A vehicle interaction method and vehicle

Abstract

The application relates to the technical field of intelligent cockpits, in particular to a vehicle interaction method and a vehicle. A haptic array composed of multiple vibration units is arranged in a vehicle cockpit, wherein the method comprises the following steps: acquiring a driving state of the vehicle; identifying whether the driving state satisfies at least one trigger condition, the trigger condition being used for judging whether the driving state allows triggering a haptic interaction, and each trigger condition being configured with a judgment rule of the driving state under different interaction scenes; if the condition is satisfied, determining a target haptic interaction strategy according to the at least one trigger condition, and controlling the vibration units to vibrate according to the target haptic interaction strategy. According to the application, different off-road risks or driving states correspond to different haptic feedback modes, so that the recognition degree and real-time performance of prompt information are improved.

Description

Technical Field

[0001] This application relates to the field of intelligent cockpit technology, and in particular to a vehicle interaction method and a vehicle. Background Technology

[0002] In professional driving scenarios, vehicles typically need to navigate complex road conditions such as rocks, mud, steep slopes, side slopes, and ditches. Drivers not only need to continuously observe the road ahead, the distribution of obstacles, and the vehicle's trajectory, but also need to pay attention to information such as the navigation path, vehicle attitude, wheel position, drive mode, and the status of driver assistance systems. Off-road environments, in particular, are characterized by large road surface undulations, strong vehicle vibrations, high noise levels, and frequent driving operations, requiring drivers to process significantly more information than in ordinary road driving scenarios.

[0003] Existing vehicles typically provide vehicle status information to the driver through methods such as the central control screen, instrument panel, head-up display, or audio prompts. For example, vehicle attitude information can be displayed on the screen, showing parameters such as pitch and roll angles; driving mode switching results can be confirmed through instrument icons or text; and navigation trajectory and wheel positions can also be presented through a visual interface.

[0004] The above methods are applicable to some extent in ordinary driving scenarios, but in complex driving scenarios, especially professional off-road driving scenarios, the driver's visual attention is mainly focused on the complex road conditions ahead and the vehicle's path. If the driver frequently looks down at the screen or instrument panel, it is easy to cause a shift in gaze and increase driving risks. Summary of the Invention

[0005] In a first aspect, embodiments of this application provide a vehicle interaction method, in which a tactile array composed of multiple vibration units is provided in the vehicle cabin, the method comprising the following steps: The vehicle's driving status is obtained, including: off-road navigation status, vehicle speed, vehicle posture status, driving mode, off-road assistance function, and environmental perception status. The vehicle posture status includes roll angle, pitch angle, and suspension travel difference. The system identifies whether the driving state meets at least one trigger condition. The trigger condition is used to determine whether the driving state allows haptic interaction. Each trigger condition is configured with a judgment rule for the driving state under different interaction scenarios. If the conditions are met, a target tactile interaction strategy is determined based on the at least one triggering condition, and the vibration unit in the tactile array is controlled to vibrate according to the target tactile interaction strategy.

[0006] This implementation method uses off-road navigation status, vehicle speed, vehicle posture, driving mode, off-road assistance functions, and environmental perception status as the criteria for haptic interaction, which improves the comprehensiveness and accuracy of road condition prompts and avoids false alarms, missed alarms, or insufficient prompt information caused by relying on only a single parameter. By outputting vibration feedback when trigger conditions are met, the driver can perceive the road conditions and changes in vehicle posture in a timely manner without frequently looking at the instrument panel, central control screen, or information interface, which helps reduce visual burden during driving. By determining the haptic interaction strategy according to the trigger conditions, different haptic feedback methods can be applied to different off-road risks or driving states, thereby improving the recognition and real-time performance of prompt information.

[0007] In the above embodiments, the tactile array includes a steering wheel vibration array and a seat vibration array. The steering wheel vibration array includes at least an upper vibration unit, a lower vibration unit, a left vibration unit, and a right vibration unit distributed around the center of the steering wheel. The seat vibration array includes at least a first vibration unit, a second vibration unit, a third vibration unit, and a fourth vibration unit distributed around the front, back, left, and right sides of the seat. The first and second vibration units indicate the vehicle's pitch forward and backward, and the third and fourth vibration units indicate the vehicle's lateral tilt.

[0008] Based on this, the tactile array in this embodiment is divided into a steering wheel vibration array and a seat vibration array, respectively utilizing the contact areas of the driver's hands and torso that are more sensitive to vibration feedback to transmit prompt information. The steering wheel vibration array mainly provides hand directional prompts, while the seat vibration array mainly provides vehicle posture prompts. Together, they constitute a spatialized tactile feedback structure that matches the driving state, improving the perceptibility and directional recognition of tactile prompts. This helps maintain the prompting effect under conditions of off-road bumps, strong noise, or high visual concentration, enhancing the timeliness and reliability of vehicle posture prompts. The cooperation between the steering wheel vibration array and the seat vibration array also reduces the problem of insufficient information expression caused by a single vibration source, improving the information carrying capacity of the interaction and the driving assistance experience.

[0009] In some embodiments, each triggering condition is configured with a triggering priority, and determining a target haptic interaction strategy based on the at least one triggering condition includes: If a triggering condition is met, the haptic interaction strategy associated with the triggering condition is determined as the target haptic interaction strategy. If at least two triggering conditions are met, the haptic interaction strategy associated with the highest priority triggering condition is selected as the target haptic interaction strategy based on the triggering priority.

[0010] In some embodiments, after the trigger interaction strategy associated with the highest priority trigger condition is executed, the trigger interaction strategy associated with the low priority trigger condition is configured to be delayed or canceled.

[0011] Based on the above embodiments, the controller pre-configures trigger priorities for different types of trigger conditions. During vehicle operation, it continuously identifies whether the driving state meets the trigger conditions. When only one trigger condition is met, the controller directly invokes the haptic interaction strategy associated with that trigger condition and controls the corresponding vibration unit in the haptic array to output vibration feedback according to the strategy. When at least two trigger conditions are met simultaneously, the controller compares the trigger priorities of each trigger condition, selects the higher-priority trigger condition, and executes the haptic interaction strategy associated with that higher-priority trigger condition.

[0012] By configuring trigger priorities for each trigger condition, information with higher safety risks or requiring immediate driver response can be prioritized when multiple off-road conditions trigger simultaneously, improving the safety guidance of haptic interaction. By directly determining the corresponding haptic interaction strategy when only one trigger condition is met, the response speed of regular off-road prompts can be guaranteed. By filtering the haptic interaction strategy corresponding to the higher-priority trigger condition when at least two trigger conditions are met, interference caused by simultaneous output of multiple vibration modes can be reduced, lowering the risk of driver misjudgment. By configuring low-priority haptic interaction strategies to delay or cancel execution, expired, duplicate, or irrelevant prompts can be avoided from occupying the haptic feedback channel, improving the effectiveness of haptic prompts.

[0013] In some embodiments, the triggering conditions include: obstacle avoidance warning triggering conditions, attitude warning triggering conditions, navigation guidance triggering conditions, and status confirmation triggering conditions, identifying whether the driving state meets at least one triggering condition, including: When the vehicle speed is less than the first vehicle speed threshold during the driving state, and an obstacle is detected within a preset distance around the vehicle, the obstacle avoidance warning trigger condition is met. When the roll angle, pitch angle or suspension travel difference in the driving state reaches the corresponding warning threshold, the attitude warning trigger condition is met. When the off-road navigation is active during the driving state and the vehicle speed is less than the second vehicle speed threshold, the navigation guidance triggering condition is met. When a driving mode switching command is received or the off-road assist function is activated during the driving state, the state confirmation trigger condition is met.

[0014] Based on the above embodiments, the triggering conditions are classified and judged according to vehicle speed, obstacle detection results, vehicle posture parameters, off-road navigation status, driving mode switching command and off-road assistance function status. By dividing the triggering conditions into obstacle avoidance warning triggering conditions, posture warning triggering conditions, navigation guidance triggering conditions and status confirmation triggering conditions, the scene coverage capability of off-road haptic interaction can be improved, so that haptic feedback no longer depends on a single vehicle parameter.

[0015] By setting obstacle avoidance warning conditions that satisfy both low speed and obstacles, unnecessary obstacle warnings can be reduced on highways or during normal driving, improving the applicability of obstacle avoidance warnings. Using roll angle, pitch angle, and suspension travel difference as the basis for attitude warnings enhances the timeliness of abnormal vehicle attitude alerts, facilitating driver adjustments during off-road driving. Combining off-road navigation status with vehicle speed conditions makes navigation guidance more suitable for low-speed off-road driving scenarios, reducing interference from normal road navigation on tactile interaction. Using driving mode switching and off-road assist function activation as status confirmation triggers helps drivers promptly recognize changes in vehicle control status, reducing misoperations caused by unnoticed mode switching.

[0016] In some embodiments, determining the target haptic interaction strategy based on the at least one triggering condition includes: If the obstacle avoidance warning triggering condition is met, the target tactile interaction strategy is determined to be an obstacle avoidance tactile interaction strategy. If the posture warning triggering condition is met, the target haptic interaction strategy is determined to be a posture haptic interaction strategy. If the navigation guidance triggering condition is met, the target haptic interaction strategy is determined to be the navigation haptic interaction strategy. If the state confirmation triggering condition is met, the target haptic interaction strategy is determined to be a state haptic interaction strategy.

[0017] In the above scheme, after identifying at least one trigger condition, the vehicle controller does not directly output a uniform vibration signal. Instead, it first determines the corresponding tactile interaction strategy based on the category of the trigger condition. By assigning different tactile interaction strategies to obstacle avoidance warnings, attitude warnings, navigation guidance, and status confirmations, the distinguishability of tactile prompts can be improved, enabling the driver to more quickly identify which category the current prompt belongs to: obstacle avoidance, attitude, navigation, or vehicle status change. Categorizing and determining tactile interaction strategies reduces confusion between different prompts and improves the understandability and consistency of tactile feedback during driving.

[0018] Specifically, the obstacle avoidance haptic interaction strategy helps enhance the driver's perception of obstacles around the vehicle; the posture haptic interaction strategy helps improve the driver's perception of changes in vehicle tilt and pitch; the navigation haptic interaction strategy helps reduce the frequency with which the driver checks the navigation interface; and the status haptic interaction strategy helps the driver confirm changes in driving mode or off-road assist functions. Overall, this approach enhances the information expression capabilities of the off-road haptic interaction system, improves the accuracy of driver assistance prompts, and enhances driving safety.

[0019] In the above embodiments, the triggering priorities of the obstacle avoidance warning triggering condition, attitude warning triggering condition, navigation guidance triggering condition, and status confirmation triggering condition decrease sequentially.

[0020] This embodiment sets the obstacle avoidance warning trigger condition to the highest priority, prioritizing the alerting of immediate risks related to obstacles around the vehicle and improving obstacle avoidance safety during low-speed off-road driving. Setting the attitude warning trigger condition to the second highest priority ensures timely driver alerts when the vehicle exhibits abnormal tilt, pitch, or suspension travel, reducing the likelihood of navigation or status-based alerts interfering with vehicle attitude risks. Setting the navigation guidance trigger condition after the attitude warning allows for route guidance while prioritizing safety alerts, preventing navigation alerts from occupying critical risk warning channels. Setting the status confirmation trigger condition to the lowest priority reduces interference from driving mode switching or off-road assist function status alerts on obstacle avoidance, attitude, and navigation information.

[0021] In some embodiments, when the target tactile interaction strategy is an obstacle avoidance tactile interaction strategy, controlling the vibration units in the tactile array to vibrate according to the target tactile interaction strategy includes: Obtain the relative orientation of the obstacle with respect to the vehicle; The controlled vibration unit in the tactile array is determined according to the relative direction, and the vibration of the controlled vibration unit is controlled. Specifically, controlling the vibration of the controlled vibration unit involves outputting a driving pulse to the controlled vibration unit. In this embodiment, the driving pulse frequency is high and the driving pulse intensity is strong.

[0022] In the above embodiments, when the vehicle meets the obstacle avoidance warning triggering conditions, the vehicle controller acquires information about obstacles around the vehicle through a surround-view camera, a lidar device, an ultrasonic radar, a millimeter-wave radar, or a combination thereof, and determines the relative direction of the obstacle relative to the vehicle based on the vehicle coordinate system. The relative direction may include front, rear, left, right, left front, right front, left rear, or right rear.

[0023] This embodiment establishes a mapping relationship between the relative direction of obstacles and the corresponding vibration units in the tactile array, enabling the driver to perceive the location of obstacles without looking down at the screen, thus improving the intuitiveness of low-speed off-road obstacle avoidance. By employing high-frequency, strong-pulse vibration feedback, the visibility of obstacle avoidance prompts is enhanced, distinguishing them from non-emergency prompts such as navigation guidance and status confirmations. Through individual or combined feedback from the steering wheel vibration array and the seat vibration array, the reliability of obstacle avoidance information perceived by different drivers can be improved, maintaining a good prompting effect even in scenarios with bumps, high noise levels, or when the driver's visual attention is focused on the road ahead. This method reduces the risk of obstacle misjudgment in scenarios such as narrow off-road roads, rocky roads, forest trails, and water crossings, improving the safety and ease of operation when the vehicle traverses complex terrain at low speeds.

[0024] In another embodiment, when the target tactile interaction strategy is an obstacle avoidance tactile interaction strategy, controlling the vibration unit in the tactile array to vibrate according to the target tactile interaction strategy further includes: Obtain the relative distance between the obstacle and the vehicle; The driving pulse frequency is configured according to the relative distance, and the driving pulse frequency is inversely proportional to the relative distance.

[0025] This embodiment establishes an inverse relationship between the drive pulse frequency and the relative distance to the obstacle, enabling tactile feedback to carry distance information and increasing the amount of information provided in obstacle avoidance warnings. Compared to simply indicating the presence of an obstacle at a fixed frequency, this method allows the driver to more intuitively distinguish the distance to the obstacle, thus enabling more accurate control of the vehicle's trajectory in low-speed off-road scenarios such as passing oncoming traffic on narrow roads, navigating around rocks, avoiding trees, and traversing ditches. Increasing the drive pulse frequency as the obstacle approaches enhances the sense of urgency in the near-distance risk warning, facilitating timely deceleration, steering, or stopping by the driver.

[0026] In another embodiment, when the target tactile interaction strategy is an obstacle avoidance tactile interaction strategy, controlling the vibration unit in the tactile array to vibrate according to the target tactile interaction strategy further includes: When the relative distance is lower than the near distance threshold, the amplitude of the drive pulse of the controlled vibration unit is configured to the maximum value, and vibration is continuously output.

[0027] In the above embodiments, when the relative distance is below the proximity threshold, the vehicle controller determines that the vehicle and the obstacle have entered a high-risk approach state and configures the driving pulse amplitude of the controlled vibration unit corresponding to the direction relative to the obstacle to the maximum value. Simultaneously, the controller controls the controlled vibration unit to continuously output vibration, instead of using low-frequency, intermittent, or weak pulse alerts. This configuration significantly enhances the warning intensity of the proximity obstacle avoidance alert, allowing the driver to quickly perceive the high-risk approach state between the vehicle and the obstacle. By limiting the maximum amplitude continuous vibration to scenarios where the relative distance is below the proximity threshold, it also avoids over-stimulating the driver at normal obstacle avoidance distances, improving the sophistication and comfort of the tactile alert.

[0028] In some embodiments, when the target haptic interaction strategy is a gesture-based haptic interaction strategy, controlling the vibration units in the haptic array to vibrate according to the target haptic interaction strategy includes: When the roll angle exceeds the first warning angle, the vehicle is determined to roll to the left or right based on the roll angle. The controlled vibration unit in the tactile array is determined based on the vehicle's roll to the left or right, and a first continuous drive pulse is output to the controlled vibration unit. The vibration intensity of the drive pulse is proportional to the angle difference between the roll angle and the first warning angle. When the absolute value of the pitch angle exceeds the third warning angle, the vehicle is determined to be tilted forward or backward based on the vehicle pitch angle, and the controlled vibration unit in the tactile array is determined based on the vehicle tilting left or right, and the first continuous drive pulse is output to the controlled vibration unit. The vehicle's suspension travel difference determines whether one wheel is suspended. If so, the controlled vibration unit in the tactile array is determined based on the suspended side, and three short drive pulses are output to the controlled vibration unit. The duration of each drive pulse can be 0.1 to 0.2 seconds, and the interval between adjacent drive pulses can be 0.1 to 0.3 seconds.

[0029] This embodiment improves the driver's efficiency in identifying vehicle posture risks by converting roll angle, pitch angle, and suspension travel difference into different types of tactile feedback. When the roll angle exceeds the first warning angle, a vibration unit corresponding to the left or right tilt direction is used for alerting, allowing the driver to quickly determine the lateral tilt direction of the vehicle. The vibration intensity increases with the angle difference, enabling the driver to perceive the degree of roll risk. When the absolute value of the pitch angle exceeds the third warning angle, a vibration unit corresponding to the forward or backward tilt direction is used for alerting, which helps the driver adjust the throttle, brake, or steering operations in a timely manner when going uphill, downhill, or passing the crest of a slope. A three-stage short drive pulse is used for single-wheel suspension, clearly distinguishing this alert from the continuous vibrations of ordinary roll and pitch, reducing the possibility of the driver confusing different posture information. Overall, this method improves posture perception, driving safety, and vehicle handling stability during off-road driving without increasing the visual burden.

[0030] In some embodiments, when the target haptic interaction strategy is a gesture-based haptic interaction strategy, controlling the vibration units in the haptic array to vibrate according to the target haptic interaction strategy further includes: When the tilt angle exceeds the second warning angle, a second continuous drive pulse is output to the controlled vibration unit. The drive pulse intensity of the second continuous drive pulse is greater than that of the first continuous drive pulse.

[0031] This implementation, by setting a second warning angle and outputting a stronger second continuous drive pulse when the roll angle exceeds the second warning angle, enables the roll warning to have risk classification capabilities. By keeping the controlled vibration unit aligned with the vehicle's left or right roll direction, it is also possible to enhance the warning intensity while retaining directional information, improving the clarity and understandability of the tactile feedback. This method is beneficial for improving vehicle attitude perception and driving safety in off-road scenarios such as traversing slopes, cross-axle obstacles, side slopes, and rock steps.

[0032] In some embodiments, when the target haptic interaction strategy is a navigation haptic interaction strategy, the navigation haptic interaction strategy includes multiple navigation vibration strategies. Controlling the vibration units in the haptic array to vibrate according to the target haptic interaction strategy includes: Obtain the navigation path from the vehicle's navigation system; The navigation path is parsed to identify turning events, trajectory holding events, and / or waypoint arrival events in the navigation path; The navigation vibration strategy associated with the steering event, trajectory holding event, and / or waypoint arrival event is determined as the target navigation vibration strategy; According to the target navigation vibration strategy, drive pulses are output to the controlled vibration units in the tactile array.

[0033] In the above scheme, once the haptic interaction strategy is determined to be the navigation haptic interaction strategy, the vehicle controller obtains the current navigation path from the in-vehicle navigation system. The navigation path may include the current location, target path, waypoints, turning nodes, recommended driving trajectory, and route deviation information. The vehicle controller performs path parsing on the navigation path and identifies turning events, trajectory-keeping events, and waypoint arrival events. Turning events may include left turns, right turns, U-turns, detours, entering side roads, or leaving the current path; trajectory-keeping events can indicate that the vehicle needs to continue along the current off-road trajectory or that the vehicle has a tendency to deviate from the recommended trajectory; waypoint arrival events can indicate that the vehicle has reached a preset checkpoint, off-road route node, supply point, meeting point, or target area. The vehicle controller invokes the corresponding configured navigation vibration strategy based on different navigation events.

[0034] By analyzing the navigation path and converting steering events, trajectory-keeping events, and waypoint arrival events into corresponding navigation vibration strategies, the intuitiveness and distinguishability of off-road navigation prompts can be improved. Drivers can perceive steering direction, trajectory-keeping status, or waypoint arrival information through haptic feedback without frequently checking the in-vehicle navigation interface, thereby reducing the risk of visual distraction.

[0035] The navigation vibration strategy corresponding to the steering event is as follows: intermittent long pulse drive is output to the vibration unit on the steering side of the steering wheel. Specifically, the duration of a single drive pulse is 1 second, the pulse interval is 1 second, and the drive pulse starts to be output when the distance to the steering position is 100 meters. As the distance between the vehicle and the steering position decreases, the pulse interval can be gradually shortened. Furthermore, when the distance to the steering position is less than 50 meters, continuous drive pulses are switched until the steering action begins. Optionally, left turn corresponds to the left vibration unit of the steering wheel vibration array, and right turn corresponds to the right vibration unit of the steering wheel vibration array.

[0036] The navigation vibration strategy corresponding to the trajectory-keeping event is as follows: short drive pulses are alternately output to the upper and lower vibration units in the steering wheel vibration array, with the duration of a single drive pulse being 0.2 to 0.5 seconds; the two sets of vibration units drive alternately according to a preset rhythm. When the vehicle deviates from the target trajectory, the driver can be alerted by changing the pulse interval and / or pulse sequence of the alternating drive.

[0037] The navigation vibration strategy corresponding to the path point arrival event is as follows: three short drive pulses are synchronously output to all vibration units in the steering wheel vibration array; the duration of each drive pulse is 0.1 seconds to 0.3 seconds; and the vector pulse interval is 0.1 seconds to 0.5 seconds.

[0038] Based on the above settings, by configuring different vibration positions, durations, rhythms, and trigger distances for steering events, trajectory-keeping events, and waypoint arrival events, the distinguishability of navigation haptic cues can be improved. Steering events are cued using the steering wheel vibration unit on the corresponding steering side, allowing the driver to intuitively perceive the steering direction. Gradually shortening the pulse interval as the vehicle approaches the steering position and switching to continuous driving pulses when less than 50 meters away enhances the timing and urgency of the steering cues. Trajectory-keeping events use alternating short pulses from the upper and lower vibration units, prompting the driver to maintain the current path without excessive interference. When the vehicle deviates from the target trajectory, changing the pulse interval and / or pulse sequence improves the recognizability of yaw warnings. Waypoint arrival events use three synchronized short pulses from all vibration units in the steering wheel vibration array, providing clear acknowledgment feedback and facilitating driver identification of key waypoint arrival status. Overall, this navigation vibration strategy reduces reliance on visual navigation interfaces during off-road driving, improving the timeliness, directionality, and driving convenience of navigation cues.

[0039] In some embodiments, when the target tactile interaction strategy is a state-based tactile interaction strategy, the state-based tactile interaction strategy includes multiple state vibration strategies. Controlling the vibration units in the tactile array to vibrate according to the target tactile interaction strategy includes: Identify the object mode of the driving mode switching command or the assistance mode of the off-road assist function; Determine the state vibration strategy associated with the object mode or auxiliary mode as the target state vibration strategy; According to the target state vibration strategy, drive pulses are output to the controlled vibration units in the tactile array; The object pattern is used to represent the driving mode selected in the driving mode switching command.

[0040] In the above embodiments, the driving modes include: rock mode and mud / sand mode; the auxiliary modes include crawl mode and steep slope descent mode.

[0041] This embodiment improves the clarity of vehicle status change prompts by identifying the object mode of driving mode switching commands and the assistance mode of off-road assist functions, and configuring corresponding status vibration strategies. Drivers can perceive status changes such as rock mode, mud mode, crawl mode, or hill descent control mode through haptic feedback without looking at the instrument panel or central control screen, thereby reducing visual distraction during off-road driving. By setting different status vibration strategies for different modes, the possibility of drivers confusing vehicle control status can be reduced, improving the timeliness and reliability of mode confirmation. This method is particularly suitable for off-road environments with bumpy terrain, low-speed precision operation, steep descents, or complex adhesion conditions, allowing drivers to adjust throttle, braking, and steering operations according to the current vehicle mode, improving operational convenience and safety during off-road driving.

[0042] In some embodiments, determining the state vibration strategy associated with the object mode or auxiliary mode as the target state vibration strategy includes: If the object mode is rock mode, the corresponding state vibration strategy is to output drive pulses to the third and fourth vibration units in the seat vibration array in a set order. The set order is as follows: third vibration unit, fourth vibration unit, third vibration unit, fourth vibration unit, third vibration unit and fourth vibration unit synchronized. The duration of each set of drive pulses is 0.1 seconds to 0.3 seconds. This tactile sequence expresses the state of the vehicle's left and right wheels finding grip points on the rocky road surface and eventually stabilizing by alternating left and right and then synchronizing. If the object mode is mud and sand mode, the corresponding state vibration strategy is to synchronously output multiple sets of driving pulses to all vibration units of the seat vibration array. The time interval of each set of driving pulses is 0.2 seconds to 0.5 seconds, and the duration of each set of driving pulses is 0.3 seconds to 0.6 seconds. This synchronous multiple sets of vibrations are used to express the state of slight shaking of the vehicle body and slight wheel spinning when the vehicle starts on a soft road surface. If the auxiliary mode is the crawl mode, the corresponding state vibration strategy is to synchronously output continuous drive pulses to all vibration units of the seat vibration array. The drive pulse frequency is low frequency, and the specific frequency value is configured to correspond to the vehicle speed, so that the driver can perceive that the vehicle is in a stable low-speed automatic driving state through low-frequency continuous tactile feedback. If the auxiliary mode is the steep slope descent mode, the corresponding state vibration strategy is to synchronously and periodically output drive pulses to the first and third vibration units of the seat vibration array. The drive pulses are short pulses with a duration of 0.3 seconds and a pulse interval of 0.3 seconds, so as to form a rhythmic confirmation prompt corresponding to the slope descent auxiliary control.

[0043] In the above embodiments, after identifying the object mode or the auxiliary mode, the vehicle controller configures state vibration strategies with different rhythms, different controlled vibration units and different durations for the rock mode, mud and sand mode, crawl mode and steep slope descent mode, respectively. This enables the driver to distinguish between different driving modes and auxiliary modes through tactile feedback, thereby improving the recognition of state confirmation information.

[0044] The Rock Mode employs alternating, synchronized outputs from the third and fourth vibration units, facilitating tactile feedback that helps establish lateral grip changes and eventual stability, making it easier for the driver to confirm that the vehicle has entered a control state suitable for rocky terrain. The Mud and Sand Mode uses multiple sets of drive pulses simultaneously output by all vibration units of the seat vibration array, creating a holistic, swaying confirmation feedback that helps the driver identify when the vehicle has entered a mode suitable for soft surfaces. The Crawl Mode uses low-frequency continuous drive pulses, with the frequency value corresponding to vehicle speed, enhancing the driver's perception of low-speed automatic driving. The Hill Descent Control Mode uses synchronized, periodic short pulses from the first and third vibration units, providing clear slope assistance confirmation. Overall, this approach reduces the driver's reliance on visual interfaces or voice prompts, improving the timeliness, accuracy, and ease of operation of off-road mode confirmation.

[0045] Secondly, embodiments of this application provide a vehicle including a controller, the controller being used to execute the vehicle interaction method described in the first aspect above.

[0046] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle interaction method described in the first aspect above.

[0047] As can be seen from the above technical solutions, additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0048] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a flowchart illustrating a vehicle interaction method according to an embodiment of this application; Figure 2 This is a step-by-step flowchart of a vehicle interaction method according to an embodiment of this application; Figure 3 This is a step-by-step flowchart of a vehicle interaction method according to an embodiment of this application; Figure 4 This is a step-by-step flowchart of a vehicle interaction method according to an embodiment of this application; Figure 5 This is a step-by-step flowchart of a vehicle interaction method according to an embodiment of this application; Figure 6 This is a step-by-step flowchart of the vehicle interaction method according to an embodiment of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0050] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0051] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0052] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0053] In professional off-road driving scenarios, when a vehicle experiences significant tilting, pitching, or approaches its limits, drivers typically rely on physical sensations and experience to judge whether the vehicle's posture is within a safe range. However, during sustained off-road driving, drivers may adapt to the vehicle's swaying, tilting, and vibrations, leading to a less acute perception of dangerous postures. Especially when the vehicle is gradually approaching the risk of rollover or its limits, relying solely on subjective feelings may be delayed, making it difficult to identify dangerous situations in a timely and accurate manner.

[0054] Meanwhile, off-road vehicles are typically equipped with multiple driving modes and assistance functions, such as rock mode, mud / sand mode, crawl mode, and hill descent control mode. In actual off-road driving, drivers may need to frequently switch between these modes or functions depending on road conditions. In existing technologies, mode switching or system status confirmation mainly relies on visual displays or audio prompts. Drivers need to be distracted by checking the instrument panel or central control screen to confirm whether the current mode has been successfully switched and whether the relevant systems are functioning, increasing the burden of operational confirmation.

[0055] Furthermore, in off-road environments, vehicle engine noise, tire noise, gravel impact sounds, and vehicle vibrations are all quite noticeable, making traditional audio cues susceptible to interference from ambient noise; while visual cues can distract the driver's already highly focused visual attention. Therefore, relying solely on visual and auditory feedback makes it difficult to balance the timeliness, accuracy, and driving safety of information delivery in professional off-road driving scenarios.

[0056] Therefore, how to improve the efficiency of information perception and driving safety during professional off-road driving without significantly occupying the driver's visual attention and being less affected by noise in the off-road environment has become a key technical issue in the interaction between vehicles and drivers in off-road scenarios.

[0057] Therefore, this application provides a vehicle interaction method. Figure 1 This is a flowchart of a vehicle interaction method according to an embodiment of this application, such as... Figure 1 As shown, the method includes the following steps: S100: Obtain the vehicle's driving status, which includes: off-road navigation status, vehicle speed, vehicle posture status, driving mode, off-road assistance function, and environmental perception status. The vehicle posture status includes roll angle, pitch angle, and suspension travel difference. S200: Identify whether the driving state meets at least one triggering condition; S300: If satisfied, determine the target tactile interaction strategy according to the at least one triggering condition, and control the vibration unit in the tactile array to vibrate according to the target tactile interaction strategy.

[0058] In the above embodiments, during vehicle operation, the vehicle can obtain its driving status from the navigation system, vehicle stability control system, suspension control system, vehicle controller, driving mode controller, and environmental perception module via the onboard controller. Specifically, the off-road navigation status can be used to characterize whether the vehicle is on an off-road route, approaching steep slopes, water crossings, rocky terrain, sandy terrain, muddy terrain, or sharp turns; vehicle speed can be provided by wheel speed sensors or the vehicle controller; roll and pitch angles can be obtained by inertial measurement units, vehicle attitude sensors, or fusion computing modules; suspension travel difference can be obtained by air suspension, active suspension, or suspension height sensors; driving modes can include off-road related modes such as sand, mud, and rock; off-road assistance functions can include the activation status of functions such as hill descent control and crawl control; and environmental perception status can be provided by components such as cameras, millimeter-wave radar, ultrasonic radar, or lidar. The vehicle controller fuses and judges the above statuses and matches them with preset trigger conditions.

[0059] After the triggering conditions are met, the controller determines the tactile interaction strategy according to the type of triggering conditions. The tactile interaction strategy may include the triggering position of the vibration unit, vibration frequency, vibration intensity, vibration duration, vibration rhythm, and the sequential triggering order among multiple vibration units.

[0060] This implementation method uses off-road navigation status, vehicle speed, vehicle posture, driving mode, off-road assistance functions, and environmental perception status as the criteria for haptic interaction, which improves the comprehensiveness and accuracy of off-road condition prompts and avoids false alarms, missed alarms, or insufficient prompt information caused by relying on only a single parameter. By outputting vibration feedback when trigger conditions are met, the driver can perceive the vehicle's road conditions and changes in vehicle posture in a timely manner without frequently observing the instrument panel, central control screen, or off-road information interface, which helps reduce visual burden during off-road driving. By determining the haptic interaction strategy based on trigger conditions, different haptic feedback methods can be applied to different off-road risks or driving states, thereby improving the recognition and real-time nature of prompt information.

[0061] In the above embodiments, the tactile array includes a steering wheel vibration array and a seat vibration array. The steering wheel vibration array includes at least an upper vibration unit, a lower vibration unit, a left vibration unit, and a right vibration unit distributed around the center of the steering wheel. The seat vibration array includes at least a first vibration unit, a second vibration unit, a third vibration unit, and a fourth vibration unit distributed around the front, back, left, and right sides of the seat. The first and second vibration units indicate the vehicle's pitch forward and backward, and the third and fourth vibration units indicate the vehicle's lateral tilt.

[0062] Based on this, the tactile array in this embodiment is divided into a steering wheel vibration array and a seat vibration array, respectively utilizing the contact areas of the driver's hands and torso that are more sensitive to vibration feedback to transmit prompt information. The steering wheel vibration array mainly provides hand directional prompts, while the seat vibration array mainly provides vehicle posture prompts. Together, they constitute a spatialized tactile feedback structure that matches the driving state, improving the perceptibility and directional recognition of tactile prompts. This helps maintain the prompting effect under conditions of off-road bumps, strong noise, or high visual concentration, enhancing the timeliness and reliability of vehicle posture prompts. The cooperation between the steering wheel vibration array and the seat vibration array also reduces the problem of insufficient information expression caused by a single vibration source, improving the information carrying capacity of the off-road tactile interaction system and the driving assistance experience.

[0063] In some embodiments, reference Figure 2 As shown, each triggering condition is configured with a triggering priority. The target haptic interaction strategy is determined based on at least one triggering condition, including: S310: If a triggering condition is met, the haptic interaction strategy associated with the triggering condition is determined as the target haptic interaction strategy. S320: If at least two triggering conditions are met, then based on the triggering priority, the haptic interaction strategy associated with the highest priority triggering condition is selected as the target haptic interaction strategy.

[0064] In some embodiments, after the trigger interaction strategy associated with the highest priority trigger condition is executed, the trigger interaction strategy associated with the low priority trigger condition is configured to be delayed or canceled.

[0065] Based on the above embodiments, the controller pre-configures trigger priorities for different types of trigger conditions. During vehicle operation, it continuously identifies whether the driving state meets the trigger conditions. When only one trigger condition is met, the controller directly invokes the haptic interaction strategy associated with that trigger condition and controls the corresponding vibration unit in the haptic array to output vibration feedback according to the strategy. When at least two trigger conditions are met simultaneously, the controller compares the trigger priorities of each trigger condition, selects the higher-priority trigger condition, and executes the haptic interaction strategy associated with that higher-priority trigger condition.

[0066] By configuring trigger priorities for each trigger condition, information with higher safety risks or requiring immediate driver response can be prioritized when multiple off-road conditions trigger simultaneously, improving the safety guidance of haptic interaction. By directly determining the corresponding haptic interaction strategy when only one trigger condition is met, the response speed of regular off-road prompts can be guaranteed. By selecting the haptic interaction strategy corresponding to the highest priority trigger condition when at least two trigger conditions are met, interference caused by simultaneous output of multiple vibration modes can be reduced, lowering the risk of driver misjudgment. By configuring low-priority haptic interaction strategies to delay or cancel execution, expired, duplicate, or irrelevant prompts can be avoided from occupying the haptic feedback channel, improving the effectiveness of haptic prompts.

[0067] In another embodiment, when the vehicle enters a paved road surface, such as an asphalt road surface, and the vehicle speed remains above 40 km / h for a set period of time, the tactile interaction method of this application is terminated.

[0068] Based on this, the embodiments of this application set paved road surface and vehicle speed as exit conditions, which enables the haptic interaction method to match the actual off-road usage scenario and reduces the occurrence of off-road haptic prompts being output after the vehicle enters ordinary roads. By using a vehicle speed higher than 40km / h as one of the judgment criteria, the low-speed off-road driving state and ordinary road driving state can be better distinguished, improving the accuracy of exit judgment.

[0069] In some embodiments, the triggering conditions include: obstacle avoidance warning triggering conditions, attitude warning triggering conditions, navigation guidance triggering conditions, and status confirmation triggering conditions, identifying whether the driving state meets at least one triggering condition, including: When the vehicle speed is less than the first speed threshold and an obstacle is detected within a preset distance around the vehicle, the obstacle avoidance warning trigger condition is met. For example, the first speed threshold can be 10 km / h to indicate that the vehicle is traveling at a low speed. Optionally, obstacle detection can be performed by a surround-view camera or by a lidar device, both of which can report the obstacle position to the vehicle. When the roll angle, pitch angle, or suspension travel difference reaches the corresponding warning threshold during driving, the attitude warning trigger condition is met. When the off-road navigation is active while driving and the vehicle speed is less than the second speed threshold, the navigation guidance trigger condition is met; optionally, the second speed threshold can be 30km / h; here, the off-road navigation status can be obtained by prompting the driver to activate the off-road navigation mode through a pop-up reminder when the in-vehicle navigation system is turned on, and the off-road navigation status is active when this function is activated.

[0070] When a driving mode switching command is received or the off-road assist function is activated during the driving state, the state confirmation trigger condition is met.

[0071] Based on the above embodiments, the triggering conditions are classified and judged according to vehicle speed, obstacle detection results, vehicle posture parameters, off-road navigation status, driving mode switching command and off-road assistance function status. By dividing the triggering conditions into obstacle avoidance warning triggering conditions, posture warning triggering conditions, navigation guidance triggering conditions and status confirmation triggering conditions, the scene coverage capability of off-road haptic interaction can be improved, so that haptic feedback no longer depends on a single vehicle parameter.

[0072] By setting obstacle avoidance warning conditions that satisfy both low speed and obstacles, unnecessary obstacle warnings can be reduced on highways or during normal driving, improving the applicability of obstacle avoidance warnings. Using roll angle, pitch angle, and suspension travel difference as the basis for attitude warnings enhances the timeliness of abnormal vehicle attitude alerts, facilitating driver adjustments during off-road driving. Combining off-road navigation status with vehicle speed conditions makes navigation guidance more suitable for low-speed off-road driving scenarios, reducing interference from normal road navigation on tactile interaction. Using driving mode switching and off-road assist function activation as status confirmation triggers helps drivers promptly recognize changes in vehicle control status, reducing misoperations caused by unnoticed mode switching.

[0073] In another embodiment, the first speed threshold and the second speed threshold can be calibrated according to vehicle type, off-road mode, tire specifications, vehicle load, road adhesion conditions or user preferences. In addition to 10 km / h, the first speed threshold can also be set to 8 km / h, 12 km / h or other values ​​suitable for characterizing low-speed obstacle avoidance. In addition to 30 km / h, the second speed threshold can also be set to 25 km / h, 35 km / h or other values ​​suitable for characterizing off-road navigation guidance scenarios.

[0074] In another embodiment, the off-road navigation status can be activated via in-vehicle navigation pop-up confirmation, voice confirmation, physical button confirmation, driving mode linkage activation, or automatic activation after the vehicle enters a preset off-road route. The driving mode switching command in the status confirmation trigger condition can come from the central control screen, steering wheel buttons, gear shift mechanism, vehicle voice system, or automatic switching logic of the vehicle controller.

[0075] In some embodiments, determining the target haptic interaction strategy based on the at least one triggering condition includes: If the obstacle avoidance warning triggering condition is met, the target tactile interaction strategy is determined to be an obstacle avoidance tactile interaction strategy. If the posture warning triggering condition is met, the target haptic interaction strategy is determined to be a posture haptic interaction strategy. If the navigation guidance triggering condition is met, the target haptic interaction strategy is determined to be the navigation haptic interaction strategy. If the state confirmation triggering condition is met, the target haptic interaction strategy is determined to be a state haptic interaction strategy.

[0076] In the above scheme, after identifying at least one trigger condition, the vehicle controller does not directly output a uniform vibration signal. Instead, it first determines the corresponding tactile interaction strategy based on the category of the trigger condition. By assigning different tactile interaction strategies to obstacle avoidance warnings, attitude warnings, navigation guidance, and status confirmations, the distinguishability of tactile prompts can be improved, enabling the driver to more quickly identify which category the current prompt belongs to: obstacle avoidance, attitude, navigation, or vehicle status change. Categorizing and determining tactile interaction strategies reduces confusion between different prompts and improves the understandability and consistency of tactile feedback during driving.

[0077] Specifically, the obstacle avoidance haptic interaction strategy helps enhance the driver's perception of obstacles around the vehicle; the posture haptic interaction strategy helps improve the driver's perception of changes in vehicle tilt and pitch; the navigation haptic interaction strategy helps reduce the frequency with which the driver checks the navigation interface; and the status haptic interaction strategy helps the driver confirm changes in driving mode or off-road assist functions. Overall, this approach enhances the information expression capabilities of the off-road haptic interaction system, improves the accuracy of driver assistance prompts, and enhances driving safety.

[0078] In the above embodiments, the triggering priorities of the obstacle avoidance warning triggering condition, attitude warning triggering condition, navigation guidance triggering condition, and status confirmation triggering condition decrease sequentially.

[0079] This embodiment sets the obstacle avoidance warning trigger condition to the highest priority, prioritizing the alerting of immediate risks related to obstacles around the vehicle and improving obstacle avoidance safety during low-speed off-road driving. Setting the attitude warning trigger condition to the second highest priority ensures timely driver alerts when the vehicle exhibits abnormal tilt, pitch, or suspension travel, reducing the likelihood of navigation or status-based alerts interfering with vehicle attitude risks. Setting the navigation guidance trigger condition after the attitude warning allows for route guidance while prioritizing safety alerts, preventing navigation alerts from occupying critical risk warning channels. Setting the status confirmation trigger condition to the lowest priority reduces interference from driving mode switching or off-road assist function status alerts on obstacle avoidance, attitude, and navigation information.

[0080] In another embodiment, the trigger priority can be represented by a preset level identifier, priority value, risk score, or state machine sequence. For example, the obstacle avoidance warning trigger condition can be configured as a first-level priority, the attitude warning trigger condition as a second-level priority, the navigation guidance trigger condition as a third-level priority, and the status confirmation trigger condition as a fourth-level priority; alternatively, the priority can be calibrated by using a method where the larger the value, the higher the priority, or the smaller the value, the higher the priority.

[0081] In another embodiment, the priority of each triggering condition can be dynamically adjusted according to the actual operating conditions of the vehicle. For example, when the vehicle is climbing at extremely low speeds or in rock mode, the priority of the attitude warning triggering condition is increased; when the vehicle enters narrow forest roads, ravines, or areas with dense obstacles, the obstacle avoidance warning triggering condition is maintained at the highest priority; when the driver actively requests navigation assistance, the execution weight of the navigation guidance triggering condition is appropriately increased. Although the status confirmation triggering condition has the lowest priority by default, it can be configured to have a higher priority or switch to a fault indication channel for critical status changes that affect the vehicle's control capabilities, such as differential lock disengagement failure, abnormal exit of hill descent control, or off-road assist function malfunction.

[0082] In some embodiments, reference Figure 3 As shown, when the target tactile interaction strategy is an obstacle avoidance tactile interaction strategy, the vibration unit in the tactile array is controlled to vibrate according to the target tactile interaction strategy, including: S331: Obtain the relative direction of the obstacle with respect to the vehicle; S332: Determine the controlled vibration unit in the tactile array according to the relative direction, and control the vibration of the controlled vibration unit.

[0083] Controlling the vibration of the controlled vibration unit specifically involves outputting drive pulses to the controlled vibration unit; wherein the drive pulse frequency is high frequency and the drive pulse intensity is strong pulse. For example, when the obstacle is located on the right side of the vehicle, the controlled vibration unit can be the right vibration unit in the steering wheel vibration array and / or the fourth vibration unit in the seat vibration array.

[0084] In the above embodiments, when the vehicle meets the obstacle avoidance warning triggering conditions, the vehicle controller acquires information about obstacles around the vehicle through a surround-view camera, a lidar device, an ultrasonic radar, a millimeter-wave radar, or a combination thereof, and determines the relative direction of the obstacle relative to the vehicle based on the vehicle coordinate system. The relative direction may include front, rear, left, right, left front, right front, left rear, or right rear.

[0085] The vehicle controller selects a controlled vibration unit from the tactile array corresponding to the relative direction of the obstacle. For example, when the obstacle is in front of the vehicle, the upper vibration unit in the steering wheel vibration array and / or the first vibration unit in the seat vibration array can be controlled to vibrate; when the obstacle is behind the vehicle, the lower vibration unit and / or the second vibration unit can be controlled to vibrate; when the obstacle is on the left side of the vehicle, the left vibration unit and / or the third vibration unit can be controlled to vibrate; and when the obstacle is on the right side of the vehicle, the right vibration unit and / or the fourth vibration unit can be controlled to vibrate.

[0086] For oblique obstacles, two adjacent vibration units can be controlled simultaneously. For example, an obstacle to the right front corresponds to at least two of the following: the upper vibration unit, the right vibration unit, the first vibration unit, and the fourth vibration unit. The controller outputs high-frequency, strong pulse drive pulses to the controlled vibration units, enabling the driver to perceive the obstacle's location through hand or body contact areas. The high frequency can be configured to be a higher vibration frequency than normal status confirmation prompts, and the strong pulse can be configured to be a higher drive intensity than navigation guidance or status confirmation prompts, to highlight the emergency nature of the obstacle avoidance warning.

[0087] This embodiment establishes a mapping relationship between the relative direction of obstacles and the corresponding vibration units in the tactile array, enabling the driver to perceive the location of obstacles without looking down at the screen, thus improving the intuitiveness of low-speed off-road obstacle avoidance. By employing high-frequency, strong-pulse vibration feedback, the visibility of obstacle avoidance prompts is enhanced, distinguishing them from non-emergency prompts such as navigation guidance and status confirmations. Through individual or combined feedback from the steering wheel vibration array and the seat vibration array, the reliability of obstacle avoidance information perceived by different drivers can be improved, maintaining a good prompting effect even in scenarios with bumps, high noise levels, or when the driver's visual attention is focused on the road ahead. This method reduces the risk of obstacle misjudgment in scenarios such as narrow off-road roads, rocky roads, forest trails, and water crossings, improving the safety and ease of operation when the vehicle traverses complex terrain at low speeds.

[0088] In another embodiment, when the target tactile interaction strategy is an obstacle avoidance tactile interaction strategy, controlling the vibration unit in the tactile array to vibrate according to the target tactile interaction strategy further includes: Obtain the relative distance between the obstacle and the vehicle; The driving pulse frequency is configured according to the relative distance, and the driving pulse frequency is inversely proportional to the relative distance.

[0089] In the above embodiments, when the vehicle meets the obstacle avoidance warning triggering conditions, the vehicle controller, in addition to obtaining the relative direction of the obstacle relative to the vehicle, also obtains the relative distance of the obstacle relative to the vehicle. The relative distance can be the minimum distance between the obstacle and the vehicle's front bumper, rear bumper, side edge of the vehicle body, outer edge of the tire, or the vehicle's envelope boundary.

[0090] This embodiment establishes an inverse relationship between the drive pulse frequency and the relative distance to the obstacle, enabling tactile feedback to carry distance information and increasing the amount of information provided in obstacle avoidance warnings. Compared to simply indicating the presence of an obstacle at a fixed frequency, this method allows the driver to more intuitively distinguish the distance to the obstacle, thus enabling more accurate control of the vehicle's trajectory in low-speed off-road scenarios such as passing oncoming traffic on narrow roads, navigating around rocks, avoiding trees, and traversing ditches. Increasing the drive pulse frequency as the obstacle approaches enhances the sense of urgency in the near-distance risk warning, facilitating timely deceleration, steering, or stopping by the driver.

[0091] In another embodiment, when the target tactile interaction strategy is an obstacle avoidance tactile interaction strategy, controlling the vibration unit in the tactile array to vibrate according to the target tactile interaction strategy further includes: When the relative distance is lower than the proximity threshold, such as 0.5 meters, the amplitude of the drive pulse of the controlled vibration unit is set to the maximum value and vibration is continuously output.

[0092] In the above embodiments, when the relative distance is below the proximity threshold, the vehicle controller determines that the vehicle and the obstacle have entered a high-risk approach state and configures the driving pulse amplitude of the controlled vibration unit corresponding to the direction relative to the obstacle to the maximum value. Simultaneously, the controller controls the controlled vibration unit to continuously output vibration, instead of using low-frequency, intermittent, or weak pulse alerts. This configuration significantly enhances the warning intensity of the proximity obstacle avoidance alert, allowing the driver to quickly perceive the high-risk approach state between the vehicle and the obstacle. By limiting the maximum amplitude continuous vibration to scenarios where the relative distance is below the proximity threshold, it also avoids over-stimulating the driver at normal obstacle avoidance distances, improving the sophistication and comfort of the tactile alert.

[0093] In some embodiments, reference Figure 4 As shown, when the target haptic interaction strategy is a gesture-based haptic interaction strategy, the vibration units in the haptic array are controlled to vibrate according to the target haptic interaction strategy, including: S341: When the roll angle exceeds the first warning angle, determine whether the vehicle is tilted to the left or right based on the roll angle, determine the controlled vibration unit in the tactile array based on the vehicle tilting to the left or right, and output a first continuous drive pulse to the controlled vibration unit. The vibration intensity of the drive pulse is proportional to the angle difference between the roll angle and the first warning angle. For example, but not limited to, when the vehicle is tilted to the left, the controlled vibration unit is the third vibration unit, and vice versa. S342: When the absolute value of the pitch angle exceeds the third warning angle, determine whether the vehicle is tilting forward or backward based on the vehicle pitch angle, determine the controlled vibration unit in the tactile array based on whether the vehicle is tilting left or right, and output the first continuous drive pulse to the controlled vibration unit. For example, when the vehicle is tilting forward, the controlled vibration unit is the first vibration unit, and vice versa. S343: Determine whether there is a single wheel suspended in the vehicle based on the suspension travel difference. If so, determine the controlled vibration unit in the tactile array based on the suspended side, and output three short drive pulses to the controlled vibration unit. The duration of each drive pulse can be 0.1 seconds to 0.2 seconds, and the interval between adjacent drive pulses can be 0.1 seconds to 0.3 seconds.

[0094] The steps S341 to S343 above are steps that are executed in parallel.

[0095] In the above embodiments, the vehicle controller acquires the roll angle, pitch angle, and suspension travel difference, and determines the corresponding vibration feedback mode according to different attitude parameters. When the roll angle exceeds the first warning angle, the controller determines whether the vehicle is tilted to the left or right based on the direction of the roll angle, and selects the controlled vibration unit in the seat vibration array corresponding to the tilt direction accordingly. Subsequently, the controller outputs a first continuous drive pulse to the controlled vibration unit, and makes the vibration intensity of the drive pulse proportional to the angle difference between the roll angle and the first warning angle, that is, the greater the roll angle exceeds the first warning angle, the greater the vibration intensity. When the absolute value of the pitch angle exceeds the third warning angle, the controller determines whether the vehicle is tilted forward or backward based on the positive or negative direction of the pitch angle, and selects the controlled vibration unit corresponding to the pitch direction. For example, when the vehicle is tilted forward, the controller determines the first vibration unit as the controlled vibration unit; when the vehicle is tilted backward, the controller can determine the second vibration unit as the controlled vibration unit and output the first continuous drive pulse to the corresponding controlled vibration unit.

[0096] Regarding suspension travel differences, the controller can determine whether a single wheel is suspended based on the travel difference between the left and right suspensions on the same axle, the travel difference between the diagonal suspensions, or changes in wheel load. Specifically, it monitors the suspension extension and retraction of all four wheels in real time using data from suspension height sensors. By comparing the extension and retraction of the four wheels, if the extension and retraction of the left front wheel and the right rear wheel (left rear wheel and right front wheel) simultaneously exceed the threshold, and the compression of the other two wheels also deviates from the normal range, then the difference between the vehicle's suspension travel and the normal travel exceeds the allowable range, which is determined to be a cross-axle condition, indicating a single wheel is suspended. If a single wheel is determined to be suspended, the controller determines the corresponding controlled vibration unit based on the suspended side and outputs three short drive pulses to distinguish it from continuous vibrations indicating roll or pitch. The duration of each drive pulse can be 0.1 to 0.2 seconds, and the interval between adjacent drive pulses can be 0.1 to 0.3 seconds, thus forming a suspension warning with a clear rhythmic characteristic.

[0097] This embodiment improves the driver's efficiency in identifying vehicle posture risks by converting roll angle, pitch angle, and suspension travel difference into different types of tactile feedback. When the roll angle exceeds the first warning angle, a vibration unit corresponding to the left or right tilt direction is used for alerting, allowing the driver to quickly determine the lateral tilt direction of the vehicle. The vibration intensity increases with the angle difference, enabling the driver to perceive the degree of roll risk. When the absolute value of the pitch angle exceeds the third warning angle, a vibration unit corresponding to the forward or backward tilt direction is used for alerting, which helps the driver adjust the throttle, brake, or steering operations in a timely manner when going uphill, downhill, or passing the crest of a slope. A three-stage short drive pulse is used for single-wheel suspension, clearly distinguishing this alert from the continuous vibrations of ordinary roll and pitch, reducing the possibility of the driver confusing different posture information. Overall, this method improves posture perception, driving safety, and vehicle handling stability during off-road driving without increasing the visual burden.

[0098] In some embodiments, when the target haptic interaction strategy is a gesture-based haptic interaction strategy, controlling the vibration units in the haptic array to vibrate according to the target haptic interaction strategy further includes: When the tilt angle exceeds the second warning angle, a second continuous drive pulse is output to the controlled vibration unit. The drive pulse intensity of the second continuous drive pulse is greater than that of the first continuous drive pulse.

[0099] In the above scheme, the controller continuously acquires the vehicle roll angle and compares it with a first warning angle and a second warning angle. The second warning angle can be configured to be higher than the first warning angle to characterize a higher roll risk level than a normal roll warning. When the roll angle exceeds the first warning angle but does not exceed the second warning angle, the controller outputs a first continuous drive pulse to the controlled vibration unit corresponding to the left or right roll direction as described above; when the roll angle further exceeds the second warning angle, the controller switches the output signal to a second continuous drive pulse. The controlled vibration unit is still determined according to the left or right roll direction of the vehicle; for example, when the vehicle rolls to the left, the controlled vibration unit can be the third vibration unit, and when the vehicle rolls to the right, the controlled vibration unit can be the fourth vibration unit. The drive pulse intensity of the second continuous drive pulse is greater than that of the first continuous drive pulse, enabling the driver to perceive the increased roll risk level through stronger vibration. Thus, the posture haptic interaction strategy can output graded haptic feedback according to the different warning intervals of the roll angle.

[0100] This implementation, by setting a second warning angle and outputting a stronger second continuous drive pulse when the roll angle exceeds the second warning angle, enables the roll warning to have risk classification capabilities. By keeping the controlled vibration unit aligned with the vehicle's left or right roll direction, it is also possible to enhance the warning intensity while retaining directional information, improving the clarity and understandability of the tactile feedback. This method is beneficial for improving vehicle attitude perception and driving safety in off-road scenarios such as traversing slopes, cross-axle obstacles, side slopes, and rock steps.

[0101] In some embodiments, reference Figure 5 As shown, when the target haptic interaction strategy is a navigation haptic interaction strategy, the navigation haptic interaction strategy includes multiple navigation vibration strategies. The vibration units in the haptic array are controlled to vibrate according to the target haptic interaction strategy, including: S351: Obtain the navigation path from the vehicle navigation system; S352: Perform path parsing on the navigation path to identify turning events, trajectory holding events, and / or waypoint arrival events in the navigation path; S353: Determine the navigation vibration strategy associated with the steering event, trajectory holding event and / or waypoint arrival event as the target navigation vibration strategy; S354: Output drive pulses to the controlled vibration units in the tactile array according to the target navigation vibration strategy.

[0102] In the above scheme, once the haptic interaction strategy is determined to be the navigation haptic interaction strategy, the vehicle controller obtains the current navigation path from the in-vehicle navigation system. The navigation path may include the current location, target path, waypoints, turning nodes, recommended driving trajectory, and route deviation information. The vehicle controller performs path parsing on the navigation path and identifies turning events, trajectory-keeping events, and waypoint arrival events. Turning events may include left turns, right turns, U-turns, detours, entering side roads, or leaving the current path; trajectory-keeping events can indicate that the vehicle needs to continue along the current off-road trajectory or that the vehicle has a tendency to deviate from the recommended trajectory; waypoint arrival events can indicate that the vehicle has reached a preset checkpoint, off-road route node, supply point, meeting point, or target area. The vehicle controller invokes the corresponding configured navigation vibration strategy based on different navigation events.

[0103] By analyzing the navigation path and converting steering events, trajectory-keeping events, and waypoint arrival events into corresponding navigation vibration strategies, the intuitiveness and distinguishability of off-road navigation prompts can be improved. Drivers can perceive steering direction, trajectory-keeping status, or waypoint arrival information through haptic feedback without frequently checking the in-vehicle navigation interface, thereby reducing the risk of visual distraction.

[0104] The navigation vibration strategy corresponding to the steering event is as follows: intermittent long pulse drive is output to the vibration unit on the steering side of the steering wheel. Specifically, the duration of a single drive pulse is 1 second, the pulse interval is 1 second, and the drive pulse starts to be output when the distance to the steering position is 100 meters. As the distance between the vehicle and the steering position decreases, the pulse interval can be gradually shortened. Furthermore, when the distance to the steering position is less than 50 meters, continuous drive pulses are switched until the steering action begins. Optionally, left turn corresponds to the left vibration unit of the steering wheel vibration array, and right turn corresponds to the right vibration unit of the steering wheel vibration array.

[0105] The navigation vibration strategy corresponding to the trajectory-keeping event is as follows: short drive pulses are alternately output to the upper and lower vibration units in the steering wheel vibration array, with the duration of a single drive pulse being 0.2 to 0.5 seconds; the two sets of vibration units drive alternately according to a preset rhythm. When the vehicle deviates from the target trajectory, the driver can be alerted by changing the pulse interval and / or pulse sequence of the alternating drive.

[0106] The navigation vibration strategy corresponding to the path point arrival event is as follows: three short drive pulses are synchronously output to all vibration units in the steering wheel vibration array; the duration of each drive pulse is 0.1 seconds to 0.3 seconds; and the vector pulse interval is 0.1 seconds to 0.5 seconds.

[0107] Based on the above settings, by configuring different vibration positions, durations, rhythms, and trigger distances for steering events, trajectory-keeping events, and waypoint arrival events, the distinguishability of navigation haptic cues can be improved. Steering events are cued using the steering wheel vibration unit on the corresponding steering side, allowing the driver to intuitively perceive the steering direction. Gradually shortening the pulse interval as the vehicle approaches the steering position and switching to continuous driving pulses when less than 50 meters away enhances the timing and urgency of the steering cues. Trajectory-keeping events use alternating short pulses from the upper and lower vibration units, prompting the driver to maintain the current path without excessive interference. When the vehicle deviates from the target trajectory, changing the pulse interval and / or pulse sequence improves the recognizability of yaw warnings. Waypoint arrival events use three synchronized short pulses from all vibration units in the steering wheel vibration array, providing clear acknowledgment feedback and facilitating driver identification of key waypoint arrival status. Overall, this navigation vibration strategy reduces reliance on visual navigation interfaces during off-road driving, improving the timeliness, directionality, and driving convenience of navigation cues.

[0108] In another embodiment, the initial prompt distance for the steering event is not limited to 100 meters, and can also be set to 50 meters, 80 meters, 120 meters, or other distances depending on vehicle speed, road curvature, off-road surface complexity, or steering angle. The threshold for switching to continuous drive pulses when the distance to the steering position is less than 50 meters can also be dynamically adjusted according to vehicle speed and driving mode.

[0109] In another embodiment, the alternating driving mode of the upper and lower vibration units in the trajectory holding event can be replaced by the upper vibration unit alone providing low-frequency prompts, the upper vibration unit combined with the left and right vibration units providing prompts, or the left or right vibration unit being controlled to provide auxiliary prompts according to the direction of trajectory deviation.

[0110] In another embodiment, the three short drive pulses in the waypoint arrival event can also be configured to be two, four or other preset numbers, and different vibration intensities can be set according to the waypoint type. For example, weaker short pulses are used for ordinary waypoints, and stronger short pulses are used for important checkpoints or endpoints.

[0111] In another embodiment, the controlled vibration unit can be linked with the seat vibration array in addition to the steering wheel vibration array to enhance the reliability of perception in strong bumpy or high-noise off-road scenarios.

[0112] In some embodiments, reference Figure 6 As shown, when the target haptic interaction strategy is a state-based haptic interaction strategy, the state-based haptic interaction strategy includes multiple state vibration strategies. The vibration units in the haptic array are controlled to vibrate according to the target haptic interaction strategy, including: S361: Identify the object mode of the driving mode switching command or the assistance mode of the off-road assistance function; S362: Determine the state vibration strategy associated with the object mode or auxiliary mode as the target state vibration strategy, wherein the object mode is used to represent the driving mode selected in the driving mode switching command; S363: Output drive pulses to the controlled vibration unit in the tactile array according to the target vibration strategy.

[0113] In the above embodiments, the driving modes include: Rock Mode and Mud and Sand Mode; the auxiliary modes include Crawl Mode and Hill Descent Mode. Rock Mode refers to the vehicle cautiously traversing large rocks, axle articulation, or severely bumpy unpaved roads at extremely low speeds, typically requiring precise throttle control by the driver. Mud and Sand Mode refers to the vehicle driving on soft, high-resistance, and variable-traction surfaces such as sand, mud, and deep snow. Crawl Mode refers to the vehicle automatically driving at extremely low speeds on extremely rugged or low-traction surfaces, such as piles of rocks, deep snow, or sand; for example, extremely low speeds are typically 1-12 km / h. Hill Descent Mode refers to the vehicle automatically controlling the brakes on steep downhill sections (such as gravel slopes or muddy steep slopes) to maintain a preset, stable low-speed descent.

[0114] This embodiment improves the clarity of vehicle status change prompts by identifying the object mode of driving mode switching commands and the assistance mode of off-road assist functions, and configuring corresponding vibration strategies. Drivers can perceive status changes such as rock mode, mud mode, crawl mode, or hill descent control mode through haptic feedback without looking at the instrument panel or central control screen, thereby reducing visual distraction during off-road driving. By setting different vibration strategies for different modes, the possibility of drivers confusing vehicle control status can be reduced, improving the timeliness and reliability of mode confirmation. This method is particularly suitable for off-road environments with bumpy terrain, low-speed precision operation, steep descents, or complex adhesion conditions, allowing drivers to adjust throttle, braking, and steering operations according to the current vehicle mode, improving operational convenience and safety during off-road driving.

[0115] In some embodiments, determining the state vibration strategy associated with the object mode or auxiliary mode as the target state vibration strategy includes: If the object mode is rock mode, the corresponding state vibration strategy is to output drive pulses to the third and fourth vibration units in the seat vibration array in a set order. The set order is as follows: third vibration unit, fourth vibration unit, third vibration unit, fourth vibration unit, third vibration unit and fourth vibration unit synchronized. The duration of each set of drive pulses is 0.1 seconds to 0.3 seconds. This tactile sequence expresses the state of the vehicle's left and right wheels finding grip points on the rocky road surface and eventually stabilizing by alternating left and right and then synchronizing. If the object mode is mud and sand mode, the corresponding state vibration strategy is to synchronously output multiple sets of driving pulses to all vibration units of the seat vibration array. The time interval of each set of driving pulses is 0.2 seconds to 0.5 seconds, and the duration of each set of driving pulses is 0.3 seconds to 0.6 seconds. This synchronous multiple sets of vibrations are used to express the state of slight shaking of the vehicle body and slight wheel spinning when the vehicle starts on a soft road surface. If the auxiliary mode is the crawl mode, the corresponding state vibration strategy is to synchronously output continuous drive pulses to all vibration units of the seat vibration array. The drive pulse frequency is low frequency, and the specific frequency value is configured to correspond to the vehicle speed, so that the driver can perceive that the vehicle is in a stable low-speed automatic driving state through low-frequency continuous tactile feedback. If the auxiliary mode is the steep slope descent mode, the corresponding state vibration strategy is to synchronously and periodically output drive pulses to the first and third vibration units of the seat vibration array. The drive pulses are short pulses with a duration of 0.3 seconds and a pulse interval of 0.3 seconds, so as to form a rhythmic confirmation prompt corresponding to the slope descent auxiliary control.

[0116] In the above embodiments, after identifying the object mode or the assistance mode, the vehicle controller configures vibration strategies with different rhythms, different controlled vibration units and different durations for the rock mode, mud and sand mode, crawl mode and steep slope descent mode, respectively. This enables the driver to distinguish between different driving modes and assistance modes through tactile feedback, thereby improving the recognition of status confirmation information.

[0117] The Rock Mode employs alternating, synchronized outputs from the third and fourth vibration units, facilitating tactile feedback that helps establish lateral grip changes and eventual stability, making it easier for the driver to confirm that the vehicle has entered a control state suitable for rocky terrain. The Mud and Sand Mode uses multiple sets of drive pulses simultaneously output by all vibration units of the seat vibration array, creating a holistic, swaying confirmation feedback that helps the driver identify when the vehicle has entered a mode suitable for soft surfaces. The Crawl Mode uses low-frequency continuous drive pulses, with the frequency value corresponding to vehicle speed, enhancing the driver's perception of low-speed automatic driving. The Hill Descent Control Mode uses synchronized, periodic short pulses from the first and third vibration units, providing clear slope assistance confirmation. Overall, this approach reduces the driver's reliance on visual interfaces or voice prompts, improving the timeliness, accuracy, and ease of operation of off-road mode confirmation.

[0118] In another embodiment, the setting sequence corresponding to the rock mode can be adjusted according to the vehicle's left and right wheel drive strategy, differential lock status, or wheel adhesion status. For example, it can be started by the fourth vibration unit to alternate output, or the first vibration unit and the second vibration unit can be added to participate in the prompting during the alternating output process.

[0119] In another embodiment, the number of drive pulse groups, duration, and time intervals synchronously output in the mud and sand mode can be adjusted according to the intensity level of the mud and sand mode, traction control strategy, or driver tactile preferences.

[0120] In another embodiment, the frequency of the drive pulse and the vehicle speed in the crawl mode can be linearly corresponded, segmented, or lookup table-based. For example, the higher the vehicle speed, the higher the frequency of the low-frequency continuous drive pulse, so as to maintain the consistency between the tactile feedback and the vehicle's driving state.

[0121] In another embodiment, the controlled vibration unit in the steep slope descent mode is not limited to the first and third vibration units. It can also be one or more of the first, second, third, and fourth vibration units selected based on the vehicle's downhill direction, slope gradient, or driver settings. The vibration strategy corresponding to each mode can also be configured with different pulse intensities and rhythms based on whether the mode activation is successful, fails, exits, or is abnormally interrupted.

[0122] The above-mentioned replacements or modifications do not change the basic technical concept of configuring differentiated seat vibration strategies based on object mode or auxiliary mode.

[0123] In another embodiment, this application may also combine visual prompts, voice prompts, etc., wherein the visual prompts may be displayed simultaneously through the central control display screen, the instrument display screen, etc.; the voice prompts are only superimposed with a short, high-pitched auditory alarm when the highest level warning (such as an impending collision or rollover) is issued, forming a strong multi-sensory stimulation.

[0124] For example, but not limited to, as the vehicle's roll angle gradually increases, the central control display can show a color bar corresponding to the roll angle, with the length or color intensity of the bar changing with the roll angle. When the vibration unit in the haptic array corresponding to the roll direction outputs vibration, the color bar corresponding to that roll direction flashes synchronously, establishing a correspondence between visual cues and haptic feedback. For obstacle avoidance warnings, navigation guidance, or status confirmation, obstacle location icons, turn indicator icons, mode confirmation icons, or auxiliary function icons can also be displayed simultaneously.

[0125] Voice prompts are restricted to the highest level of warning scenarios, such as when a vehicle faces an imminent collision risk, rollover risk, or other high-risk conditions requiring immediate intervention. In these scenarios, the controller outputs a short, high-pitched auditory alarm. Thus, tactile feedback serves as the primary real-time alert channel, visual cues as a status display and review auxiliary channel, and voice prompts as an extreme risk enhancement channel. These three functions work collaboratively according to their different information intensities and usage scenarios.

[0126] Tactile vibrations and corresponding color bars flash synchronously, facilitating the formation of multi-channel information associations and reducing the driver's understanding cost of a single prompt method. Voice prompts are triggered only during the highest level of warning, avoiding excessive voice interference in ordinary off-road prompts, while enhancing the warning intensity in emergency scenarios such as impending collisions or rollovers. This approach, while ensuring the real-time nature of tactile interaction and low visual burden, improves the reliability of the system's prompts in extreme risk scenarios, and also addresses the needs of post-event review, occupant assistance in observation, and driving safety.

[0127] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0128] This application also provides a vehicle, including: a controller connected in communication, the controller being used to execute the control method described in the above embodiments.

[0129] A controller is typically an integrated electronic control module containing a microprocessor, memory, input / output interfaces, and other components. It can receive data from various sensors and systems in real time and make corresponding control decisions based on preset algorithms and logic. Controllers are generally installed in the vehicle's cockpit or engine compartment to ensure a relatively safe location that facilitates electrical connections with other vehicle systems.

[0130] The vehicle provided in this embodiment is used to execute the control method described above, and therefore can achieve the same effect as the implementation method described above.

[0131] The beneficial effects of the above embodiments can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0132] Furthermore, the vehicle control method of the present application embodiments described above can be implemented by an electronic device. The electronic device may include a processor and a memory storing computer program instructions.

[0133] Specifically, the processor may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0134] The memory may include a large-capacity storage for data or instructions. Memory can be used to store or cache various data files that need to be processed and / or communicated, as well as possible computer program instructions executed by the processor.

[0135] The processor implements any of the vehicle control methods described in the above embodiments by reading and executing computer program instructions stored in the memory.

[0136] The electronic device can execute the vehicle control method in the embodiments of this application based on the acquired computer program instructions.

[0137] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0138] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A vehicle interaction method, characterized in that, The method includes installing a tactile array consisting of multiple vibration units inside the vehicle cabin, and the method further includes: Obtain the vehicle's driving status; The system identifies whether the driving state meets at least one trigger condition. The trigger condition is used to determine whether the driving state allows haptic interaction. Each trigger condition is configured with a judgment rule for the driving state under different interaction scenarios. If the conditions are met, a target tactile interaction strategy is determined based on the at least one triggering condition, and the vibration unit in the tactile array is controlled to vibrate according to the target tactile interaction strategy.

2. The vehicle interaction method according to claim 1, characterized in that, Each trigger condition is configured with a trigger priority, and a target haptic interaction strategy is determined based on the at least one trigger condition, including: If a triggering condition is met, the haptic interaction strategy associated with the triggering condition is determined as the target haptic interaction strategy. If at least two triggering conditions are met, then based on the triggering priority, the haptic interaction strategy associated with the highest priority triggering condition is selected as the target haptic interaction strategy.

3. The vehicle interaction method according to claim 1 or 2, characterized in that, Triggering conditions include: obstacle avoidance warning triggering conditions, attitude warning triggering conditions, navigation guidance triggering conditions, and status confirmation triggering conditions. The system identifies whether the driving state meets at least one triggering condition, including: When the vehicle speed is less than the first vehicle speed threshold during the driving state, and an obstacle is detected within a preset distance around the vehicle, the obstacle avoidance warning trigger condition is met. When the roll angle, pitch angle or suspension travel difference in the driving state reaches the corresponding warning threshold, the attitude warning trigger condition is met. When the off-road navigation is active during the driving state and the vehicle speed is less than the second vehicle speed threshold, the navigation guidance triggering condition is met. When a driving mode switching command is received or the off-road assist function is activated during the driving state, the state confirmation trigger condition is met.

4. The vehicle interaction method according to claim 3, characterized in that, Determining the target haptic interaction strategy based on the at least one triggering condition includes: If the obstacle avoidance warning triggering condition is met, the target tactile interaction strategy is determined to be an obstacle avoidance tactile interaction strategy. If the posture warning triggering condition is met, the target haptic interaction strategy is determined to be a posture haptic interaction strategy. If the navigation guidance triggering condition is met, the target haptic interaction strategy is determined to be the navigation haptic interaction strategy. If the state confirmation triggering condition is met, the target haptic interaction strategy is determined to be a state haptic interaction strategy.

5. The vehicle interaction method according to claim 4, characterized in that, When the target tactile interaction strategy is an obstacle avoidance tactile interaction strategy, the vibration units in the tactile array are controlled to vibrate according to the target tactile interaction strategy, including: Obtain the relative orientation of the obstacle with respect to the vehicle; The controlled vibration unit in the tactile array is determined according to the relative direction, and the vibration of the controlled vibration unit is controlled.

6. The vehicle interaction method according to claim 4, characterized in that, When the target haptic interaction strategy is a gesture-based haptic interaction strategy, the vibration units in the haptic array are controlled to vibrate according to the target haptic interaction strategy, including: When the roll angle exceeds the first warning angle, the vehicle is determined to be tilted to the left or right based on the roll angle, and the controlled vibration unit in the tactile array is determined based on the vehicle tilting to the left or right, and a first continuous drive pulse is output to the controlled vibration unit. When the absolute value of the pitch angle exceeds the third warning angle, the vehicle is determined to be tilted forward or backward based on the vehicle pitch angle, and the controlled vibration unit in the tactile array is determined based on the vehicle tilting left or right, and the first continuous drive pulse is output to the controlled vibration unit. The vehicle's suspension travel difference determines whether one wheel is suspended. If so, the controlled vibration unit in the tactile array is determined based on the suspended side, and a drive pulse is output to the controlled vibration unit.

7. The vehicle interaction method according to claim 4, characterized in that, When the target haptic interaction strategy is a gesture-based haptic interaction strategy, controlling the vibration units in the haptic array to vibrate according to the target haptic interaction strategy further includes: When the tilt angle exceeds the second warning angle, a second continuous drive pulse is output to the controlled vibration unit. The drive pulse intensity of the second continuous drive pulse is greater than that of the first continuous drive pulse.

8. The vehicle interaction method according to claim 4, characterized in that, When the target haptic interaction strategy is a navigation haptic interaction strategy, the navigation haptic interaction strategy includes multiple navigation vibration strategies. The vibration units in the haptic array are controlled to vibrate according to the target haptic interaction strategy, including: Obtain the navigation path from the vehicle navigation system; The navigation path is parsed to identify turning events, trajectory holding events, and / or waypoint arrival events in the navigation path; The navigation vibration strategy associated with the steering event, trajectory holding event, and / or waypoint arrival event is determined as the target navigation vibration strategy; According to the target navigation vibration strategy, drive pulses are output to the controlled vibration units in the tactile array.

9. The vehicle interaction method according to claim 4, characterized in that, When the target tactile interaction strategy is a state-based tactile interaction strategy, the state-based tactile interaction strategy includes multiple state vibration strategies. The vibration units in the tactile array are controlled to vibrate according to the target tactile interaction strategy, including: Identify the object mode of the driving mode switching command or the assistance mode of the off-road assist function; Determine the state vibration strategy associated with the object mode or auxiliary mode as the target state vibration strategy; According to the target state vibration strategy, drive pulses are output to the controlled vibration units in the tactile array; The object pattern is used to represent the driving mode selected in the driving mode switching command.

10. A vehicle, characterized in that, Includes a controller for performing the vehicle interaction method as described in any one of claims 1 to 9.

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