Warning procedures and a vehicle that implements such a procedure

Abstract

Procedure comprising: Evaluating (602) states relating to a vehicle (10); Selecting (606) a type of haptic warning based on the evaluated states; Selecting (608) a pattern of haptic actuators (322, 332) to issue commands based on the type of haptic warning and a location of the haptic actuators (322, 332) in a seat (200) of the vehicle; Selecting (610) a number of active haptic periods (502) to control these periods (502) based on the type of haptic warning; Selecting (612) a duration of the active haptic periods (502) and a duration of inactive haptic periods (504) based on the type of haptic warning;and generating (614) a signal indicating the active haptic periods (502) based on the selected pattern of haptic actuators (322, 332), the selected number of active haptic periods (502), and the selected duration of the active haptic periods (502) and inactive haptic periods (504); wherein the selection (608) of a pattern of haptic actuators for steering comprises at least the selection of a second haptic actuator (332) adjacent to a driver's right leg and the selection of a first haptic actuator (322) adjacent to a left leg, based on the type of haptic warning and the location of the evaluated states; wherein the seat (200) of the vehicle further comprises a lower seat element (210) which includes a seat shell (310), a first side bolster (320), and a second side bolster (330) includes;wherein the first side bolster (320) and the second side bolster (330) are arranged on longitudinal sides of the seat shell (310) to support the legs and thighs of the driver; wherein the first side bolster (320) and the second side bolster (330) are arranged on the sides of the lower seat element (210) at an angle to the seat shell (310); wherein each of the side bolsters (320, 330) has a front end (324, 334) and a rear end (326, 336) with respect to a primary forward direction of travel; wherein a backrest element (220) covers a section of the side bolsters (320, 330) at the rear ends (326, 336); wherein the second haptic actuator (332) is arranged adjacent to the driver's right leg in the second side bolster (330); and wherein the first haptic actuator (322) is located adjacent to the left leg in the first lateral cheek (320);wherein the first and second haptic actuators (322, 332) are installed in the first and second side panels (320, 330) to separate the vibration of the first and second haptic actuators (322, 332) from each other, so that the first and second haptic actuators (322, 332) and their perceptible vibration are decoupled from each other; wherein the vibrations are localizable in such a way that when at least one of the two first and second haptic actuators (322, 332) is activated, the sitter does not perceive any unwanted vibrations which are transmitted through a seat cushion padding material to the other of the respective first and second haptic actuators (322, 332);wherein a maximum amplitude of a measured vertical acceleration at a point of the at least one activated actuator of the first and second haptic actuators (322, 332) in a normal direction to a seat side bolster surface is at least seven times greater than a maximum amplitude of a measured acceleration along an axis parallel to an axis of rotation of the motor shaft movement of the first and second haptic actuators (322, 332).

Description

TECHNICAL AREA

[0001] The technical field generally concerns driver warning systems and procedures, and in particular control systems and procedures for haptic devices which are assigned to a vehicle seating arrangement. BACKGROUND

[0002] Collision avoidance systems warn drivers of potential collision hazards, whether they are within the driver's field of vision (e.g., detected by onboard vehicle sensors) or outside the driver's field of vision (e.g., determined by wireless vehicle-to-vehicle, vehicle-to-infrastructure, and / or vehicle-to-pedestrian connections). Collision avoidance systems can generate visual and / or audible warnings to alert the driver to potential collision hazards. These typical collision avoidance systems, designed to warn the driver of a condition requiring attention, can be distracting and confusing. Such distraction and confusion can increase the driver's reaction time and reduce the effectiveness of the collision avoidance system.

[0003] Accordingly, it is desirable to provide methods and systems for warning a vehicle driver using a haptic device, in particular improved methods and systems that generate more effective haptic warnings. Further desirable features and characteristics of the present invention will become apparent from the following detailed description and the accompanying claims in conjunction with the accompanying drawings and the preceding technical field and background information. Summary

[0004] A method for warning a vehicle occupant is provided. In one embodiment, the method includes assessing or evaluating vehicle-related conditions, selecting a type of haptic warning, or...Warning based on the evaluated states, selecting a pattern of haptic actuators to control these periods based on the type of haptic warning and the location of the haptic actuators in a seat of the vehicle, selecting a number of active haptic periods to control these periods based on the type of haptic warning, selecting a duration of the active haptic periods and a duration of inactive haptic periods based on the type of haptic warning, and generating a signal that indicates the active haptic periods based on the selected pattern of haptic actuators, the selected number of active haptic periods, and the selected duration of the active and inactive haptic periods.

[0005] A method for warning a vehicle occupant is provided. In one embodiment, the method comprises assessing or evaluating vehicle-related states based on data from sensors assigned to the vehicle, selecting a type of haptic warning based on the evaluated states, selecting at least one haptic actuator adjacent to the right leg of a driver and one haptic actuator adjacent to the left leg of a driver based on the type of haptic warning and the location of the evaluated states, and selecting a number of active haptic periods to control the haptic warning based on its type.To issue commands, to select a duration of active haptic periods and a duration of inactive haptic periods based on the type of haptic warning, and to generate a signal that indicates the active haptic periods based on the selected pattern of haptic actuators, the selected number of active haptic periods and the selected duration of active and inactive haptic periods.

[0006] A vehicle is provided to deliver haptic feedback to an occupant. In one embodiment, the vehicle comprises a seat, a first haptic actuator, a second haptic actuator, and a controller. The seat has a first side bolster to support the driver's right leg and a second side bolster to support the driver's left leg. The first haptic actuator is located in the first side bolster, and the second haptic actuator is located in the second side bolster. The controller communicates with the first and second haptic actuators and evaluates vehicle states, selects a type of haptic warning based on the evaluated states, and selects a pattern of the first and second haptic actuators.To control the first and second haptic actuators based on the type of haptic warning and the location of the evaluated states, selects a number of active haptic periods, selects a duration of active haptic periods and a duration of inactive haptic periods based on the type of haptic warning, and generates a signal indicating the active haptic periods based on the selected haptic actuator pattern, the selected number of active haptic periods, and the selected duration of active and inactive haptic periods. DESCRIPTION OF THE DRAWINGS

[0007] The exemplary embodiments are explained below in conjunction with the following drawing figures, where the same reference numerals denote the same elements, and where:

[0008] Fig. 1 is a functional block diagram representing a vehicle which includes a driver warning system according to exemplary embodiments;

[0009] Fig. 2 a schematic side position view of a vehicle seating arrangement of the vehicle from Fig. 1 according to exemplary embodiments;

[0010] Fig. 3 a partial top view of the seating arrangement Fig. 2 according to exemplary embodiments;

[0011] Fig. 4 a side view of a seat arrangement Fig. 3 according to exemplary embodiments;

[0012] Fig. 5 a graphical representation of an activation profile and an acceleration profile according to exemplary embodiments; and

[0013] Fig. 6 to Fig. Eight flowcharts are shown, which depict warning procedures that can be carried out by the warning systems according to exemplary embodiments. DETAILED DESCRIPTION

[0014] The following detailed description is merely exemplary and is not intended to limit applications and uses. Furthermore, it is not intended to be limited by any theory, express or implied, presented in the preceding technical field, background, summary, or detailed description. It is assumed that in the drawings, corresponding reference numerals denote identical or equivalent parts or features. As used herein, the term "module" means an application-specific integrated circuit (ASIC), an electrical circuit, a processor (when accessed concurrently, purpose-built, or as a group), memory executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components providing the described functionality.

[0015] In general, the exemplary embodiments described herein relate to alarm systems and procedures for a driver, where these systems or procedures are implemented as a vehicle seat arrangement. The driver warning systems and procedures may include actuators integrated into the seat side bolsters, which provide improved haptic, i.e., perceptible to the driver, responses and are easy to install.

[0016] Fig. 1 is a function block diagram, which represents a vehicle 10 represents a driver warning system 100 according to exemplary embodiments. Although not shown, the vehicle has a generally known configuration with one or more seats for a driver and a battery. 12 for supplying vehicle components 10 Additional details regarding vehicle seating arrangements 200A brief description of the driver warning system will follow below. 100 provided.

[0017] In general, the driver warning system includes 100 one or more collision avoidance modules 110 , a communication module 120 , a control module 130 , an arrangement for a haptic, i.e. perceptible, warning (or haptic feedback arrangement) 140 as well as one or more additional warning devices, including a visual warning device 150 , an acoustic warning device 152 and an infotainment warning system 154 As mentioned above and described in more detail below, the haptic warning arrangement 140 in the vehicle seating arrangement 200 be installed, which also serves as part of the driver warning system 100 can be considered. In operation, and as described in more detail below, the control module receives130 Input signals from the collision avoidance modules 110 and the communication module 120 , which indicate a possible collision situation. The control module 130 It evaluates the input signals and operates the haptic warning system as needed. 140 and / or warning devices 150 , 152 , 154 to warn the driver of an impending collision. Thus, the driver warning system can 100 The system functions in such a way as to warn the driver of an impending collision, enabling the driver to initiate collision avoidance maneuvers (e.g., braking and / or appropriate evasive steering) and / or collision mitigation actions (e.g., braking and / or steering). Although the figures shown herein depict exemplary arrangements of elements, additional interacting elements, devices, features, or components may be present in actual embodiments.

[0018] In general, collision avoidance modules include 110 One or more onboard vehicle sensors (e.g., a camera, radar, and / or lidar) that detect potential collision information based on the vehicle sensor signals. The collision avoidance modules 110Generally, these systems can be implemented, for example, as forward collision warning systems, lane departure warning systems or lane keeping assist systems, front parking aids, rear parking aids, automatic front and rear braking systems, rear cross-traffic alert systems, adaptive cruise control (ACC), blind spot detection systems, lane change warning systems, driver attention systems (e.g., monitoring for distraction and / or fatigue), and pedestrian detection systems in front of and behind the vehicle. As mentioned above, the driver warning system can 100 further a communication module 120These include communication between vehicles, between the vehicle and infrastructure, and / or between the vehicle and pedestrians, cyclists, or an activity either within or outside the driver's field of vision to predict a potential collision (e.g., when a traffic obstruction or congestion is detected in front of the vehicle outside the driver's field of vision). In general, the collision avoidance modules are 110 and / or the communication module 120 in a communicative manner with a control module 130 coupled, which assesses a possible collision based on vehicle sensor signals and / or communications.

[0019] The control module 130 comprises one or more submodules or units 132 , 134 , 136 and 138 , which cooperate together to process the signals from the collision avoidance modules 110and the communication module 120 to evaluate and, in response, send a control signal to operate one or more of the haptic warning devices 140 and / or the facilities 150 , 152 , 154 to generate. As explained below, the control module can 130 a monitoring unit 132 , a user settings unit 134 , a unit of assessment 136 as well as a pattern or structure determination unit 138 include. Preferably, the following can be included: Fig. The units shown in Figure 1 may be integrated with other control modules or may be separate and unoccupied for each collision avoidance system. The control module may also be a plug-in device integrated into the vehicle's onboard diagnostic connector (OBD-II), a retrofit module combined with an existing vehicle module (i.e., attached to the host module using an adapter connector), or a replacement part for an existing vehicle system (i.e., for example, in the rearview mirror assembly). The control module may also be a wireless device that communicates with the vehicle via a short-range wireless connection, such as Wi-Fi, Bluetooth, NFC, or similar.

[0020] In general, the monitoring unit monitors 132 Inputs from various vehicle components 10 , in particular the haptic warning device140 , in order to determine an appropriate action. If the monitoring unit 132 If it is determined that a component is not functioning correctly, the monitoring unit can 132 generate a warning message, a warning signal and / or a faulty operating condition that can be communicated to the vehicle driver or a technician.

[0021] The user settings unit 134 It manages the display of a configuration menu and user input received from the user, which interacts with the configuration menu. Such a configuration menu can be displayed on a display device located in the vehicle or remotely from the vehicle. In various configurations, the configuration menu includes selectable options which, when selected, allow a user to configure the various warning settings that the vehicle's systems display. 150 , 152 , 154and / or the haptic warning arrangement 140 are assigned. The warning settings for the haptic warning arrangement. 140 The settings can include, but are not limited to, the occurrence of vibration (e.g., whether vibration should be enabled for a specific operating mode), the location of the vibration on the seat, the intensity of the vibration, the duration of the vibration, the vibration rate, and / or the frequency of the vibration pulses. Based on user input received from the user making settings in the configuration menu, the user configuration unit stores these settings. 134The user-configured warning settings are stored in a warning settings database. Preferably, the warning settings database can include volatile memory, which stores the settings for a certain period of time, non-volatile memory, which applies the settings at regularly recurring intervals, or a combination of volatile and non-volatile memory.

[0022] The assessment unit 136 It works in such a way that the current operating mode of the vehicle 10 is determined and, based on this operating mode, the status input signals and communications from the collision avoidance modules are determined. 110 and the communication module 120 to be evaluated. Based on this evaluation, the evaluation unit can be determined. 136Determine that a collision situation exists, e.g., that the vehicle could potentially be involved in a collision. When a collision condition is detected, the evaluation unit sends a signal. 136 a suitable signal to the structure or pattern determination unit 138 The signal can also indicate the type of collision situation.

[0023] Upon identification of the collision state, the pattern or structure determination unit generates 138 a control signal to activate one or more of the facilities 150 , 152 , 154 and / or the haptic warning arrangement 140to activate. In one exemplary embodiment, the control signal can define one or more warning structures based on the collision situation. The warning structures include haptic warning structures, visual warning structures, and / or acoustic warning structures. In various embodiments, the structure determination unit determines 138 The warning structures are determined by retrieving predefined warning settings and / or user-defined warning settings from the warning settings database based on the collision situation. Further details regarding the warning structures are explained below.

[0024] The warning pattern or structure can also be a synchronization of several aspects of the facilities. 150 , 152 , 154 and the haptic warning arrangement 140 Display. For example, the haptic warning arrangement 140The warning structure can include multiple actuators, such as right and left actuators, as explained below. Therefore, it can include direction-dependent commands, such as operating or activating the right or left actuator to provide additional information about the nature or characteristics of the collision situation (e.g., the location of the collision hazard).

[0025] Any suitable visual warning device 150 and acoustic warning device 152 can be provided. For example, the visual warning device can be 150 as lighting inside the vehicle's interior 10 be implemented, and the acoustic warning device 152 It can be implemented as part of the vehicle's sound system. The infotainment warning system 154 can be a device or combination of devices for interaction with the vehicle 10This corresponds to, for example, the infotainment warning system. 154 The infotainment warning system includes a display integrated into the dashboard, as well as controls such as a touchscreen, buttons, and / or rotary knobs. 154 Assigned warning signals can take the form of visual or optical, acoustic and / or haptic warning signals (e.g., haptic pulses emanating from a touchscreen, which are perceived or felt when touching an area of ​​the touchscreen with a finger).

[0026] The haptic warning arrangement 140 This can be any suitable haptic warning device. In one exemplary embodiment, the haptic warning arrangement is... 140 as part of the vehicle seating arrangement 200 implemented, as described in more detail below.

[0027] Fig. Figure 2 is a schematic side view of a vehicle seating arrangement 200according to an exemplary embodiment. The seating arrangement 200 can be installed on the floor of the vehicle's passenger area, such as the vehicle's interior. 10 , which is described above. In an exemplary embodiment, the seating arrangement is 200 a driver's seat for an automobile, although in other exemplary embodiments the seating arrangement 200 It can be a passenger seat and / or can be installed in any type of vehicle.

[0028] As in Fig. The seating arrangement shown in section 2 includes the following: 200 a lower seating element 210 , a back element 220 , a headrest 230 and a haptic warning arrangement 140 , such as the haptic warning arrangement 140 , which above with reference to Fig. 1 was introduced. The lower seat element 210Generally defines a horizontal surface to support an occupant (not shown). The backrest or backrest element. 220 can be swivelled to the lower seat element 210 It is coupled and generally defines a vertical surface to support the occupant's back. The headrest 230 is operationally connected to the backrest element 220 coupled to provide head support for the occupant. Although not shown, the lower seat element 210 , the backrest element 220 as well as the headrest 230 Each consists of a foam body which is attached to a frame and has a corresponding cover.

[0029] As described in more detail below, the haptic warning arrangement 140 in the lower seat element 210It is installed to provide haptic signals (e.g., vibrations) to the occupant or seated person in predetermined situations. As mentioned above, the haptic warning system is 140 Part of the driver warning system 100 , to warn the driver and / or to control the vehicle automatically (e.g., to brake or steer) in order to either assist the driver in avoiding the collision or to reduce the collision or impact speed.

[0030] Fig. 3 is a top view of the seating arrangement made of Fig. 2 according to an exemplary embodiment. As in Fig. As shown in section 3, the lower seat element includes 210 generally a seat cushion 310 , a first side cheek 320 and a second side cheek 330 The cheeks 320 , 330 are generally referred to as the outermost side elements of the lower seating element. 210considered. Preferably, in various other embodiments, the seat can be 310 no side bolsters 320 , 330 Features such as a flat seat cushion. In Fig. 3 are the cheeks 320 , 330 on the sides in the longitudinal direction of the seating element 310 (e.g., on the left and right sides) are arranged to support the legs and thighs of the person sitting. Each of the side bolsters 320 , 330 can a front end 324 , 334 as well as a rear end 326 , 336 with reference to the primary forward direction of travel. In the illustration, the backrest element can be 220 a section of the cheeks 320 , 330 at the rear ends 326 , 336 to cover. As is generally known in seat design, the side bolsters 320 , 330 on the sides of the lower seating element 210arranged, typically at an angle to the seat element 310 .

[0031] Fig. 3 additionally presents positional aspects of the haptic warning arrangement 140 This includes, in particular, the haptic warning arrangement. 140 a first actuator 322 , which is located in the first side cheek 320 is installed, and a second actuator 332 , which is located in the second side cheek 330 is installed. The first and second actuators. 322 , 332 are equipped with haptic controls 350 via a cable harness 360 connected. In an exemplary embodiment, the haptic control corresponds to 350 the control module described above 130 , although the haptic control 350 Alternatively, it can be a separate control system. Preferably, the ones in Fig. The units shown in Figure 1 may be integrated with other control modules or may be separate and unoccupied for each collision avoidance system. The control module may also be a plug-in device integrated into the vehicle's onboard diagnostic connector (OBD-II), a retrofit module combined with an existing vehicle module (i.e., attached to the host module using an adapter connector), or a replacement part for an existing vehicle system (i.e., for example, in the rearview mirror assembly). The control module may also be a wireless device that communicates with the vehicle via a short-range wireless connection, such as Wi-Fi, Bluetooth, NFC, or similar.

[0032] Generally, the first and second actuators 322 , 332Arranged to allow the occupant to perceive and distinguish different types of haptic signals clearly and quickly, without negatively impacting seating comfort and stability. The special positions of the first and second actuators 322 , 332 Additional factors can include various seat design considerations, such as seat structure, side bolster design, and foam or padding thickness. Although the first and second actuators 322 , 332 than in the side cheeks 320 , 330 As described, the first and second actuators can be arranged. 322 , 332 in other embodiments, however, in other areas of the seating arrangement 200 be arranged, such as the seat cushion 310 , the back element 220 and / or the headrest 230 .

[0033] As shown, the first and second actuators are 322 , 332(e.g., two actuators) are provided to independently generate the desired haptic signals for the occupant either on the left side, the right side, or both. However, in further embodiments, additional actuators may be provided. In one exemplary embodiment, an installation of the first and second actuators acts 322 , 332 in the first and second side cheeks 320 , 330 in such a way as to separate the vibration of the respective actuators from each other, so that the actuators 322 , 332 , i.e., the perceptible vibration of the actuators 322 , 332 are decoupled (or isolated) from each other.

[0034] Thus, the vibrations can be highly localized. Consequently, if only one of the two actuators (e.g., the left actuator) is activated, the occupant will not perceive any unwanted vibrations that could be transmitted through the seat cushion material or the seat structure to the other actuator location (e.g., the right actuator). For example, the maximum amplitude of the measured vertical acceleration at the location of the activated actuator, perpendicular to the side bolster surface, can be at least seven times greater than the maximum amplitude of the measured acceleration along the axis parallel to the axis of rotation of the motor shaft.

[0035] In an exemplary embodiment, the first and second actuators are 322 , 332 approximately two-thirds of the distance between the front ends 324 , 334 the side cheeks 320 , 330and the back element 220 positioned. In an exemplary embodiment, the first and second actuators can be 322 , 332 (e.g. the leading edge of the actuators) 322 , 332 ) laterally to the so-called H-point (or help point) 370 They must be aligned as shown schematically. In other embodiments, the actuators are 322 , 332 (e.g. the rear edge of the actuators) 322 , 332 ) approximately 25 cm in front of the so-called H-point 370 positioned and / or between 0 cm and 25 cm in front of the so-called H-point 370 As is generally recognized in vehicle design, the so-called H-point 370 The theoretical, relative position of the hips of the seated person, in particular the pivot point between the upper body or torso and the lower leg sections. In general, and as already discussed above, the actuators are 322 , 332The positions are positioned taking into account effectiveness, placement, durability, and seating comfort. However, the exemplary positions described herein allow the sitter advantageous reaction times with regard to both perception and recognition (e.g., feeling the vibration and recognizing the direction from which the warning signal originates), typically on the order of a few hundred milliseconds. In one exemplary embodiment, the location of the so-called H-point is 370 unchanged compared to a lower seating element without a haptic feedback arrangement.

[0036] As explained below, the two actuators are 322 , 332This is advantageous with regard to the detection of a seated person and the interpretation of a warning signal (e.g., the direction from which a collision is likely to occur), with respect to seating comfort and stability. In an exemplary embodiment, the actuators can 322 , 332 The first and second sections of a haptic warning message can each be generated individually, or operated individually to create the overall effect. For example, the two actuators 322 , 332 a clear signal regarding the type and direction of the warning is provided, e.g. by a rapid pulsing of signals from the left actuator. 322This allows the driver(s) to notice that a left lane marking has been crossed without the left turn signal being activated, similar to a rumble strip. Additional actuators, such as activating the right actuator in this case where the left lane marking has been crossed, will reduce the likelihood that the occupant will correctly associate this activation with a left-side incident and will increase the time for the occupant to determine that a left-side incident has occurred (e.g., if the activation occurs when the driver takes their eyes off the road ahead). Similarly, the position and size of the actuators are 322 , 332Advantageous with regard to seat stability, which can be measured in a known manner by sliding into the seat, stress on the cover due to movements of the occupant on the cover, as well as seat stability tests with regard to knee load. The actuators 322 , 332 They can be designed to withstand approximately 100,000 cycles over 150,000 miles or about 240,000 kilometers of a vehicle's lifespan. Other positions can impair occupant detection and warning effectiveness, seat comfort, and seat durability. For example, if the haptic device is located at the very front edge of the seat, the occupant may not perceive seat vibrations if they push their legs back against the front of the seat.

[0037] Fig. Figure 4 is a side view of an engine. 400 , which goes into the actuators 322 , 332, as explained above, can be integrated. For example, a motor 400 in each of the actuators 322 , 332 be integrated. The engine 400 It can be a relatively small and light motor, for example a motor powered by 12 V direct current (DC), in which an electric current drives magnets or coils to create an output shaft. 402 to rotate. An eccentric mass. 404 is with the wave 402 coupled and rotates with it to create a haptic effect. In other words, the eccentric mass 404 It can be rotated to create a vibrating sensation for a seated person. The motor 400 and / or the wave 402They can be dimensioned and shaped accordingly to achieve the desired haptic effect. Other types of motors and / or activation arrangements can be provided, including so-called "smart" materials.

[0038] As mentioned above, haptic control can 350 This can be implemented with various predetermined patterns with active and inactive operating periods. During the active period, the haptic control system commands or controls. 350 the selected engine 400 (e.g. the motor in the actuator) 322 or the engine 400 in the actuator 332 ), namely, to rotate, and during the inactive period, the haptic control 350 not the command to the selected engine 400 , to turn.

[0039] The engine 400can be operated in a way that provides haptic pulses on the surface of the seat side bolster (e.g. the side bolster) 320 , 330 The system generates haptic pulses of varying duration, interval, and intensity to provide haptic feedback to the driver. This haptic feedback, in conjunction with the location of the vibration pulses, indicates the type of warning, such as the nature of the collision. Haptic control 350 determines the approximate voltage and, for example, determines a pulse width modulation (PWM) pattern of "on" periods, during which a voltage is applied to the motor. 400 is applied, and "Off" period, during which there is no voltage at the motor 400 is pending.

[0040] Now with reference to Fig. Five examples of an activation profile will be given. 500 and an acceleration profile 510as illustrated in some embodiments. The activation profile 500 This represents the commanded activation signal transmitted to the motors to determine the intensity and duration of the haptic feedback perceived by the driver. For example, the activation profile can be determined by the haptic control system. 350 represent the generated average signal to the actuators 322 , 332 to activate. The activation profile 500 includes an active period 502 and an inactive period 504 For example, the active period 502 through haptic control 350 The generated positive voltage signal must be defined, with the inactive period being... 504 one through haptic control 350 generated low or zero-volt signal. Each active period 502 has a leading edge 506and a subsequent edge 508 on. In some embodiments, the leading edge can 506 and / or following edge 508 a chamfer 509 This includes adjusting the acceleration profile of the haptic pulse, as explained below. During the active period 502 The haptic actuator commands the selected motors to rotate. During the inactive period 504 No command is sent by the haptic actuator to rotate the selected motors. It is preferred that the active period 502 a representation of the average signal applied to the motors, which may actually include very rapidly repeating PWM sequences.

[0041] The acceleration profile 510 This characterizes the acceleration at the surface of the seat side bolsters. For example, the acceleration profile 510measured with an accelerometer located on the surface of the first sidewall 320 is arranged to increase the acceleration due to the activation of the actuator. 322 to measure. The acceleration profile 510 illustrates haptic pulses 512 , which differ in duration and interval to generate the haptic feedback perceived by the vehicle's driver. The haptic pulses 512 The generated haptic feedback indicates the type of warning. The acceleration profile 510 includes initial directional data 514 , second direction data 516 and third directional data 518 In the illustrated embodiment, the first directional data correspond to 514 the acceleration measured in the normal direction to the seat side bolster surface, the second directional data 516correspond to the acceleration measured on the surface of the sidewall in a forward-backward direction with reference to the engine, and the third directional data 518 correspond to the acceleration measured on the surface of the sidewall in a lateral direction perpendicular to the vertical and forward-backward directions.

[0042] In one exemplary embodiment, the maximum amplitude of the measured vertical acceleration at the location of the activated actuator in the normal direction of the seat side bolster surface is at least five times greater than the maximum amplitude of the measured acceleration in the vertical, forward-backward, and lateral directions at locations of a non-activated actuator. Furthermore, the activation profile can be set, for example, to generate a desired acceleration profile that can be perceived by drivers of different sizes. For example, a high-frequency component of the vibration can be adjusted according to the rotational speed of the motor. 400The frequency range is between 55 and 67 Hz. The high frequency component is also selected to reduce unwanted interactions with vibration frequencies caused by the road surface. The vertical acceleration of the vibration can be between 50 and 72 m / s². 2 The vertical acceleration level can be within 10% of the range of each actuator location.

[0043] In general, the acceleration profile increases. 510 during the active period 502 of the activation profile 500 on the side of the seat, during the inactive period 504 of the activation profile 500 reduced. The relative duration of the active duration 502 and the inactive period 504 of the activation profile 500 It can be used to indicate the severity of a potential accident. Additionally, it can be used to measure the time between active periods. 502and inactive periods 504 They can be reduced to display urgent warnings. For example, special haptic warning activation profiles can be used. 500 They can be used to differentiate between immediate collision warnings in the near field and those in the far field, which are warnings that may not be within the driver's field of vision.

[0044] Now with reference to Fig. 6 will be a flowchart for a process 600 for controlling a haptic system according to some embodiments. In general, the method generates 600 A diagram showing system warnings for the vibration motors, the number of vibration pulses to be generated, and on / off pulse repetition patterns. The provided example illustrates the functions of the procedure. 600 through haptic control 350executed. Preferably, with regard to disclosure, the operational process within the procedure is not limited to the details in Fig. The sequential execution shown in Figure 5 is not limited to this, but can be carried out in one or more varying sequences, depending on the application and in accordance with the present disclosure. In various embodiments, the method can be adapted to run based on predetermined circumstances and / or can be executed continuously during the operation of the vehicle.

[0045] In a first procedural step 602 A control system determines states related to the vehicle. These states can relate to the vehicle's surroundings or to the vehicle itself. For example, haptic control can... 350 Data from the sensors (e.g., camera, radar, and / or lidar) of the collision avoidance modules 110 evaluate.

[0046] The haptic control 350 Determines whether a haptic warning is triggered based on the states. For example, the haptic control 350 Determine whether the conditions indicate a possible collision (e.g., close parking distances, a high-speed collision with an approaching vehicle, etc.). If the control 350 If the controller decides not to issue a command for a haptic warning, then it returns to the previous step. 602 , in order to continue evaluating the states. If the control module determines that the haptic warning should be triggered, then the controller executes the procedure step. 606 out of.

[0047] In process step 606 The controller determines which type of haptic warning is displayed based on the information received in the process step. 602to trigger or issue evaluated conditions. For example, the haptic warning can display a lane departure warning, lane keeping assist, a rear cross traffic warning, a front collision warning, impending braking due to a collision, adaptive cruise control, reversing parking assist, a collision warning, detection of a pedestrian in front of the vehicle, detection of a pedestrian behind the vehicle, or other types of circumstances.

[0048] The control system determines a pattern based on which haptic actuators are activated in the process step. 608 They are activated based on the type of haptic warning and the location of the haptic actuators. For example, the control 350 the first actuator 322 , the second actuator 332, or both actuators can be "commanded" or controlled based on the type of haptic warning displayed. In one example, the second actuator 332 It is located near the driver's right leg and is selected for activation when an object is detected moving from the right side of the vehicle. 10 approaching while the driver is moving the vehicle forward. In contrast, if an object is detected approaching from the left side of the vehicle. 10 as the driver moves the vehicle forward, the first actuator will approach. 322 The actuator located near the driver's left leg is selected for activation. Actuators are selected in the same way for warnings regarding deviations from the right and left lanes, or other potential hazards detected to the side of the vehicle.

[0049] When a potential hazard is detected in front of or behind the vehicle, the haptic control can be activated. 350 the actuators arranged on both sides of the driver 322 , 332 Select. Selection patterns for the motor can be used to display different types of warnings. For example, if multiple motors are arranged in a specific area, motors can be selected simultaneously or in any alternating manner or pattern. For example, the motors can be activated alternately to create a zigzag or circular pattern.

[0050] In process step 610The control unit selects the number of active haptic periods to activate the actuators based on the type of haptic warning. As mentioned above, the active periods correspond to the haptic pulses transmitted to the driver through the seat. Fewer active periods and pulses can indicate a less intense warning, while a greater number of active periods and pulses can indicate a more intense warning. For example, five pulses might indicate an imminent collision warning with a vehicle directly in front, whereas two pulses might indicate a traffic condition further away (e.g., an approaching traffic jam).

[0051] In process step 612The controller selects the duration of active and inactive haptic periods based on the type of haptic alert. This selection allows adjustment of the duration, length, and time between pulses. For example, a parking assistance application might use a time interval between pulses or a specific number of pulses to indicate objects near the vehicle. The time interval between pulses can be increased by increasing the duration of the inactive periods. When an object is initially detected, one pulse, two pulses, or a corresponding pulse sequence can be provided. As the vehicle approaches the object, the time interval (or pulse sequence) is increased until a minimum time separation is reached, and / or the number of pulses can be increased (e.g., five pulses can be triggered).The intensity settings for warnings regarding nearby objects may differ from the collision warning settings in order to reduce irritation or misunderstanding regarding vehicle occupants.

[0052] In another example, a warning sequence can be quickly switched between systems to indicate multiple situations. For instance, if there is a situation in front of the vehicle that coincides with a situation occurring to the side of the vehicle, the time between active periods can be adjusted. 502 and inactive periods 504 of the activation profile 500 The frequency can be reduced to display multiple warning states. For example, instead of switching from front to side warnings at 100-millisecond intervals, the warnings can be switched every 50 milliseconds. Alternatively, the active period can be... 502The warning system, which assigns a higher priority to a given situation, will activate more frequently as determined by the safety system. For example, if the "front warning" is considered more "serious," the seat will generate a pattern, such as forward-forward-sideways-forward-sideways. This pattern can be based on the individual system warning or can be adapted in the context of multiple warning situations.

[0053] Examples of active and inactive period durations are provided below. A haptic lane departure warning (LDW) can be characterized by three pulses, set with active periods of 80 ms and inactive periods of 120 ms. A rear cross traffic alert (RCTA) can be characterized by three pulses, set with active periods of 100 ms and inactive periods of 100 ms. A forward collision warning (FCA), an immediate braking warning (CIB), or adaptive cruise control (ACC) can be characterized by five pulses, set with active periods of 100 ms and inactive periods of 100 ms.A Rear Park Assist (RPA) detection event can be characterized by one or two pulses set with active periods of 70 ms and inactive periods of 130 ms. An RPA and a Front Park Assist (FPA) activation in the case of a nearby object can be characterized by five pulses set with active periods of 70 ms and inactive periods of 130 ms. An ACC "safety" event (to signal to the driver, when using adaptive cruise control, that the vehicle ahead has started moving again after the vehicle has come to a stop) can be characterized by three pulses set with active periods of 100 ms and inactive periods of 100 ms. Preferably, other relative and absolute time durations can be implemented without exceeding the scope of this disclosure.

[0054] In various embodiments, the warning mode can display multiple warning modes at any given time (e.g., a front collision warning and a lane departure warning can occur in immediate succession). In such a case, the detected warning patterns for one or more of the different warning mode states can be set to determine a preferred pattern, they can be combined or added to create unique, superimposed, and / or additive patterns without the need for selection, and / or they can be displayed simultaneously, again without the need for selection. In this latter case, where selection is unnecessary if another warning is required (e.g., a front collision warning) while a warning is being executed (e.g., a lane departure warning), a seat vibration warning, for example, can display the required pattern (or...).Generate a waveform for each required actuator, then add the new pattern to the remaining time of the currently executed pattern, and execute the result for each required actuator. While the summation process does affect active and inactive time for each actuator, the vibration intensity could be maintained (or increased as needed) during the active time if more than one warning requires active time at that moment.

[0055] In process step 614 The controller generates a signal to activate the selected pattern of haptic actuators, the selected number of active haptic periods, and the duration of the active and inactive haptic periods. For example, the controller can 350 generate the signal to activate the actuators 322 , 332 to activate the haptic pulses 512 to provide.

[0056] Now with reference to Fig. 7 will be a flowchart for a process 700 illustrated for controlling a haptic system according to some embodiments. For example, the control 350 a signal with active periods 502 generate to power the actuators 322 , 332 to activate the pulses 514 to generate. In general, the process represents 700 using pulse width modulation (PWM) control of the haptic actuators based on a battery voltage currently applied to a controller.

[0057] In process step 702 The controller selects a pattern of active haptic periods during which it will activate the haptic pulses of the haptic actuators. For example, the controller can 350 by performing the steps of the procedure described above 600 a pattern of active haptic periods502 choose.

[0058] In process step 704 The controller determines the desired intensity of the haptic pulses. For example, the controller can 350 The intensity is determined by retrieving the desired intensity from a lookup table. In one example, the control can be... 350 determine that the haptic pulses 512 closely spaced apart with specific intensity values ​​(e.g. “BUZZ-buzz” or “buzz-BUZZ”, where capital letters are intended to indicate corresponding intensity values) to generate specific pulse patterns or signatures.

[0059] The controller determines the desired voltage of a signal to be generated during the active haptic periods in order to achieve the desired intensity of the haptic pulses in process step 706 to achieve this. For example, the desired [result] can be applied to the engine. 400Voltage to be applied is based on the direct proportional relationship between the rotational speed of the DC motor. 400 and the one on the engine 400 The applied voltage is determined. In one example, the controller calls 350 the desired intensity is taken from a look-up table and the process step 704 out of.

[0060] In process step 708 The control unit determines the battery voltage currently applied to it. The battery voltage in vehicles can vary within and between ignition cycles. In one example, the control unit measures 350 currently powered by the battery 12 at the control 350 applied voltage. The control system determines the process step. 710whether the actual voltage is within certain threshold values. These threshold values ​​define a voltage range close to a desired voltage, at which the controller will not change the active periods. For example, if the desired voltage is 11 V and the actual battery voltage is 11.1 V, the controller can 350 determine not to change the active periods.

[0061] If the current battery voltage is not within the threshold values, the controller calculates a pulse width modulation (PWM) pattern, which is used in the next process step. 712 The desired voltage is simulated. In general, a PWM pattern is a rapid sequence of "on" periods, in which voltage is applied to the motor, and "off" periods, in which no voltage is applied to the motor.

[0062] In process step 714The controller generates a signal for the active haptic periods based on the calculated PWM pattern. For example, the PWM pattern can control the motor. 400 during the active period 502 of the activation profile 500 Activate the PWM pattern to control the energy supplied to the motor. Since a DC motor speed is proportional to the voltage, the PWM pattern generates a consistent vibration intensity by simulating the desired voltage. For example, if the battery voltage is higher than desired, the proportion of "on" periods in the PWM pattern can be reduced. Additionally, the PWM pattern can be adjusted to generate different vibration intensities. For example, to generate a higher-intensity vibration, the proportion of "on" periods in the PWM pattern can be increased.

[0063] Now with reference to Fig. 8 will be a flowchart for a process 800illustrated for controlling a haptic system according to some embodiments. For example, the control 350 a signal with active periods 502 generate to power the actuators 322 , 332 to activate the pulses 512 to generate. In general, the process represents 800 Desired vibration characteristics for a wide range of users, so that adjustment controls can be omitted or reduced. Furthermore, the method 800 can be used to achieve desired high-frequency motor characteristics, as will be explained below.

[0064] In process step 802 The controller determines a standard vibration intensity of haptic pulses based on a type of haptic warning. For example, the controller can 350Use a lookup table to determine the standard vibration intensity, or a continuous functional relationship. In one example, the standard vibration intensity is selected based on a "warning, but not yet disturbing" detection level, which is perceived by users between the bottom 5% and top 5% of people in terms of height.

[0065] The control determines in the process step 804 Internal and external vehicle conditions. The control system determines whether the vehicle conditions indicate that the vibration intensity is within the specified process step. 806 The vibration intensity needs to be changed. If the vibration intensity needs to be changed, the controller calculates adjustments for the active periods. 502 to achieve a modified vibration intensity. For example, the control 350 Calculate a PWM pattern that will achieve the changed vibration intensity.

[0066] In one example, the vehicle's internal states include measured or predicted acoustic conditions within the vehicle that may impair the driver's ability to perceive vibrations. For instance, the detection of a specific song or music playing on the radio can be used to adjust the warning pattern by increasing the vibration intensity based on the presence of a low-frequency content or radio volume. Other internal states may include output from a driver attention module, a driver fatigue module, or an activated state of semi-automatic driving systems (e.g., cruise control, adaptive cruise control, lane keeping, or a lane centering system).

[0067] External vehicle conditions can include, without limitation, measured or predicted acoustic conditions or vibrations of the vehicle's exterior that may impair the driver's ability to perceive vibration. For example, the detection of vehicle vibration, as indicated by the vehicle's suspension system, can be used to adjust the warning pattern during poor road surface conditions. The pattern can be adjusted based on the origin or magnitude of the vibration emanating from the suspension system. For instance, if an average value exceeds a threshold over a predetermined period, the warning pattern can be adjusted to increase the vibration intensity (e.g., by a discrete value or a value determined based on the magnitude).

[0068] The control determines in the process step 812Desirable active period profiles. For example, the leading edge can 506 and trailing edge 508 the active period 502 The PWM pattern can be modified by introducing a variable PWM pattern to provide different haptic feedback profiles. For example, the PWM pattern can be adjusted to create a haptic pulse. 512 to determine which exhibits a linear or exponential increase in acceleration. Similarly, the final segment of the haptic pulse can be... 512 The acceleration rate of the haptic pulse can be varied by adjusting the PWM pattern. 512 It can be used to indicate the "strength" of the warning. For example, a rapidly increasing haptic pulse indicates... 512 Regarding intensity, an imminent, nearby warning and a slowly increasing intensity of the haptic pulse.512 indicates a distant, less critical warning.

[0069] The control determines in the process step 814 desirable high-frequency characteristics. For example, the control system can... 350 the activation profile 500 The PWM pattern and motor characteristics are adjusted to create a desired acceleration profile that is perceived by drivers of different sizes. In one example, a high-frequency component of the vibration, corresponding to the motor's rotational speed, lies within the range of 55 to 67 Hz. The high-frequency component is also selected to reduce unwanted interactions with road surface vibration frequencies (e.g., by "masking" the activation vibration).

[0070] In process step 816The controller calculates adjustments to the active periods to achieve the desired high-frequency characteristics and haptic pulse profile. For example, the controller can 350 the PWM pattern or the on / off compensation patterns during the active periods 502 adjust. In general, the on / off compensation patterns step an activation of the haptic actuators when the haptic actuators exceed an upper rotational speed threshold, and resume activation of the haptic actuators when the rotational speed of the haptic actuators is less than a lower threshold.

[0071] While at least one exemplary embodiment has been presented in the preceding detailed description, it is preferred that a large number of variations exist. It is also preferred that the exemplary embodiment(s) are merely examples and are not intended to limit the scope, applicability, or configuration of the disclosure in any way. Rather, the preceding description is intended to provide the person skilled in the art with useful guidance for implementing the exemplary embodiment(s). It is assumed that various modifications regarding the function and arrangement of the elements can be made without departing from the scope of the disclosure as defined in the appended claims and their legal equivalents. Other embodiments 1. Procedure, comprehensive: Evaluating the condition of a vehicle; Selecting a type of haptic warning based on the evaluated states; Selecting a pattern of haptic actuators to issue commands based on the type of haptic warning and the location of the haptic actuators in a vehicle seat; Selecting a number of active haptic periods to control these periods based on the type of haptic alert; Selecting a duration for active haptic periods and a duration for inactive haptic periods based on the type of haptic warning; and Generating a signal that indicates the active haptic periods based on the selected pattern of haptic actuators, the selected number of active haptic periods, and the selected duration of the active and inactive haptic periods. 2. Method according to embodiment 1, wherein the selection of a pattern of haptic actuators for a control comprises at least one selection of a haptic actuator adjacent to the right leg of a driver and one selection of a haptic actuator adjacent to the left leg, based on the type of haptic warning and the location of the evaluated states. 3. Method according to embodiment 1, wherein selecting a pattern for controlling the haptic actuators comprises selecting at least one zigzag pattern and one circular pattern. 4. Method according to embodiment 1, wherein the selection of the number of active haptic periods includes increasing the number of active haptic periods with increased importance of the warning and reducing the number of active haptic periods with decreasing importance of the warning. 5. Method according to embodiment 1, wherein selecting the duration of the inactive haptic periods includes decreasing the duration of inactive haptic periods between active haptic periods when the vehicle approaches an object during a parking assistance application. 6. Method according to embodiment 1, wherein selecting the duration of active and inactive haptic periods includes adjusting a warning regularity to indicate a process with multiple situations. 7. Method according to embodiment 1, further comprising combining active haptic periods of the several haptic warning types to indicate multiple processes. 8. Method according to embodiment 1, wherein the evaluation of the states includes evaluating data from sensors assigned to the vehicle. 9. Method according to embodiment 1, wherein selecting a type of haptic warning comprises selecting at least one component consisting of: a lane departure warning, a lane keeping assist, a rear cross traffic warning, a front collision warning, an imminent braking collision warning, an adaptive cruise control, a reversing warning, a front parking aid and a reversing parking aid operation. 10. Procedure, comprehensive: Evaluating vehicle-related states based on data from sensors assigned to the vehicle; Selecting a type of haptic warning based on the evaluated states; Selecting at least one haptic actuator adjacent to a driver's right leg and one haptic actuator adjacent to a driver's left leg based on the type of haptic warning and the location of the evaluated states; Selecting a number of active haptic periods based on the type of haptic warning; Selecting a duration for active haptic periods and a duration for inactive haptic periods based on the type of haptic warning; and Generating a signal that indicates the active haptic periods based on the selected pattern of haptic actuators, the selected number of active haptic periods, and the selected duration of the active and inactive haptic periods. 11. Method according to embodiment 10, wherein the selection of the number of active haptic periods includes an increase in the number of active haptic periods with increasing importance of the warning and a decrease in the number of active haptic periods with decreasing importance of the warning. 12. Method according to embodiment 10, further comprising combining active periods of several haptic warning types to indicate multiple processes. 13. Vehicle, comprising: a seat with a first side bolster to support the right leg of a driver and with a second side bolster to support the left leg of the driver; a first haptic actuator located in the first side cheek; a second haptic actuator located in the second side panel; a control system in communication with the first and second haptic actuator and the: Evaluating the condition of a vehicle; Selecting a type of haptic warning based on the evaluated states; Selecting a pattern of haptic actuators to issue commands based on the type of haptic warning and the location of the haptic actuators in a vehicle seat; Selecting a number of active haptic periods to control these periods based on the type of haptic alert; Evaluates vehicle-related conditions; selects a type of haptic warning based on the evaluated conditions; selects a pattern of first and second actuators for control based on the type of haptic warning and the location of the evaluated conditions; A number of active haptic periods are selected to control the first and second haptic actuators based on the type of haptic warning; and A signal is generated that indicates the active haptic periods based on the pattern of the haptic actuators, the selected number of active haptic periods, and the selected duration of the active and inactive haptic periods. 14. Vehicle according to embodiment 13, wherein the control selects at least one zigzag pattern and / or a circular pattern to select a pattern for the first and second haptic actuators. 15. Vehicle according to embodiment 13, wherein the control system increases the selected number of active haptic periods with increasing importance of the warning and reduces the number of active haptic periods with decreasing importance of the warning. 16. Vehicle according to embodiment 13, wherein the control reduces the duration of inactive haptic periods between active haptic periods when the vehicle approaches an object during a parking assistance application. 17. Vehicle according to embodiment 13, wherein the control system adjusts a warning regularity to indicate a process with multiple situations. 18. Vehicle according to embodiment 13, wherein the control system combines active periods of several haptic warning types to indicate multiple operations. 19. Vehicle according to embodiment 13, further comprising a plurality of sensors, and wherein the control system evaluates states based on the data from sensors. 20. Vehicle according to embodiment 12, wherein the control selects a type of haptic warning comprising at least one component consisting of: a lane departure warning, a lane keeping assist, a rear cross traffic warning, a front collision warning, an imminent braking collision warning, an adaptive cruise control, a reversing warning, a front parking aid and a reversing parking aid operation.

Claims

[1] Procedure, encompassing: Evaluating the condition of a vehicle; Selecting a type of haptic warning based on the evaluated states; Selecting a pattern of haptic actuators to issue commands based on the type of haptic warning and the location of the haptic actuators in a vehicle seat; Selecting a number of active haptic periods to control these periods based on the type of haptic alert; Selecting a duration for active haptic periods and a duration for inactive haptic periods based on the type of haptic warning; and Generating a signal that indicates the active haptic periods based on the selected pattern of haptic actuators, the selected number of active haptic periods, and the selected duration of the active and inactive haptic periods. [2] Method according to each of the preceding claims, wherein selecting a pattern of haptic actuators for steering comprises at least selecting a haptic actuator adjacent to the right leg of a driver and selecting a haptic actuator adjacent to the left leg, based on the type of haptic warning and the location of the evaluated states. [3] Method according to each of the preceding claims, wherein selecting the number of active haptic periods includes increasing the number of active haptic periods with increased importance of the warning and reducing the number of active haptic periods with decreasing importance of the warning. [4] Method according to each of the preceding claims, wherein selecting the duration of the inactive haptic periods comprises decreasing the duration of inactive haptic periods between active haptic periods when the vehicle approaches an object during a parking assistance application. [5] Method according to each of the preceding claims, wherein selecting the duration of active and inactive haptic periods includes adjusting a warning regularity to indicate a process with multiple situations. [6] Method according to each of the preceding claims, further comprising combining active haptic periods of the multiple haptic warning types to indicate multiple processes. [7] Vehicle, comprising: a seat with a first side bolster to support the right leg of a driver and with a second side bolster to support the left leg of the driver; a first haptic actuator located in the first side cheek; a second haptic actuator located in the second side panel; a control system in communication with the first and second haptic actuator and the: Evaluating the condition of a vehicle; Selecting a type of haptic warning based on the evaluated states; Selecting a pattern of haptic actuators to issue commands based on the type of haptic warning and the location of the haptic actuators in a vehicle seat; Selecting a number of active haptic periods to control these periods based on the type of haptic alert; Evaluates vehicle-related states; selects a type of haptic warning based on the evaluated states; selects a pattern of first and second actuators for control based on the type of haptic warning and the location of the evaluated states; A number of active haptic periods are selected to control the first and second haptic actuators based on the type of haptic warning; and A signal is generated that indicates the active haptic periods based on the pattern of the haptic actuators, the selected number of active haptic periods, and the selected duration of the active and inactive haptic periods. [8] Vehicle according to claim 7, wherein the control system is configured to increase the selected number of active haptic periods with increasing importance of the warning and to reduce the number of active haptic periods with decreasing importance of the warning. [9] Vehicle according to claim 7 or 9, wherein the control system is configured to evaluate states based on data from sensors. [10] Vehicle according to one of claims 7 to 9, wherein the control system is configured to select a type of haptic warning comprising at least one component consisting of: a lane departure warning, a lane keeping assist, a rear cross traffic warning, a front collision warning, an imminent braking collision warning, an adaptive cruise control, a reversing warning, a front parking aid and a reversing parking aid operation.