacle. Without such a symmetrical passage event, when the system detects simultaneous vibrations on both sides, it is prone to misinterpreting it as a dominant disturbance on one side, leading to inappropriate directional tactile feedback from the remote controller and prompting the operator to make unnecessary or even erroneous corrections.

[0043] In this embodiment, the symmetry discrimination feature is used to distinguish between unilaterally dominant disturbance events and bilaterally synchronous passage events. It should be noted that the symmetry discrimination feature here is not a simple correspondence judgment, but rather a discrimination criterion specifically serving event classification. That is, given the first and second vibration responses, the system not only considers which side enters the response earlier and which side is stronger, but also whether the two sides exhibit synchronization and symmetry during the overall change process. If the two sides are consistent in response timing, response duration, and response change rhythm, it indicates that the current situation is more likely bilaterally synchronous passage of the obstacle. If there is significant inconsistency between the two sides in the above aspects, it indicates that the current situation is more likely unilaterally dominant disturbance.

[0044] Specifically, when the first and second vibration responses exhibit a symmetrical correspondence in terms of timing, duration, and rhythm of change, it is identified as a symmetrical passing event. A symmetrical correspondence in timing can be understood as the vibration responses on both sides starting at approximately the same time. A symmetrical correspondence in duration can be understood as the duration intervals of the vibration responses on both sides being approximately corresponding, with neither side starting significantly earlier or ending significantly later. A symmetrical correspondence in rhythm of change can be understood as the vibration responses on both sides maintaining a high degree of consistency during enhancement, decay, or pulse changes. By comprehensively considering these three levels of symmetry, this scheme can more accurately identify the special event of bilateral synchronous passing, avoiding misjudgment as left-side dominant disturbance or right-side dominant disturbance.

[0045] Correspondingly, when the first and second vibration responses exhibit an asymmetrical correspondence in response timing, duration, and rhythm of change, it is determined to be either a left-dominant or right-dominant disturbance event. In other words, if there is a significant asymmetry between the left and right sides in response time, duration, or rhythm, it indicates that the obstacle crossing process was not a simultaneous bilateral crossing, but rather more likely one side contacted the obstacle first, one side was more strongly disturbed, or one side dominated the entire obstacle crossing process. In this case, the system further distinguishes between left-dominant and right-dominant disturbances by combining the sequential and relative strengths of the first and second vibration characteristics. This design, which first uses symmetry to rule out simultaneous bilateral crossing and then further identifies the dominant disturbed side, makes the entire identification logic clearer and more consistent with actual working conditions.

[0046] In one specific embodiment, by analyzing the sequential changes of the first vibration response and the second vibration response during the obstacle passage process, it is possible to determine which side was disturbed earlier, which side entered a significantly disturbed state earlier, and which side ended the disturbed process earlier. This provides a more direct and reliable basis for subsequent identification of left-side dominant disturbance events, right-side dominant disturbance events, or symmetrical passage events.

[0047] Specifically, the temporal characteristics include at least one of the following: the start time of the first vibration response and the second vibration response, the time when a significant response state is reached, and the start and end times of the duration interval. Here, the start time characterizes the point in time when the vibration response on one side is first detected. The time when a significant response state is reached characterizes the point in time when the vibration on that side develops from its initial change to a clearly disturbed state. The start and end times of the duration interval characterize the complete time range from the entry into a response to the exit from a response on that side. Through this setup, further analysis of when the vibration signal starts, when it intensifies, how long it lasts, and when it ends allows for a clear distinction of the disturbance processes on both sides along the time axis.

[0048] The reason for specifically introducing temporal features is that most existing solutions described in the background technology only detect whether vibration or obstacles occur, at most judging the intensity of the vibration, but lack detailed analysis of the order of disturbance on both sides. In reality, when a remote-controlled car passes at high speed over gravel, protrusions, the edge of a sloping step, or half of a road shoulder, the first change is often not an overall attitude change, but rather a vibration response from a particular wheel assembly or a particular area of ​​the vehicle body. That is to say, in many cases, the side that responds first is more likely to exhibit the direction of the disturbance earlier than the side that ultimately does. If temporal features are not extracted and only intensity comparison is relied upon, the feedback obtained by the operator will lag behind the actual occurrence of the disturbance, thus missing the optimal guidance opportunity. Therefore, this embodiment introduces temporal features such as the start time, the significant response time, and the start and end times of the duration interval, enabling the system to identify the direction of the disturbance as early as possible and improving the real-time performance of event recognition.

[0049] Furthermore, by comparing the aforementioned temporal characteristics, the system determines which side of the first and second vibration responses enters the response phase first, reaches the significant response phase first, or exits the response phase first. In other words, the system compares the left and right vibration responses from multiple time dimensions. First, it compares which side exhibits initial vibration changes earlier to determine which side enters the response phase first. Second, it compares which side reaches a significantly enhanced state earlier to determine which side enters the significant response phase first. Third, it compares which side ends the sustained response earlier to determine the temporal exit order of the disturbance process on that side. Through this series of comparisons, the complete temporal relationship between the left and right vibration responses can be constructed, rather than simply making an isolated judgment based on a single time point.

[0050] For example, in a specific application scenario, when the left wheel of a remote-controlled car hits a gravel first or the left wheelset runs along the edge of a step first, the first vibration response usually appears earlier than the second vibration response; that is, the start time of the first vibration response is earlier than the start time of the second vibration response. Simultaneously, the first vibration response may also enter a salient state earlier and, within its duration, unfold the complete disturbance process before the second vibration response. In this case, by comparing these timing characteristics, the system can determine earlier that the left side is the side that enters the response phase first, thus providing a basis for subsequently identifying the left-side dominant disturbance event. Conversely, when the right wheelset contacts the obstacle first or the disturbance occurs first on the right side, the start time and salient response time of the second vibration response will precede the first vibration response, allowing the system to determine that the right side is the side that enters the response phase first.

[0051] For example, in scenarios where both wheels pass over a lateral speed bump simultaneously or cross an obstacle synchronously on both sides, the starting times of the first and second vibration responses are essentially synchronized, and the times when they reach a significant response state also correspond relatively, with no significant sequential shift between the start and end times of the duration interval. In this case, by comparing the temporal features, the system can detect that there is no significant sequential difference between the left and right sides, thus providing a basis for subsequently determining whether the event is a symmetrical passage event or a left-dominant or right-dominant disturbance event. Therefore, the introduction of temporal features not only helps identify which side is disturbed first but also helps eliminate cases of simultaneous disturbance on both sides, improving the accuracy of event classification.

[0052] In one specific embodiment, this embodiment further distinguishes the disturbance situations on the left and right sides from two aspects: the intensity and duration of the vibration response. Specifically, in addition to the temporal difference, the first and second vibration responses also exhibit different intensity characteristics during obstacle passage. These intensity characteristics include at least one of peak value, duration, and response variation amplitude. By comparing the intensity characteristics of the first and second vibration responses, the control unit determines which side's response is more significant, longer-lasting, or has a higher overall dominance during obstacle passage, thereby providing further evidence for identifying left-side dominant disturbance events, right-side dominant disturbance events, and symmetrical passage events.

[0053] It's important to note that intensity features are specifically introduced because while relying solely on temporal characteristics can help the system determine which side enters the response phase first, in actual obstacle crossing, being disturbed first does not necessarily equate to being the dominant disturbance. For example, when a remote-controlled car is crossing an obstacle at an angle, one wheel may contact the obstacle first, but the other wheel may subsequently generate a larger vibration peak or a longer period of sustained disturbance. If the system only judges based on the sequence of events, it might misidentify a process that should be identified as a dominant disturbance on the right as a dominant disturbance on the left, thus affecting the accuracy of subsequent haptic guidance. Therefore, in this embodiment, in addition to examining the temporal sequence, the intensity of the vibration responses on the left and right sides is further compared to confirm which side truly dominates the entire obstacle crossing process.

[0054] In one specific implementation, the peak value is used to characterize the maximum response level of the corresponding side vibration response during obstacle passage. That is, when one side of the remote-controlled vehicle's wheel hits gravel, a bump, the edge of a step, or a shoulder, the vibration signal on the corresponding side typically rises rapidly within a short time and reaches a maximum response value. By comparing the peak values ​​of the first and second vibration responses, it can be determined which side experienced a stronger instantaneous disturbance. Furthermore, if the peak value of the first vibration response is significantly higher than the second vibration response, it indicates that the left side experienced a stronger disturbance during the instantaneous impact or obstacle contact. Conversely, if the peak value of the second vibration response is higher, it indicates that the right side experienced a stronger disturbance. Therefore, the peak value comparison reflects the difference in the strength of the disturbance experienced by the left and right sides at the instant the obstacle passes.

[0055] Furthermore, the duration is used to characterize the length of time the corresponding side's vibration response remains in a significant state. It should be noted that in actual operating conditions, the difference in disturbance between the left and right sides is not only reflected in the peak response at a single instant, but also in the longer the disturbance state persists on one side. For example, when one wheel of a remote-controlled car slides along the edge of a road shoulder, or when one wheel continuously presses on a gravel strip, the vibration response on that side may not reach a particularly high peak at a single instant, but it may remain in a significant response state for a long time. By comparing the durations of the first and second vibration responses, it can be determined which side remains in a disturbed state longer during obstacle passage. If the duration of the first vibration response is longer than the second vibration response, it indicates that the left side of the vehicle or the left wheel was disturbed for a longer period during obstacle passage. If the duration of the second vibration response is longer, it indicates that the disturbance process on the right side is more prolonged. Thus, the duration comparison reflects the difference in the continuity of disturbance between the left and right sides.

[0056] Furthermore, the response change amplitude is used to characterize the degree of change in the vibration response on the corresponding side within the duration interval. That is, the system not only focuses on whether the left and right sides vibrate and whether the vibration is continuous, but also on whether the vibration signal changes smoothly or fluctuates violently within the duration interval. Generally, if one side exhibits significant amplitude fluctuations, a more prominent enhancement-attenuation process, or a more drastic overall change during obstacle passage, it indicates that the influence of that side is more significant and its dominance is higher throughout the disturbance process. By comparing the response change amplitudes of the first and second vibration responses, the system can further determine which side is more dominant during obstacle passage. The significance of this setting is that, under certain operating conditions, the peak values ​​and durations of the left and right sides are similar, but the change amplitude of one side is more obvious, reflecting that the disturbance process on that side is more concentrated and prominent. In such cases, without comparing the response change amplitudes, the accuracy of determining the dominant disturbed side may be weakened.

[0057] The control unit compares the intensity characteristics to determine the side of the first and second vibration responses that has a more significant response, a longer duration, or a higher degree of dominance during obstacle passage. In other words, this solution does not require the left and right sides to exhibit differences in the same direction across all dimensions, but allows the dominant disturbance trend to be characterized by at least one of peak value, duration, and response change amplitude. This approach is advantageous because it can adapt to the complexity of actual obstacle conditions. For example, in some scenarios, the left wheel contacts the obstacle first, and the peak value on the left is the highest, indicating a clear dominant disturbance characteristic on the left. In other scenarios, although the peak value on one side may not be larger, its duration is significantly longer, and that side can still be considered the dominant disturbance side. Furthermore, when both sides vibrate, if the response change process on one side is more significant and the dominant characteristic is more prominent, it can also be identified as the dominant disturbance side. Thus, this embodiment improves the stability and adaptability of the identification results under different obstacle conditions through the comparison of multi-dimensional intensity characteristics.

[0058] In one specific embodiment, a left-side dominant disturbance event is identified when the first vibration response satisfies at least one of the following conditions relative to the second vibration response: The first vibration response enters the response phase before the second vibration response. The first vibration response reaches the significant response phase before the second vibration response. The peak value of the first vibration response is greater than the peak value of the second vibration response. The duration of the first vibration response is longer than the duration of the second vibration response. The first vibration response exhibits a dominant change relative to the second vibration response during obstacle passage. In other words, this embodiment does not require the left-side vibration response to be superior to the right-side in all dimensions simultaneously to identify the left side as the dominant disturbance side. Instead, it allows the left-side dominance to be demonstrated in at least one dimension among time sequence, significant enhancement, instantaneous intensity, continuous disturbance, or overall trend of change, thus identifying the current event as a left-side dominant disturbance event. This design aims to adapt to the complexity of actual obstacle conditions and avoid system omissions due to overly rigid judgment conditions.

[0059] First, the condition that the first vibration response precedes the second vibration response in the response phase reflects the scenario where the left side of the vehicle or the left wheel assembly senses the obstacle first. For example, if a remote-controlled car's left wheel first runs over gravel, the left side first grazes the edge of a curb, or the left side first contacts the edge of a sloping step, the left-side response is often triggered earliest in these scenarios. The significance of incorporating this condition into the recognition logic is that the system can capture the direction of the disturbance as early as possible, when the obstacle's effect begins, rather than waiting until the vehicle's posture has significantly changed before making a judgment.

[0060] Secondly, the condition that the first vibration response reaches the significant response stage before the second vibration response reflects that the left side not only begins to be disturbed earlier but also develops into a more obvious disturbed state earlier. It should be noted that under certain operating conditions, both sides may generate initial vibrations within a very short time, and simply comparing the starting times may not be clear enough. However, the dominant disturbed side usually reaches a state with a significant peak, enhanced waveform, or concentrated energy earlier. Therefore, using the earlier attainment of the significant response stage as one of the judgment conditions allows the system to not only see which side moves first but also which side enters the obvious disturbed stage "worthy of operator attention" earlier, thereby improving the accuracy of determining the dominant disturbed event.

[0061] Secondly, the peak value of the first vibration response is greater than that of the second vibration response, reflecting that the left side experienced a stronger impact or greater vibration disturbance at the moment of contact with the obstacle. In practical applications, when the left wheel presses on a higher bump, the left chassis scrapes against an obstacle, or the left suspension experiences a more significant lifting effect first, the corresponding vibration signal on the left side often reaches a higher peak value. Using the peak value as one of the judgment criteria helps the system identify situations where the left side is more severely disturbed. The advantage of this is that even if the vibration responses on both sides start almost simultaneously, the system can still identify which side is dominant at the instantaneous impact level by using the peak value difference.

[0062] Furthermore, the duration of the first vibration response is longer than that of the second vibration response, reflecting that the disturbance on the left side not only occurs earlier or is stronger, but also persists for a longer period. For example, when the left wheelset slides along a gravel track, the left tire rolls along the edge of a slope, or the left side continuously presses against the edge of an obstacle, the left-side vibration may not reach its peak at a single instant, but it often maintains a significant response for a considerable period. The significance of introducing the duration condition is that the system no longer focuses solely on the instantaneous impact, but rather on which side continues to dominate throughout the entire passage. This avoids the bias caused by judging solely based on the peak value or the initial moment, making the identification of the dominant disturbance event more stable.

[0063] Furthermore, the first vibration response exhibits a dominant change relative to the second vibration response during obstacle passage, reflecting the overall dominance of the left side throughout the entire disturbance process. Here, "dominant change" can be understood as the left side demonstrating a more pronounced strengthening trend, more prominent fluctuations, and a more sustained dominant response throughout the obstacle passage process, or maintaining a relatively dominant position at multiple stages. This condition is introduced because, in actual operating conditions, some left-side dominant disturbances may not necessarily manifest as the earliest response or a larger absolute peak value, but rather as being more active and prominent throughout the entire change process. By setting the dominant change condition, the system can be made more adaptable to complex operating conditions, thereby avoiding the omission of true left-side dominant disturbances due to overly simplistic judgment dimensions.

[0064] In this embodiment, at least one of the following conditions is used to identify the left-side dominant disturbance event, rather than requiring all of the above conditions to be met simultaneously, because the operating conditions of the remote-controlled vehicle passing through obstacles have obvious diversity and randomness. Different obstacle shapes, different entry angles, different vehicle speeds, and different vehicle postures will all lead to different manifestations of left and right vibration responses.

[0065] In one specific embodiment, a right-side dominant disturbance event is identified when the second vibration response satisfies at least one of the following conditions relative to the first vibration response: The second vibration response enters the response phase before the first vibration response. The second vibration response reaches the significant response phase before the first vibration response. The peak value of the second vibration response is greater than the peak value of the first vibration response. The duration of the second vibration response is longer than the duration of the first vibration response. The second vibration response exhibits a dominant change relative to the first vibration response during obstacle passage.

[0066] In other words, this embodiment does not require the right-side vibration response to be superior to the left-side vibration response in all dimensions to be considered a right-side dominant disturbance event. Instead, it allows the current event to be identified as a right-side dominant disturbance event if it exhibits right-side dominance characteristics in any of the following dimensions: earlier response, earlier significant response, higher instantaneous peak value, longer duration of disturbance, or more dominant overall change. The purpose of this setting is to adapt to the complex and variable operating conditions of actual remote-controlled vehicles when passing through obstacles, so that the recognition logic remains clear while possessing high adaptability.

[0067] First, the condition that the second vibration response precedes the first vibration response in the response phase reflects the situation where the right side of the vehicle or the right wheel assembly contacts the obstacle first. For example, in a scenario where the right wheel of a remote-controlled car first runs over gravel, the right wheel first touches the edge of the curb, and the right side first enters the area of ​​the sloping step edge, the right side of the vehicle body will usually show a vibration response first, while the left side response will follow. By using "entering the response phase first" as one of the recognition conditions, the system can determine which side is more likely to be the dominant disturbed side as early as possible in the initial stage of obstacle contact, thus gaining a more timely output opportunity for subsequent tactile guidance. For high-speed, short-wheelbase, and fast-response remote-controlled cars, this early recognition in time is particularly important, because obstacle passage is often completed in a very short time. If the dominant disturbed side cannot be captured in time, tactile guidance will easily lag behind, reducing the guidance effect.

[0068] Secondly, the condition that the second vibration response reaches the significant response stage before the first vibration response is used to further characterize that the disturbance on the right side not only occurs earlier but also develops into a significant disturbance state earlier. It should be noted that under certain operating conditions, initial vibrations may occur on both sides, but the side that enters a significant state earlier is often the one that truly deserves the operator's attention. For example, if the right wheel runs over a higher bump first or the right chassis first significantly interferes with an obstacle, the vibration response on the right side may quickly develop from a slight change to a significant increase, while the left side only slightly follows. By comparing which side reaches the significant response stage earlier, the system can more accurately determine whether the right side dominates during the obstacle passage process, rather than simply relying on a superficial judgment of which side moved first.

[0069] Secondly, the peak value of the second vibration response is greater than that of the first vibration response, reflecting that the right side experienced a stronger impact or disturbance at the moment of contact with the obstacle. In practical applications, when the right wheel assembly of the remote-controlled car presses against a higher obstacle, the right suspension experiences a more significant lift, or the right tire makes stronger contact with the edge of the obstacle, the corresponding vibration response peak value on the right side is usually higher than that on the left. Incorporating this condition into the identification logic of right-side dominant disturbance events helps the system determine whether the right side is the dominant disturbed side from the perspective of "instantaneous disturbance intensity." In this way, even if the vibration responses on both sides occur almost simultaneously, the system can still identify whether the right side dominates at the instantaneous disturbance level through the peak value difference.

[0070] Furthermore, the second vibration response lasts longer than the first, reflecting that the disturbance on the right side is not only stronger but also lasts longer. It should be noted that in some real-world scenarios, the dominant disturbed side does not necessarily exhibit the highest peak value, but rather a sustained significant disturbance throughout the obstacle passage process. For example, when the right wheel slid along the shoulder edge, the right wheel continuously pressed against the gravel strip, or the right side was continuously subjected to uneven road surfaces during obstacle passage, the right-side response might remain higher than the left-side disturbance level for a longer period. In such cases, if the system relies solely on the initial moment or peak value, it may miss the fact that the right side is the dominant disturbed side. Therefore, comparing durations helps the system identify situations where the right side, while not necessarily the earliest, experiences a longer overall disturbance, thereby improving identification accuracy.

[0071] Furthermore, the second vibration response exhibits a dominant change relative to the first vibration response during obstacle passage, characterizing the overall dominance of the right side throughout the entire disturbance process. This dominant change can be understood as the right side showing a more pronounced strengthening trend, a more prominent fluctuation process, or consistently exhibiting stronger disturbance characteristics across multiple stages during obstacle passage. This condition is set because actual operating conditions are often more complex than comparisons using a single parameter. Sometimes the right side may not respond first, nor may it reach its peak value at a specific moment, but its changes throughout the obstacle passage process are consistently more active, significant, and sustained than those on the left side. In such cases, considering the overall trend, the right side should still be considered the dominant disturbed side. By incorporating the dominant change into the identification condition, the system can avoid missing the dominant disturbance event on the right side due to insufficient judgment using a single parameter when facing complex operating conditions.

[0072] In one specific embodiment, when a left-dominant disturbance event is identified, the second tactile output unit is controlled to output a corrective guiding tactile feedback. When a right-dominant disturbance event is identified, the first tactile output unit is controlled to output a corrective guiding tactile feedback. When a symmetrical passage event is identified, the first and second tactile output units are controlled to simultaneously output a neutral passage tactile feedback. Further, the tactile guidance method includes at least one of single tactile output, continuous tactile output, and pulsed tactile output. Therefore, this embodiment does not simply reproduce the disturbance direction of the vehicle body as a same-side tactile feedback, but rather forms different tactile guidance sides and output methods according to different event types. Specifically, for left-dominant and right-dominant disturbance events, a reverse-side corrective guiding output is used. For symmetrical passage events, a dual-side synchronous neutral output is used.

[0073] It should be noted that when a left-dominant disturbance event is identified, the system does not control the first tactile output unit to directly output a prompt on the left side of the remote control. Instead, it controls the second tactile output unit to output a corrective guidance tactile feedback on the right side of the remote control. In practical applications of high-speed, short-wheelbase, and fast-response remote-controlled vehicles, when the left wheel first runs over gravel, the left side slides along the edge of an obstacle, or the left side of the vehicle body experiences a noticeable jolt or sway, if the operator only perceives a problem on the left, they are often prone to instinctively continuing to correct the input to the left, resulting in a so-called incorrect correction direction, which further exacerbates the left-side disturbance. To avoid this problem, this embodiment adopts a reverse output method. That is, in the event of a left-dominant disturbance, the right side of the remote control outputs a corrective guidance tactile feedback. Utilizing the tactile prompts in the operator's right-hand area, it guides them to focus on a correction direction opposite to the direction of the disturbance, thereby reducing the risk of continuing to correct to the left.

[0074] Similarly, when a right-side dominant disturbance is detected, the system controls the first tactile output unit to output a corrective guiding tactile feedback, instead of controlling the second tactile output unit to provide same-side feedback. In other words, when the right side dominates the disturbance during obstacle passage, the system outputs a corrective guiding tactile feedback through the left side of the remote control, allowing the operator to quickly perceive that they should not continue correcting to the right, but rather focus on correcting to the left. This reverse-side output design is essentially a control guidance mechanism, rather than a typical status prompt mechanism.

[0075] Furthermore, when a symmetrical passage event is identified, the system controls the first and second tactile output units to simultaneously output a neutral passage tactile sensation. The reason for using simultaneous dual-sided output instead of a single-sided output in this situation is that symmetrical passage events themselves do not possess a clear unilateral dominant disturbance attribute. For example, when both wheels of a remote-controlled car simultaneously pass a lateral speed bump, simultaneously cross a strip obstacle, or simultaneously enter a symmetrical undulating area, the disturbances experienced by the left and right sides are essentially consistent in timing, duration, and rhythm of change. In this case, if the system still provides the operator with a unilateral directional tactile sensation from one side, it will cause unnecessary directional misguidance.

[0076] Furthermore, the tactile guidance method includes at least one of single tactile output, continuous tactile output, and pulsed tactile output. It should be noted that different tactile output methods are suitable for different event types and different degrees of disturbance. Single tactile output is suitable for scenarios where the disturbance time is short, the event is clear, and it is completed instantaneously, such as a wheel briefly running over a single gravel or a single bump. The system guides the operator to focus on the change in the direction of the disturbance through a short, single tactile sensation. Continuous tactile output is suitable for scenarios where the disturbance is continuous, such as a wheel assembly continuously running along the edge of an obstacle or the vehicle body continuously being disturbed on one side. In this case, continuous output helps the operator continuously perceive the event status. Pulsed tactile output is suitable for scenarios where the obstacle passage rhythm is obvious or the continuous disturbance has intermittent characteristics, such as continuous gravel belts or periodically bumpy road surfaces. Through rhythmic pulse output, the operator can more intuitively perceive the changing rhythm of the obstacle passage process. Neutral passage tactile sensing can also use one of these methods, but its focus is not on directional guidance, but on representing that the current event is a simultaneous passage on both sides.

[0077] In one specific embodiment, the corrective guidance tactile feedback is used to prompt the operator to avoid continuing to make corrective inputs towards the dominant disturbed side, and to guide the operator to establish a control correction direction opposite to the direction of the vehicle disturbance. It should be noted that the corrective guidance tactile feedback here is not a status reminder tactile feedback in the general sense, but rather a result that transforms the event recognition result into a correction direction prompt. In other words, the tactile feedback itself already has a clear control guidance purpose, and is not just an information prompt.

[0078] Furthermore, the first tactile output unit and the second tactile output unit are respectively located on the left and right sides of the remote control grip. This arrangement aims to allow the operator to quickly establish a perceptual mapping relationship related to the vehicle's direction by utilizing the tactile differences between the left and right hands when holding the remote control with both hands. Specifically, the first tactile output unit corresponds to the left side of the remote control grip, and the second tactile output unit corresponds to the right side, thus forming a clearly defined left-right tactile output structure. It should be noted that this left-right separation is not simply for achieving vibration on both sides, but rather to give the tactile feedback a clear directional attribute, allowing the operator to quickly perceive the guiding direction solely through the tactile differences between the left and right hands without needing to look down at the remote control or perform additional visual confirmation.

[0079] A left-side dominant disturbance event corresponds to a right-side corrective tactile output, and a right-side dominant disturbance event corresponds to a left-side corrective tactile output. In other words, when the system identifies the left side of the vehicle as the dominant disturbance side, the tactile output will be from the right side of the remote control, not the left side. Conversely, when the system identifies the right side of the vehicle as the dominant disturbance side, the tactile output will be from the left side of the remote control, not the right side.

[0080] A remote control for a remote-controlled car includes a first tactile output unit, a second tactile output unit, and a control unit, wherein the control unit is configured to perform the relevant steps in any of the methods described above. Further details will not be provided here.

[0081] Therefore, the remote controller for remote-controlled cars and its tactile control method described above identify the dominant disturbance event or symmetrical passing event by comparing the timing characteristics, intensity characteristics and symmetry discrimination characteristics of the vibration response on the left and right sides, and convert the identification results into reverse side correction guidance tactile sensation or bilateral neutral passing tactile sensation, thereby reducing the operator's direction judgment lag and the risk of incorrect direction correction.

[0082] The above are merely embodiments of this application. It should be noted that those skilled in the art can make improvements without departing from the inventive concept of this application, but these improvements all fall within the protection scope of this application.

Claims

1. A tactile control method for a remote control of a remote-controlled car, characterized in that, The method includes the following steps: The remote control car is equipped with a first vibration acquisition unit located on the left side of the vehicle body and a second vibration acquisition unit located on the right side of the vehicle body. The remote control grip is equipped with a first tactile output unit and a second tactile output unit on both sides. The first vibration signal and the second vibration signal of the remote control car during the process of passing through the obstacle are collected respectively, and the corresponding first vibration feature and second vibration feature are extracted. The first vibration feature and the second vibration feature both include time sequence feature, intensity feature and symmetry discrimination feature. The timing characteristics, intensity characteristics, and symmetry discrimination characteristics of the first vibration characteristic and the second vibration characteristic are compared to identify the dominant disturbance event of the remote control vehicle. When the first vibration feature exhibits at least one of the following relative to the second vibration feature: early entry response, stronger response, and asymmetric dominance, it is identified as a left-dominant disturbance event. When the second vibration feature exhibits at least one of the following relative to the first vibration feature: an earlier entry response, a stronger response, and asymmetric dominance, it is identified as a right-side dominant disturbance event. When the first vibration response and the second vibration response occur synchronously and change symmetrically, it is identified as a symmetrical passing event; Based on the identified events, determine the tactile guidance side and tactile guidance method of the remote control.

2. The tactile control method for a remote control of a remote-controlled car according to claim 1, characterized in that, The left-side dominant disturbance event and the right-side dominant disturbance event are instantaneous dominant disturbance events formed by the remote-controlled vehicle during the process of passing through the obstacle; The symmetrical passage event is an instantaneous symmetrical disturbance event formed when the left and right sides of the remote-controlled vehicle pass through the obstacle simultaneously; The symmetry discrimination feature is used to distinguish between unilaterally dominant disturbed events and bilaterally synchronous passing events; When the first vibration response and the second vibration response have a symmetrical correspondence in terms of response timing, response duration, and response change rhythm, it is determined to be a symmetrical passing event. When the first vibration response and the second vibration response have an asymmetrical correspondence in terms of response timing, response duration, and response change rhythm, it is determined to be a left-dominant disturbance event or a right-dominant disturbance event.

3. The tactile control method for a remote control of a remote-controlled car according to claim 2, characterized in that, The timing characteristics include at least one of the following: the start time of the first vibration response and the second vibration response, the time when a significant response state is reached, and the start and end times of the duration interval. By comparing the timing characteristics, the side that enters the response stage first, reaches the significant response stage first, or exits the response stage first in the first vibration response and the second vibration response is determined.

4. The tactile control method for a remote control of a remote-controlled car according to claim 2, characterized in that, The intensity characteristics include at least one of the peak value, duration, and response change amplitude of the first and second vibration responses; By comparing the intensity characteristics, the side with a more significant response, longer duration, or greater dominance during obstacle passage is determined between the first and second vibration responses.

5. The tactile control method for a remote control of a remote-controlled car according to claim 2, characterized in that, A left-side dominant disturbance event is identified when the first vibration response satisfies at least one of the following conditions relative to the second vibration response: The first vibration response enters the response phase before the second vibration response; The first vibration response reaches the significant response stage before the second vibration response; The peak value of the first vibration response is greater than the peak value of the second vibration response; The duration of the first vibration response is longer than the duration of the second vibration response; The first vibration response dominates the second vibration response during obstacle passage.

6. The tactile control method for a remote control of a remote-controlled car according to claim 5, characterized in that, A second vibration response is identified as a right-side dominant disturbance event when it satisfies at least one of the following conditions relative to the first vibration response: The second vibration response enters the response phase before the first vibration response; The second vibration response reaches the significant response stage before the first vibration response; The peak value of the second vibration response is greater than the peak value of the first vibration response; The duration of the second vibration response is longer than the duration of the first vibration response; The second vibration response dominates the first vibration response during obstacle passage.

7. The tactile control method for a remote control of a remote-controlled car according to claim 5, characterized in that, The response phase should proceed simultaneously. The first vibration response and the second vibration response simultaneously reach the significant response stage; The duration of the first vibration response corresponds to the duration of the second vibration response; The first vibration response and the second vibration response change synchronously and symmetrically during the passage of the obstacle.

8. The tactile control method for a remote control of a remote-controlled car according to claim 5, characterized in that, The step of "determining the tactile guidance side and tactile guidance method of the remote control based on the identified dominant disturbance event or symmetrical pass-through event" includes the following steps: When a left-side dominant disturbance event is identified, the second tactile output unit is controlled to output a correction guidance tactile sensation. When a right-side dominant disturbance event is identified, the first tactile output unit is controlled to output a correction guidance tactile sensation. When a symmetrical pass event is detected, the first tactile output unit and the second tactile output unit are controlled to synchronously output a neutral pass tactile sensation. The tactile guidance method includes at least one of single tactile output, continuous tactile output, and pulsed tactile output.

9. The tactile control method for a remote control of a remote-controlled car according to claim 5, characterized in that, The corrective guidance tactile feedback is used to prompt the operator to avoid continuing to make corrective inputs towards the dominant disturbed side, and to guide the operator to establish a control correction direction opposite to the direction of the vehicle disturbance. The first tactile output unit and the second tactile output unit are respectively located on the left and right sides of the remote control grip, so that a left-side dominant disturbance event corresponds to a right-side correction guidance tactile output, and a right-side dominant disturbance event corresponds to a left-side correction guidance tactile output.

10. A remote control for a remote-controlled car, characterized in that, It includes a first tactile output unit, a second tactile output unit, and a control unit, wherein the control unit is configured to perform the relevant steps in the method according to any one of claims 1-9.

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