Control element with haptic feedback dependent on the detection direction

Abstract

comprising a control element: a base (1); an actuating part (2) movably mounted on the base (1); an electrical actuator (7) attached to the base (1) and acting on the actuating part (2) to drive the actuating part (2) in an excitation direction (10) by means of an electrical excitation signal to generate haptic feedback for an operator; means (6) for detecting an actuation of the actuating part (2) in two detection directions (3, 4, 5), each enclosing a different angular magnitude with the excitation direction (10);an evaluation unit (11) designed to drive the actuator (7) with a specific electrical excitation signal if an actuation in one of the two detection directions (3, 4, 5) is detected, characterized in that the actuator (7) is driven by the evaluation unit (11) with a detection direction-specific excitation signal depending on the result regarding which of the two detection directions (3, 4, 5) was actuated, and that the detection direction-specific excitation signals are selected such that the haptic feedback regarding the two detection directions (3, 4, 5) is converged in a perception by the operator.

Description

[0001] The invention relates to a control element with an actuating part, which further comprises an actuator acting on the actuating part to generate haptic feedback. The actuator is designed to initiate movement essentially in one direction and, for example, a purely translational movement of the actuating part. With such control elements, which have actuation or detection directions oriented differently with respect to the direction of excitation and thus potentially different actuation surfaces, the problem arises that the haptic feedback to be transmitted to the operator's hand or finger either does not occur with the respective detection direction or varies undesirably greatly depending on the mechanical design of the actuating part's mounting at the base and / or the shape of the actuating part.

[0002] Recognizing this disadvantage, the inventors set themselves the task of further developing a control element with multiple detection directions oriented differently with respect to the excitation direction of the haptic feedback, such that the haptic feedback acting on the actuating surface and thus perceived on the hand or finger of the operator can be individualized or, in particular, "harmonized" by variation, i.e., perceived as at least nearly identical, when the detection directions are oriented differently. This task is achieved by a control element according to claim 1. An equally advantageous use is the subject of the use claim. An equally advantageous method for generating haptics is the subject of the dependent method claim. Advantageous embodiments of the control element are each the subject of the dependent claims.It should be noted that the features listed individually in the claims can be combined with one another in any technologically meaningful way and demonstrate further embodiments of the invention. The description, particularly in conjunction with the figure, further characterizes and specifies the invention.

[0003] The invention relates to a control element comprising a base. When used in a motor vehicle, the base is rigidly connected to the vehicle, for example, to a dashboard or console. The base consists, for example, entirely or partially of a thermoplastic material or a die-cast zinc alloy. According to the invention, an actuating element is movably mounted on the base. Furthermore, according to the invention, an electrical actuator is provided, attached to the base and acting on the actuating element, to drive the actuating element in a direction of excitation by means of an electrical excitation signal to generate haptic feedback. For example, the actuator is an electromechanical actuator.

[0004] Preferably, the actuator is a linear actuator that drives the actuating part, for example, a piezoelectric or an electromagnetic actuator. Preferably, a single actuator is provided.

[0005] According to the invention, means for detecting actuation of the actuating part in at least two detection directions are further provided, wherein the detection directions each encompass a different angular magnitude, for example 0°, 45°, 90°, or 180°, with the excitation direction. The excitation direction within the meaning of the invention is determined by the direction of action of the actuator, in particular the direction in which a movement of the actuating part is initiated from a rest position of the actuating part. For example, the detection directions or their parallels lie in a plane with the excitation direction. For example, at least one of the two detection directions lies outside a plane spanned by the excitation direction and the other detection direction.

[0006] The term "actuation" used herein is to be interpreted broadly. According to the invention, this includes actuations in which the actuating part, due to its degrees of freedom, experiences movement in a detection direction corresponding to those degrees of freedom. It also includes actuations in which contact occurs with a surface sensitive to touch by the associated detection means, and this does not necessarily result in movement of the actuating part or parts thereof. In the latter case, the detection direction would be defined by a perpendicular line orthogonal to the associated touch-sensitive surface. In other words, the term "actuation" should not necessarily imply movement of the actuating part caused by the actuation.

[0007] The same applies to the term detection direction. The detection direction according to the invention is therefore not necessarily derived from the direction of the movement caused by the actuation, but is ultimately defined by the means of detection and their resolution. For example, a movement caused by actuation may only fall within a predetermined angular range after exceeding a predefined minimum movement (tolerance) in order to be detected as actuation in one of the detection directions.

[0008] Since actuation does not necessarily imply movement of the actuating part, the means for detecting actuation of the actuating part are designed, according to one variant, to perform touch detection on a contact surface orthogonal to the detection direction and / or movement detection in a direction parallel to the detection direction.

[0009] According to another variant, actuation is detected by means of movement of the actuating element. For example, motion detection is optical or magnetic, or a force sensor is provided. Preferably, a capacitive force sensor is used to detect the movement. Detection is carried out, for example, by comparing the measured result with a predefined threshold value.

[0010] According to the invention, an evaluation unit is further provided which, if actuation is detected in one of the two detection directions, is designed to drive the actuator with a specific electrical excitation signal, depending on the result regarding which of the two detection directions was actuated. "Specific" in this context means that the electrical excitation signals differ depending on whether only one or only the other detection direction has been detected. The specific excitation signals, or their specific parameters, are, for example, pre-stored in a lookup table or calculated as needed using an algorithm.

[0011] Thus, the actuator's excitation signal is varied depending on the detection direction. This individualization of the haptic feedback allows, in a simple case, the operator to receive more specific feedback because it relates to the specific detection direction. Therefore, the operator not only receives information that an actuation has occurred, but also specific information about which of the at least two detection directions the actuation took place in. Preferably, the detection-direction-specific excitation signals are chosen so that the haptic feedback becomes similar in perception. For example, the system response of the actuating component is determined empirically or through mathematical modeling, e.g., model analysis.the control element is determined and a high degree of agreement regarding the different detection directions is achieved by appropriately selecting the output signal, for example its temporal profile, such as rise and fall behavior.

[0012] According to a preferred embodiment, the evaluation unit is designed to generate a further specific excitation signal and thus drive the actuator if two detection directions are detected simultaneously. This results in three specific excitation signals, distinguishable by at least one characteristic parameter. This can be generated, for example, by averaging the two aforementioned specific signals.

[0013] According to a further preferred embodiment, the associated detection means differ in design with respect to at least two detection directions. For example, a resistive or capacitive sensor is responsible for touch detection in one detection direction, while actuation along the remaining detection directions is detected by a capacitive force sensor or a non-contact motion sensor, such as a magnetic or optical sensor. The preferred combination of touch detection with other detection methods also has the advantage that, for example, during simultaneous actuation in two directions including touch detection, it is possible to determine how the operator grasps or touches the actuating element with their hand or finger in order to vary the haptic feedback.

[0014] According to a preferred embodiment, the excitation signal is in each case a pulse signal or a pulse sequence signal, for example a Gaussian pulse or triangular pulse or a sequence thereof.

[0015] Preferably, the excitation signal comprises an acceleration rectangular pulse, and the specific excitation signals vary solely with respect to the duty cycle of the acceleration rectangular pulse. For the purposes of this invention, an acceleration rectangular pulse means that the excitation signal includes a first pulse or rectangular pulse initiating the movement of the actuating element from its rest position. It has been shown that varying the duty cycle provides a simple way to generate a haptically indistinguishable sensory impression for the operator, despite different detection directions. Rectangular pulses are generated by pulse-width modulation; the associated methods are known to those skilled in the art and are not the subject of the present invention. Even more preferably, the detection direction-specific excitation signals differ solely with respect to their maximum amplitude.

[0016] Preferably, the maximum amplitude varies depending on the angle between the detection direction and the excitation direction. For example, only the maximum amplitude decreases or increases with increasing angle.

[0017] According to a preferred embodiment, the excitation signal consists exclusively of an acceleration pulse and a braking pulse. Preferably, for all specific excitation signals, both the acceleration pulse and the braking pulse have the same direction. Preferably, the time interval between the acceleration pulse and the braking pulse is identical for all specific excitation signals.

[0018] The term "acceleration pulse" as used in the invention means that the excitation signal comprises a first pulse initiating the movement of the actuating part from its rest position, whereas the braking pulse is defined by its braking effect on the initiating movement, which can be a movement in only one direction or a sequence of back-and-forth movements. For example, the braking pulse is a Gaussian pulse, a triangular pulse, or a rectangular pulse. Furthermore, depending on the actuator design, the braking pulse can have the same or opposite polarity to the acceleration pulse.

[0019] According to one embodiment, the mounting of the actuating element at the base is designed such that an independent elastic, optionally mechanically damped, return to a rest position of the actuating element occurs. In such an oscillating system, the braking impulse preferably occurs at a time interval after the acceleration impulse. Preferably, the specific excitation signals do not differ in the time interval between the acceleration and braking impulses. The braking impulse is applied, for example, in such a way that the overshoot of the oscillating system is reduced or even prevented.

[0020] The detection directions are preferably either parallel or orthogonal to the excitation direction.

[0021] Preferably, the actuating element is a three-dimensional projection whose flanks define, among other things, the actuating surfaces. For example, the actuating element is a rotary knob in which a first switching functionality is implemented by means of rotation position detection about a rotational axis, and in which an additional switching functionality is provided by an additional movement of the actuating element parallel to the rotational axis or by touch detection on an end face of the rotary knob facing the operator. The excitation by an actuator, generating haptic feedback, occurs, for example, in a direction perpendicular to the rotational axis.

[0022] Preferably, the control element is a joystick with a pivoting or sliding bearing for the actuating part.

[0023] The invention further relates to the use of the control element in one of the previously described embodiments in a motor vehicle.

[0024] The invention further relates to a method for generating haptic feedback in a control element, wherein the method comprises the following steps. In a provisioning step, a base, an actuating part movably mounted on the base, an electrical actuator for moving the actuating part in an excitation direction by means of an electrical excitation signal to generate haptic feedback, and means for detecting actuation of the actuating part in at least two detection directions, each enclosing a different angular magnitude with the excitation direction, are provided. In a detection step according to the invention, actuation is detected in one of the at least two detection directions.

[0025] In a subsequent step, a specific excitation signal is generated for the actuator if an actuation in one of the two detection directions has been detected, whereby the excitation signal varies depending on the result regarding which of the two detection directions the actuation was performed.

[0026] In a step that is simultaneous with or temporally delayed from the step described above, the actuator is stimulated with the specific excitation signal if an actuation in one of the two detection directions has been detected.

[0027] Thus, the actuator's excitation signal is varied depending on the detection direction. This individualization of the haptic feedback allows, in a simple case, the operator to receive more specific feedback because it relates to the specific detection direction. Therefore, the operator not only receives information that an actuation has occurred, but also specific information about which of the at least two detection directions the actuation took place in. Preferably, the detection direction-specific excitation signals are chosen so that the haptic feedback becomes similar in perception. For example, the system response of the actuating component is determined empirically or through mathematical modeling, e.g., modal analysis.the control element is determined and a high degree of agreement regarding the different detection directions is achieved by appropriately selecting the output signal, for example its temporal profile, such as rise and fall behavior.

[0028] In a preferred embodiment of the method, the actuator is designed to drive the actuating part exclusively in a linear fashion. According to a preferred variant of the method, the excitation signal is either a pulse signal or a pulse train signal.

[0029] According to a preferred embodiment of the method according to the invention, the detection step is designed to generate a further specific excitation signal and thus drive the actuator if two detection directions are detected simultaneously. "Simultaneously" is not to be interpreted narrowly and also includes the case of actuation occurring within a common evaluation interval, without absolute temporal simultaneity. This results in three specific excitation signals, distinguishable by at least one characteristic parameter.

[0030] Preferably, the excitation signal comprises an acceleration rectangular pulse, and the specific excitation signals vary exclusively with respect to the duty cycle, or even more preferably exclusively with respect to the maximum amplitude of the acceleration rectangular pulse.

[0031] Preferably, the excitation signal is a sequence consisting exclusively of an acceleration pulse and a braking pulse.

[0032] The invention is explained in more detail with reference to the following figures. These figures are to be understood as examples only and represent merely one preferred embodiment. They show:

[0033] Fig. 1. A schematic representation of the control element.

[0034] Fig. 2a and Fig. 2b each a schematic, superimposed time-dependent representation of detection direction specific excitation signals, showing an acceleration pulse and a braking pulse together with the associated path / time diagram of the actuating part.

[0035] The base 1 movable actuating part 2 , for example, can be done using the arrows 4 and 5 spanned plane and perpendicular to this plane in one direction3 to be moved. The mounting of the actuating part, which is not shown in detail, is not intended to be moved. 2 at the base 1 is designed in such a way that an independent elastic, possibly mechanically damped, return occurs in the Fig. 1. Rest position of the actuating part shown 2 results. Furthermore, there are means for detection. 6 designed to control the movement of the actuating part 2 Detect from a rest position. Motion detection is achieved, for example, by means of at least one optical or at least one magnetic sensor, or at least one force sensor, or by means of combinations thereof. The detection directions are shown. 3 , 4 and 5 are those detection directions that are determined by the detection means 6 UA can be detected with high resolution. Actuation detection thus occurs along three detection directions. 3 , 4 and5 and the corresponding detection result is displayed in the evaluation unit 11 evaluated. The evaluation unit 11 provides a specific electrical excitation signal to an actuator, either by referring to a lock-up table or by using a mathematical algorithm. 7 off. The actuator is activated by means of this electrical excitation signal. 7 driven. The electromagnetically linearly driving actuator. 7 generated linearly along the excitation direction, corresponding to the specific excitation signal 10 haptic feedback, by which the actuator 7 on the actuating part 2 acting upon it, driving it from its resting position. The direction of excitation 10 is how Fig. Figure 2 shows, parallel to the direction of detection 4 and 5 spanned plane. Like the Fig. As can be seen from 1, the detection means 6defined detection directions 3 , 4 and 5 each with a different absolute value at an angle to the excitation direction 10 one. The same excitation direction for all specific excitation signals. 10 is defined by an acceleration impulse in which the actuating part 2 from its resting position, it is driven to generate haptic feedback, with the direction of the dashed arrow 8 This is intended to illustrate the direction of action of a braking impulse belonging to all specific excitation signals and following the acceleration impulse in time.

[0036] The specific excitation signal indicates, as in the Fig. 2a and Fig. 2b shows a first acceleration impulse initiating the movement of the actuating part from its rest position. 12 in the direction of excitation 10and a second braking impulse opposite to the initiating movement, following in time 14 The graph shows the displacement / time profile of the freely moving actuating part, driven only by the actuator, in a superimposed time representation to illustrate the system response of the actuating part to the excitation signal. It becomes clear that the braking impulse 14 This occurs after the maximum deflection has been reached. Fig. 2a and Fig. 2b differ exclusively in the amplitude of the acceleration impulse. 12 and braking impulse 14 and thus in the movement sequence described by the actuating part in the path / time representation, which essentially has regard to the maximum amplitude 13 the deflection of the actuator 7 varies. That in the Fig. The excitation signal shown in 2a and the associated motion diagram correspond, for example, to that which occurs when the actuating part is moved in the direction of the arrow. 4 out of Fig. 1 is generated, while the in Fig. 2b shows the process of detecting an actuation in the direction of the arrow. 3 This corresponds to the variation of the maximum amplitude depending on the direction of detection, resulting in haptic feedback that is indistinguishable from the sensory perception.

Claims

[1] Having a control element: a base ( 1 ); one at the base ( 1 ) movable actuating part ( 2 ); one at the base ( 1 ) attached to the actuating part ( 2 ) acting electrical actuator ( 7 ), to operate the actuating part ( 2 ) in one direction of excitation ( 10 ) to drive by means of an electrical excitation signal to generate haptic feedback; Means of detection ( 6 ) an actuation of the actuating part ( 2 ) in two detection directions ( 3 , 4 , 5 ), each with a different angle magnitude with the excitation direction ( 10 ) include; an evaluation unit ( 11 ), which is designed to prevent activation in one of the two detection directions ( 3 , 4 , 5) is detected, depending on the result, regarding which of the two detection directions ( 3 , 4 , 5 ) was activated to drive the actuator with a specific electrical excitation signal. [2] Control element according to claim 1, wherein the actuator ( 7 ) is designed to be the actuating part ( 2 ) to drive linearly. [3] Control element according to one of the preceding claims, wherein the evaluation unit ( 11 ) is designed to allow actuation in two detection directions ( 9 ) was detected, the actuator ( 7 ) to drive with another specific electrical excitation signal. [4] Control element according to one of the preceding claims, wherein the associated means for detection ( 6 ) with respect to at least two detection directions ( 3 , 4 , 5) differ in design, preferably the means for detection comprise a combination of contact detection and other detection means. [5] Control element according to one of the preceding claims, wherein the excitation signal is in each case a pulse signal or a pulse train signal. [6] Control element according to one of the preceding claims, wherein the excitation signal is a rectangular acceleration pulse ( 12 ) includes and the specific excitation signals exclusively with respect to the duty cycle, or even more preferably exclusively with respect to the maximum amplitude ( 13 ) of the acceleration rectangular pulse vary. [7] Control element according to one of the preceding claims, wherein the excitation signal is a sequence of an acceleration pulse ( 12 ) and a braking impulse ( 14 ) is. [8] Control element according to one of the preceding claims, wherein the detection direction-specific excitation signals in their maximum amplitude ( 13 ) vary depending on the angle. [9] Control element according to one of the preceding claims, wherein the detection directions ( 3 , 4 , 5 ) are either parallel or orthogonal to the excitation direction. [10] Control element according to one of the preceding claims, wherein the means for detection ( 5 ) an actuation of the actuating part ( 2 ) are designed to perform touch detection on a touch-sensitive surface orthogonal to the detection direction and / or motion detection in a direction parallel to the detection direction. [11] Control element according to one of the preceding claims, wherein the actuating part ( 2) is a three-dimensional elevation whose flanks define the operating surfaces. [12] Control element according to one of the preceding claims, wherein the control element is a joystick with pivotable or sliding bearing of the actuating part ( 2 ) is. [13] Control element according to one of the two preceding claims, wherein the excitation direction is parallel to a base surface of the actuating part facing away from the operator ( 2 ) lies. [14] Use of the control element according to one of the preceding claims in a motor vehicle. [15] Method for generating haptics in a control element, comprising the following steps: Providing a base ( 1 ), one at the base ( 1 ) movable actuating part ( 2 ), an electric actuator ( 7 ), to operate the actuating part ( 2 ) in one direction of excitation ( 10) to drive by means of an electrical excitation signal to generate haptic feedback and means for detection ( 6 ) an actuation of the actuating part ( 2 ) in at least two detection directions ( 3 , 4 , 5 ), each with a different angle magnitude with the excitation direction ( 10 ) include; Detection of an activation in one of the two detection directions; Generating a specific excitation signal for the actuator ( 7 ), if activation occurs in one of the two detection directions ( 3 , 4 , 5 ) was detected, Stimulating the actuator ( 7 ) with the specific excitation signal ( 13 ), if activation occurs in one of the detection directions ( 3 , 4 , 5 ) was detected. [16] Method according to the preceding claim, wherein the specific excitation signal is generated using a look-up table or an algorithm. [17] Method according to one of the two preceding claims, wherein after detection of simultaneous actuation in two detection directions a further specific excitation signal is generated. [18] Method according to any one of the preceding claims 14 to 17, wherein the detection of the actuation in the two detection directions differs in the type of detection for the two detection directions, preferably comprising a combination of touch detection with other detection methods. [19] Method according to any one of the preceding claims 14 to 18, wherein the actuator ( 7 ) is designed to be the actuating part ( 2 ) to drive linearly. [20] Method according to any one of the preceding claims 14 to 19, wherein the specific excitation signal is in each case a pulse signal or a pulse train signal. [21] Method according to any one of the preceding claims 13 to 20, wherein the excitation signal comprises an acceleration rectangular pulse and the specific excitation signals vary exclusively with respect to the duty cycle, or more preferably exclusively with respect to the maximum amplitude of the acceleration rectangular pulse. [22] Method according to any one of the preceding claims 13 to 21, wherein the excitation signal is a sequence consisting exclusively of an acceleration pulse ( 12 ) and a braking impulse ( 14 ) is.

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