Control device, control method, and program

Abstract

The present invention provides a control device, a control method, and a program that can reproduce a desired vibration at a predetermined point on the driver's control panel. [Solution] The control device 100 includes a processor, which executes a program to decompose the vibrations to be reproduced at a predetermined point on the vehicle's steering wheel switch into frequency components, filters the decomposed frequency components according to at least one of the vibration characteristics of the vibration devices VD1 and VD2 mounted on the steering wheel switch and the vibration transmission characteristics of the steering wheel switch from the vibration devices VD1 and VD2 to the predetermined point, synthesizes the filtered frequency components, and generates vibrations in the vibration devices VD1 and VD2 according to the synthesized frequency components.

Description

Technical Field

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[0001] [[ID=(5)]]The present disclosure relates to a control device, a control method, and a program.

Background Art

[0002] Conventionally, a technique for transmitting information to an occupant of a vehicle by vibrating a vibration device mounted on an operation element of the vehicle is known. For example, Patent Document 1 below discloses a technique for transmitting navigation information to an occupant of a vehicle by driving a plurality of actuators included in a steering mechanism of the vehicle. Patent Document 2 below discloses a technique for transmitting information indicating a left turn or a right turn to an occupant of a vehicle by vibrating a left vibrator or a right vibrator disposed on a steering wheel which is an operation element of the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the vibration device mounted on the operation element of the vehicle has vibration characteristics that are frequency-dependent. For example, the vibration device has a characteristic that the vibration intensity changes according to the frequency of the drive signal even if the voltage of the applied drive signal is constant. Further, the operation element of the vehicle has vibration transmission characteristics that are frequency-dependent. For example, among the vibrations generated by the vibration device, the vibration intensity of the vibration transmitted to a predetermined point of the operation element changes according to the frequency. Due to such frequency dependence, even if a drive signal for generating a desired vibration is applied to the vibration device, the desired vibration may not be reproduced at a predetermined point of the operation element.

[0005] This disclosure has been made in view of the above circumstances and aims to provide a control device, a control method, and a program that can reproduce a desired vibration at a predetermined point on the driver's control device. [Means for solving the problem]

[0006] To solve the above problems, a control device according to a first aspect of the present disclosure is a control device (100, 100A) for controlling vibrations generated in vibration devices (VD1, VD2) mounted on a driver control (SW) of a vehicle (M), comprising a processor, wherein the processor executes a program to decompose the vibrations to be regenerated at a predetermined point (P) of the driver control into frequency components, filters the decomposed frequency components according to at least one of the vibration characteristics of the vibration device and the vibration transmission characteristics of the driver control from the vibration device to the predetermined point, synthesizes the filtered frequency components, and generates vibrations in the vibration device according to the synthesized frequency components.

[0007] A control device according to a second aspect of the present disclosure may, in a control device according to a first aspect of the present disclosure, perform the filtering using a filter having characteristics inverse of characteristics represented by the product of the vibration characteristics of the vibration device and the vibration transmission characteristics of the operating control element from the vibration device to the predetermined point.

[0008] A control device according to a third aspect of the present disclosure may, in a control device according to a second aspect of the present disclosure, generate the filter using the vibration characteristics of the vibration device and the vibration transmission characteristics of the operating control element from the vibration device to the predetermined point.

[0009] A control device according to a fourth aspect of the present disclosure is a control device according to any first to third aspect of the present disclosure, wherein the processor acquires a detection result from a detection sensor (40) that detects at least one of the conditions around the vehicle, the state of the vehicle, and the driving conditions of the vehicle, and generates vibrations in the vibration device according to the acquired detection result, according to at least one of the conditions around the vehicle, the state of the vehicle, and the driving conditions of the vehicle.

[0010] A control device according to a fifth aspect of the present disclosure is a control device according to a fourth aspect of the present disclosure, wherein the processor generates vibrations corresponding to at least one of the conditions surrounding the vehicle, the condition of the vehicle, and the driving conditions of the vehicle.

[0011] A control device according to a sixth aspect of the present disclosure, in which the processor transmits the acquired detection result to a server device (300), receives definition information transmitted from the server device in response to the detection result transmitted to the server device, which defines vibrations corresponding to at least one of the surrounding conditions of the vehicle, the condition of the vehicle, and the driving conditions of the vehicle, and generates vibrations in the vibration device based on the received definition information.

[0012] A control device according to a seventh aspect of the present disclosure, in a control device according to any first to sixth aspect of the present disclosure, may control the processor such that the vibration intensity of the vibration device gradually increases or decreases within a predetermined transition period at the start or end of vibration of the vibration device.

[0013] A control method according to one aspect of the present disclosure is a control method for controlling vibrations generated in vibration devices (VD1, VD2) mounted on a driver control (SW) of a vehicle (M), wherein a computer decomposes the vibrations to be reproduced at a predetermined point (P) of the driver control into frequency components, filters the decomposed frequency components according to at least one of the vibration characteristics of the vibration device and the vibration transmission characteristics of the driver control from the vibration device to the predetermined point, synthesizes the filtered frequency components, and generates vibrations in the vibration device according to the synthesized frequency components.

[0014] A program according to one aspect of the present disclosure is a program that causes a computer to decompose vibrations to be reproduced at a predetermined point (P) of a vehicle (M) driver control (SW) into frequency components, to perform filtering on the decomposed frequency components according to at least one of the vibration characteristics of vibration devices (VD1, VD2) mounted on the driver control and the vibration transmission characteristics of the driver control from the vibration devices to the predetermined point, to synthesize the filtered frequency components, and to generate vibrations in the vibration devices according to the synthesized frequency components. [Effects of the Invention]

[0015] According to this disclosure, a special effect can be obtained in which a desired vibration can be reproduced at a predetermined point on the control panel. [Brief explanation of the drawing]

[0016] [Figure 1] This figure schematically shows the interior of the vehicle's cabin in the first embodiment of the present disclosure. [Figure 2] This block diagram shows an exemplary configuration of a vehicle control system including a control device according to a first embodiment of the present disclosure. [Figure 3] This is a block showing the internal configuration of the generation unit in the first embodiment of this disclosure. [Figure 4] This figure illustrates the processing performed in the second filter unit in the first embodiment of the present disclosure. [Figure 5] This is a diagram showing an example of a path through which vibration is transmitted in the first embodiment of the present disclosure. [Figure 6] This is a diagram for explaining a filter used in the second filter section in the first embodiment of the present disclosure. [Figure 7] This is a diagram for explaining the control of a vibration device in the first embodiment of the present disclosure. [Figure 8] This is a flowchart showing an example of a control method according to the first embodiment of the present disclosure. [Figure 9] This is a block diagram showing the main configuration of a control device according to the second embodiment of the present disclosure.

Embodiments for Carrying Out the Invention

[0017] Hereinafter, a control device, a control method, and a program according to embodiments of the present disclosure will be described in detail with reference to the drawings.

[0018] 〔First Embodiment〕 〈Vehicle〉 FIG. 1 is a diagram schematically showing the interior of the passenger compartment of a vehicle in the first embodiment of the present disclosure. As shown in FIG. 1, the vehicle M includes an instrument panel IN, a driver's seat DS, a passenger seat AS, a steering wheel SW, etc. in the passenger compartment. The vehicle M is, for example, a two-wheeled, three-wheeled, four-wheeled, etc. vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. In the present embodiment, the case where the vehicle M is a four-wheeled vehicle (EV) equipped with an electric motor as a drive source will be described as an example.

[0019] The steering wheel SW is a driving operator that is operated by the driver of the vehicle M. A sensor for detecting the operation amount or the presence or absence of an operation is attached to the steering wheel SW, and the detection result is output to the driving support ECU (Electronic Control Unit) 10 and the steering device 20 (see FIG. 2). The steering wheel SW does not necessarily have to be circular, and an irregular-shaped steering wheel may be used.

[0020] Furthermore, vibration devices VD1 and VD2 are mounted on the left and right sides of the steering wheel switch. Each vibration device VD1 and VD2 has a built-in motor, and vibrations are generated on the steering wheel switch by operating the motor in response to a regeneration signal output from the control device 100 (see Figure 2). The motors built into the vibration devices VD1 and VD2 may be linear motors (e.g., voice coil motors) or rotary motors (e.g., direct current (DC) motors).

[0021] Vibration device VD1 is located to the left of the steering wheel switch and is used to transmit vibrations to the driver's left hand when gripping the steering wheel switch. Vibration device VD2 is located to the right of the steering wheel switch and is used to transmit vibrations to the driver's right hand when gripping the steering wheel switch.

[0022] <Vehicle control system> Figure 2 is a block diagram illustrating an exemplary configuration of a vehicle control system including a control device according to a first embodiment of the present disclosure. As shown in Figure 2, the vehicle M control system comprises a driver assistance ECU 10, a steering device 20, a steering sensor group 30, a vehicle sensor group 40 (detection sensors), amplifiers Amp1 and Amp2, and a control device 100.

[0023] The driver assistance ECU 10 executes an Advanced Driver Assistance System (ADAS) for the driver based on the detection results of the vehicle sensor group 40. ADAS includes, for example, a Lane Departure Warning (LDW) that warns the driver if the vehicle M deviates from its lane. As an example, the driver assistance ECU 10 executes ADAS by generating vibrations from vibration devices VD1 and VD2 via the control device 100.

[0024] The steering device 20 includes, for example, a steering ECU and an electric motor. The steering ECU drives the electric motor according to information output from the driver assistance ECU 10 or from the steering wheel SW, thereby changing the direction of the steering wheels. The electric motor changes the direction of the steering wheels by, for example, applying force to a rack and pinion mechanism.

[0025] The steering sensor group 30 is a group of sensors attached to the steering wheel switch. The steering sensor group 30 includes, for example, a steering grip sensor and a vibration displacement sensor. The steering grip sensor is implemented by a capacitive sensor or the like and outputs a signal to the driver assistance ECU 10 that can detect whether or not the driver is gripping the steering wheel switch (meaning that they are in contact with it in a state where force can be applied). The vibration displacement sensor measures the displacement [cm] of vibrations generated at each position (point) of the steering wheel switch as vibration intensity and outputs the measured vibration intensity to the control device 100. The vibration intensity measured by the vibration displacement sensor may be output directly to the control device 100 without going through the driver assistance ECU 10.

[0026] The vehicle sensor group 40 includes sensors that indicate the surrounding conditions of vehicle M, sensors that indicate the status of vehicle M, and sensors that indicate the driving status of vehicle M. The sensors that indicate the surrounding conditions of vehicle M include an image sensor and an outside temperature sensor installed to capture images of the surrounding conditions of vehicle M. The sensors that indicate the status of vehicle M include a vehicle speed sensor that detects the speed of vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around the vertical axis, a compass sensor that detects the orientation of vehicle M, and an air pressure sensor that detects tire pressure. The sensors that indicate the driving status of vehicle M include an accelerator position sensor that detects the accelerator opening.

[0027] Furthermore, as the image sensor mentioned above, a solid-state image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) can be used. The acceleration sensor mentioned above is preferably capable of detecting both the longitudinal acceleration of the vehicle and the lateral acceleration of the vehicle. The acceleration sensor may be an integrated unit with a sensor for detecting the longitudinal acceleration of the vehicle and a sensor for detecting the lateral acceleration of the vehicle, or they may be separate units. Furthermore, the acceleration sensor may consist only of a sensor for detecting the longitudinal acceleration of the vehicle, or only of a sensor for detecting the lateral acceleration of the vehicle.

[0028] Amplifiers Amp1 and Amp2 each amplify the playback signal output from the control device 100. Amplifier Amp1 outputs the amplified playback signal to vibration device VD1, and amplifier Amp2 outputs the amplified playback signal to vibration device VD2. Amplifiers Amp1 and Amp2 are connected to vibration devices VD1 and VD2, respectively, via cable reels.

[0029] <Control device> The control device 100 includes, for example, an acquisition unit 110, a generation unit 120, a control unit 130, and a storage unit 140. The acquisition unit 110 acquires the detection results of various sensors provided in the steering sensor group 30 and the vehicle sensor group 40. The acquisition unit 110 outputs the acquired detection results as detection data to the generation unit 120 and the control unit 130. The detection data may be stored in the storage unit 140.

[0030] The generation unit 120 generates a vibration profile, which is definition information defining the vibrations of vibration devices VD1 and VD2 (more specifically, vibration intensity, vibration frequency, and phase), according to the detection results acquired by the acquisition unit 110. The vibration profile generated by the generation unit 120 is intended to alert the driver to changes in the surrounding environment of the vehicle M or changes in the state of the vehicle M, or to enhance the driver's sense of immersion while driving the vehicle M.

[0031] The generation unit 120 generates vibration profiles that simulate the feel of road surfaces according to the detection results of sensors in the vehicle sensor group 40 that indicate the conditions around the vehicle M. For example, the generation unit 120 generates vibration profiles that simulate the feel of ice when the road surface is frozen, according to the detection results of the ambient temperature sensor in the vehicle sensor group 40. In addition to the feel of ice when the road surface is frozen, the generation unit 120 may also generate vibration profiles that simulate the feel of a road surface during rainfall, or the feel of a sandy or muddy road surface (for example, a dirt course).

[0032] The generation unit 120 generates vibration profiles that define vibrations corresponding to the state of the vehicle M, based on the detection results of sensors that indicate the state of the vehicle M, which are provided in the vehicle sensor group 40. For example, the generation unit 120 generates a vibration profile that simulates the feeling of a tire leaking, based on the detection results of an air pressure sensor provided in the vehicle sensor group 40. In addition to the feeling of a tire leaking, the generation unit 120 may also generate vibration profiles that define vibrations that indicate the state of the drive source (electric motor) or battery.

[0033] Furthermore, for example, the generation unit 120 generates a vibration profile that defines vibrations that create a sense of traction (traction feeling) caused by the grip force of the tires during acceleration, deceleration, or cornering, in accordance with the detection results of the acceleration sensors provided in the vehicle sensor group 40. Alternatively, the generation unit 120 generates a vibration profile that defines vibrations that create a sense of speed (speed feeling) corresponding to the contact condition between the tires and the road surface at high speeds, in accordance with the detection results of the vehicle speed sensors provided in the vehicle sensor group 40.

[0034] The generation unit 120 generates a vibration profile that defines vibrations corresponding to the driving conditions of the vehicle M, based on the detection results of sensors in the vehicle sensor group 40 that indicate the driving conditions of the vehicle M. For example, the generation unit 120 generates a vibration profile that defines vibrations that create the feeling of acceleration and deceleration response (accelerator response) of the vehicle M due to the operation of the accelerator pedal, based on the detection result (accelerator opening) of the accelerator position sensor in the vehicle sensor group 40. In addition to the detection result of the accelerator position sensor, the vibration profile may also be generated by taking into account the detection result of an acceleration sensor (a sensor that detects the lateral acceleration of the vehicle).

[0035] The control unit 130 vibrates the vibration devices VD1 and VD2 according to the vibration profile generated by the generation unit 120 or the vibration profile 140A stored in the storage unit 140. For example, when vibrating the vibration devices VD1 and VD2, the control unit 130 may change the vibration intensity and phase of the vibration devices VD1 and VD2 by considering the positional relationship between the vibration devices VD1 and VD2 and a predetermined point P (see Figure 1). In this embodiment, the predetermined point P represents the position on the steering wheel SW that is generally assumed to be gripped most frequently by the driver of the vehicle M while driving, and is determined in advance.

[0036] For example, if a predetermined point P is located to the right of the steering wheel SW, the vibration of vibration device VD1 can be prevented from propagating to the predetermined point P by changing the vibration intensity and phase of the vibration device VD1. Similarly, if a predetermined point P is located to the left of the steering wheel SW, the vibration of vibration device VD2 can be prevented from propagating to the predetermined point P by changing the vibration intensity and phase of the vibration device VD1. As a result, the driver can feel the vibration on the left side of the steering wheel SW more clearly.

[0037] The memory unit 140 stores, for example, vibration profiles 140A, and various parameters necessary for the generation unit 120 to generate vibration profiles. Vibration profiles 140A are definition information that defines the vibrations of vibration devices VD1 and VD2 (more specifically, vibration intensity, vibration frequency, and phase). Vibration profiles 140A are similar to the vibration profiles generated by the generation unit 120, but differ in that they are pre-generated and stored in the memory unit 140. In other words, vibration profiles 140A include, for example, vibration profiles that define vibrations simulating the feeling of ice on a frozen road surface, vibration profiles that define vibrations simulating the feeling of air leaking from a tire, and so on. Furthermore, vibration profiles 140A also include, for example, vibration profiles that define vibrations that create the feeling of accelerator response, vibration profiles that define vibrations that create a feeling of traction, and vibration profiles that define vibrations that create a feeling of speed, and so on.

[0038] The acquisition unit 110, generation unit 120, and control unit 130 described above are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Furthermore, some or all of these components may be realized by hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), and SOC (System On Chip), or by the cooperation of software and hardware.

[0039] The program may be stored in advance on the HDD (Hard Disk Drive) or flash memory of the control device 100, or on a storage device (a storage device equipped with a non-temporary storage medium). Alternatively, the program may be stored on a removable recording medium such as a DVD or CD-ROM, and installed on the HDD or flash memory of the control device 100 when the recording medium (non-temporary recording medium) is inserted into the drive device.

[0040] The storage unit 140 is implemented by a storage device such as an HDD, flash memory, or RAM (Random Access Memory). The storage unit 140 may be fixedly mounted on the control device 100, or it may be detachably mounted on the control device 100.

[0041] <Method for generating vibration profiles> Figure 3 is a block showing the internal configuration of the generation unit in the first embodiment of the present disclosure. As shown in Figure 3, the generation unit 120 comprises a noise generation unit 210, a first filter unit 220, an envelope adjustment unit 230, a synthesis unit 240, and a second filter unit 250.

[0042] The noise generation unit 210 generates a noise signal. The noise signal generated by the noise generation unit 210 is, for example, a signal containing pink noise or white noise. However, the noise signal generated by the noise generation unit 210 is not limited to a signal containing pink noise or white noise, and may contain any type of noise.

[0043] The first filter section 220 includes a plurality of frequency filters 220-1 to 220-n (where n is an integer of 2 or more). The frequency filters 220-1 to 220-n are, for example, bandpass filters that allow only a predetermined frequency band to pass through. The frequency filters 220-1 to 220-n may also be lowpass filters that allow frequencies below a predetermined frequency to pass through, or highpass filters that allow frequencies above a predetermined frequency to pass through.

[0044] The passband frequencies of frequency filters 220-1 to 220-n can be set individually. By adjusting the passband frequencies of frequency filters 220-1 to 220-n, it is possible to generate vibrations that simulate the feeling of ice on a frozen road surface, vibrations that simulate the feeling of air leaking from a tire, or vibrations that create the aforementioned sense of accelerator response, traction, speed, etc.

[0045] The envelope adjustment unit 230 comprises a plurality of attenuation adjustment units 230-1 to 230-n. Each of the attenuation adjustment units 230-1 to 230-n is provided in correspondence with a frequency filter 220-1 to 220-n. The attenuation adjustment units 230-1 to 230-n attenuate the signals output from the corresponding frequency filters 220-1 to 220-n. In other words, the envelope adjustment unit 230 adjusts the envelope of the signals output from each of the frequency filters 220-1 to 220-n.

[0046] The damping amount, damping coefficient, and damping method in damping adjustment units 230-1 to 230-n can be set individually. By individually adjusting the damping amount, etc., in damping adjustment units 230-1 to 230-n, it is possible to generate vibrations that simulate the feeling of ice on a frozen road surface, vibrations that simulate the feeling of air leaking from a tire, or vibrations that create the aforementioned sense of accelerator response, traction, speed, etc.

[0047] The combining unit 240 combines the signals output from the attenuation adjustment units 230-1 to 230-n of the envelope adjustment unit 230. For example, the combining unit 240 combines the signals output from the attenuation adjustment units 230-1 to 230-n by superimposing them. When the combining unit 240 combines the signals output from the attenuation adjustment units 230-1 to 230-n, it may also adjust the intensity of the signals output from each of the attenuation adjustment units 230-1 to 230-n.

[0048] The second filter unit 250 multiplies the signal synthesized by the synthesis unit 240 by the inverse function of the vibration transfer function of the vehicle M. This processing is performed so that the signal synthesized by the synthesis unit 240 is reproduced at the location where vibration is reproduced (for example, the location where vibration devices VD1 and VD2 are installed, or a predetermined point P).

[0049] Figure 4 is a diagram illustrating the processing performed in the second filter unit in the first embodiment of this disclosure. Signal SG1 shown in Figure 4 is an example of a signal synthesized in the synthesis unit 240, and signal SG2 is an example of a signal processed in the second filter unit 250. The waveform of signal SG1 represents, for example, the waveform of a vibration (desired vibration) to be reproduced at a predetermined point P of the steering wheel SW, and the waveform of signal SG2 represents the waveform of the reproduced signal output to the vibration devices VD1 and VD2.

[0050] The second filter unit 250 first decomposes the signal SG1 synthesized in the synthesis unit 240 into its frequency components. For example, the second filter unit 250 performs a Fourier transform on the signal synthesized in the synthesis unit 240 to decompose it into its frequency components. Next, the second filter unit 250 performs filtering on the decomposed frequency components according to the vibration characteristics of the vibration devices VD1 and VD2 and the vibration transmission characteristics of the steering wheel SW from the vibration devices VD1 and VD2 to a predetermined point P.

[0051] The second filter unit 250 then synthesizes the filtered frequency components to generate the signal SG2. For example, the second filter unit 250 generates the signal SG2 by performing an inverse Fourier transform on the filtered frequency components. This signal SG2 is output as a regenerated signal to the vibration devices VD1 and VD2, thereby generating vibrations corresponding to the signal SG2.

[0052] Figure 5 shows an example of a vibration transmission path in the first embodiment of this disclosure. For ease of understanding, a predetermined point P is set at the bottom of the steering wheel SW, and only vibrations generated by the vibration device VD1 are transmitted to the predetermined point P via path RT. The predetermined point P is, for example, the part of the vehicle M that is held by the driver. The position of the predetermined point P can be detected by the steering grip sensor of the steering sensor group 30 shown in Figure 2.

[0053] Figure 6 is a diagram illustrating the filter used in the second filter section in the first embodiment of this disclosure. In Figure 6, the upper graph shows an example of the vibration characteristics of the vibration device VD1, and the middle graph shows an example of the vibration transmission characteristics of the steering wheel SW in the path RT from the vibration device VD1 to a predetermined point P. Also in Figure 6, the lower graph shows an example of the characteristics of the filter used in the second filter section 250.

[0054] The graph in the upper part of Figure 6 has frequency on the horizontal axis and vibration intensity on the vertical axis. Here, the vibration intensity on the vertical axis indicates the vibration equivalent to what acceleration [G] is obtained when a voltage of 1 [V] is applied to the vibration device VD1. The graph in the middle part of Figure 6 has frequency on the horizontal axis and response vibration intensity on the vertical axis. Here, the response vibration intensity on the vertical axis indicates the vibration equivalent to what acceleration [G] is obtained at the point of interest (predetermined point P) when a vibration equivalent to an acceleration of 1 [G] is applied. The graph in the lower part of Figure 6 has frequency on the vertical axis and vibration transmittance on the horizontal axis.

[0055] If we denote the vibration characteristics of the vibration device VD1 shown in the upper part of Figure 6 as A, and the vibration transmission characteristics of the steering wheel SW in the path RT shown in the middle part of Figure 6 as B, then the characteristics of the filter shown in the graph in the lower part of Figure 6 are expressed as (1 / (A×B)). In other words, the filter used in the second filter section 250 has characteristics that are the inverse of the characteristics expressed by the product of the vibration characteristics A of the vibration device VD1 and the vibration transmission characteristics B of the steering wheel SW in the path RT from the vibration device VD1 to a predetermined point P.

[0056] Thus, the filter shown in the lower graph of Figure 6 is generated using the vibration characteristics A of the vibration device VD1 shown in the upper graph of Figure 6 and the vibration transmission characteristics B of the steering wheel SW in the path RT shown in the middle graph of Figure 6. The filter shown in the lower graph of Figure 6 may be generated in advance and stored in the second filter unit 250, or it may be generated by the second filter unit 250 when performing filtering.

[0057] Here, the vibration characteristics A of the vibration device VD1 hardly change, while the vibration transmission characteristics B of the steering wheel SW change according to the path RT from the vibration device VD1 to a predetermined point P. When storing filters in the second filter unit 250, it is necessary to pre-store multiple filters corresponding to the path RT from the vibration device VD1 to the predetermined point P. Also, when the second filter unit 250 generates a filter, it is necessary to store the vibration characteristics A of the vibration device VD1 and multiple vibration transmission characteristics B corresponding to the path RT from the vibration device VD1 to the predetermined point P in the second filter unit 250.

[0058] As described above, the filter characteristics shown in the lower graph of Figure 6 have the inverse characteristics of the product of the vibration characteristics A of the vibration device VD1 and the vibration transmission characteristics B of the steering wheel SW in the path RT from the vibration device VD1 to a predetermined point P. Therefore, when the signal SG2 shown in Figure 4 is output to the vibration device VD1 as a regenerated signal, the signal with the waveform of signal SG1 shown in Figure 4 is regenerated at the predetermined point P of the steering wheel SW shown in Figure 5. In this way, the desired vibration can be regenerated at the predetermined point P of the steering wheel SW.

[0059] <Control of vibration devices> As described above, the control unit 130 vibrates the vibration devices VD1 and VD2 according to the vibration profile generated by the generation unit 120 or the vibration profile 140A stored in the storage unit 140. When the control unit 130 vibrates the vibration devices VD1 and VD2 according to the vibration profile, it controls the vibration intensity of the vibration devices VD1 and VD2 to gradually increase or decrease within a predetermined transition period at the start or end of the vibration. This control is performed to prevent malfunction or abnormal noise of the vibration devices VD1 and VD2 by mitigating the sudden movement of the vibration devices VD1 and VD2.

[0060] Figure 7 is a diagram illustrating the control of a vibration device in a first embodiment of the present disclosure. For example, as shown in the upper graph of Figure 7, suppose the vibration profile used by the control unit 130 starts vibration with a vibration intensity of VI at time t1 and ends vibration with a vibration intensity of VI at time t4. As shown in the lower graph of Figure 7, the control unit 130 controls the vibration intensity to gradually increase from 0 within a transition period T1 set between times t1 and t2 at the start of vibration, so that the vibration intensity becomes VI at time t2. The control unit 130 also controls the vibration intensity to gradually decrease from VI within a transition period T2 set between times t3 and t4 at the end of vibration, so that the vibration intensity becomes 0 at time t4.

[0061] In the example shown in Figure 7, the vibration intensity increases linearly during the transition period T1 and decreases linearly during the transition period T2. However, the method of changing the vibration intensity during the transition periods T1 and T2 is arbitrary. For example, it may increase or decrease curvilinearly or exponentially, or it may increase or decrease in steps. The length of the transition periods T1 and T2 is set to approximately 5 to 10 ms. However, the length of the transition periods T1 and T2 is not limited to approximately 5 to 10 ms; it can be set to any length.

[0062] <Control Method> Figure 8 is a flowchart illustrating an example of a control method according to the first embodiment of this disclosure. The processing shown in the flowchart in Figure 8 is executed repeatedly, for example, at regular time intervals. For the sake of simplicity, it is assumed that the information indicating the position of a predetermined point P on the steering wheel SW shown in Figure 5 is detected by the steering grip sensor of the steering sensor group 30 shown in Figure 2.

[0063] When the process shown in Figure 8 is started, first the acquisition unit 110 of the control device 100 acquires the detection results of the vehicle sensor group 40 (step S11). For example, the acquisition unit 110 acquires the detection results of the outside temperature sensor, air pressure sensor, accelerator position sensor, acceleration sensor, vehicle speed sensor, and other sensors provided in the vehicle sensor group 40. The detection results acquired by the acquisition unit 110 are output to the generation unit 120 and the control unit 130.

[0064] Next, the control unit 130 of the control device 100 determines whether the detection results acquired by the acquisition unit 110 satisfy predetermined conditions (step S12). For example, the control device 100 determines whether at least one of the detection results from the outside temperature sensor, the air pressure sensor, the accelerator position sensor, the acceleration sensor, and the vehicle speed sensor exceeds a preset threshold for each detection result.

[0065] If the control unit 130 determines that the detection result acquired by the acquisition unit 110 does not meet the predetermined conditions (if the determination result in step S12 is "NO"), the processing of the flowchart shown in Figure 8 is terminated. On the other hand, if the control unit 130 determines that the detection result acquired by the acquisition unit 110 meets the predetermined conditions (if the determination result in step S12 is "YES"), the generation unit 120 generates a vibration profile corresponding to the detection result (step S13).

[0066] For example, if the ambient temperature sensor detects a temperature below a reference temperature, the generation unit 120 generates a vibration profile that simulates the feeling of ice on a frozen road surface. If the air pressure sensor detects a pressure below a reference pressure, the generation unit 120 generates a vibration profile that simulates the feeling of air leaking from a tire.

[0067] Alternatively, if the result from the accelerator position sensor is greater than a predetermined threshold, the generation unit 120 generates a vibration profile that defines vibrations to create a sense of accelerator response. If the detection result from the acceleration sensor is greater than or equal to a threshold, the generation unit 120 generates a vibration profile that defines vibrations to create a sense of traction. If the detection result from the vehicle speed sensor is greater than or equal to a threshold, the generation unit 120 generates a vibration profile that defines vibrations to create a sense of speed.

[0068] Furthermore, the generation unit 120 generates vibration profiles using the method described with reference to Figures 3 to 6. In other words, the vibration profiles generated by the generation unit 120 are filtered according to the vibration characteristics of the vibration device VD1 shown in the upper graph of Figure 6 and the vibration transmission characteristics of the steering wheel SW in the path RT shown in the middle graph of Figure 6.

[0069] Next, the control unit 130 vibrates the vibration device VD1 according to the vibration profile generated by the generation unit 120 (step S14). For example, the control unit 130 vibrates the vibration device VD1 according to a vibration profile that defines vibrations simulating the feeling of ice on a frozen road surface. This reproduces the feeling of ice on a frozen road surface at a predetermined point P shown in Figure 5. Alternatively, the control unit 130 vibrates the vibration device VD1 according to a vibration profile that defines vibrations simulating the feeling of air leaking from a tire. This reproduces the feeling of air leaking from a tire at a predetermined point P shown in Figure 5.

[0070] Furthermore, for example, the control unit 130 vibrates the vibration device VD1 according to a vibration profile that defines vibrations that create a sense of accelerator response. As a result, vibrations that create a sense of accelerator response are reproduced at a predetermined point P shown in Figure 5. Alternatively, the control unit 130 vibrates the vibration device VD1 according to a vibration profile that defines vibrations that create a sense of traction. As a result, vibrations that create a sense of traction are reproduced at a predetermined point P shown in Figure 5.

[0071] As a result of the process described above, vibrations corresponding to at least one of the surrounding conditions of vehicle M, the state of vehicle M, and the driving conditions of vehicle M are generated by the vibration device VD1 and transmitted to a predetermined point P via the path RT shown in Figure 5. Here, the vibrations generated by the vibration device VD1 are filtered using the filter shown in the lower graph of Figure 6. Therefore, even if the vibration characteristics of the vibration device VD1 and the vibration transmission characteristics of the steering wheel SW in the path RT are frequency-dependent, the desired vibrations can be reproduced at the predetermined point P of the steering wheel SW. As a result, for example, the feel of ice on a frozen road surface or the feeling of air leaking from the tires can be reproduced. Alternatively, the feeling of accelerator response, traction, and speed can be reproduced to create a sense of immersion while driving.

[0072] In Figure 8, an example was described in which the generation unit 120 generates a vibration profile (step S13), and the control unit 130 vibrates the vibration device VD1 according to the generated vibration profile (step S14). However, instead of step S13, a step of selecting a vibration profile 140A according to the detection result and reading it from the storage unit 140 may be performed. In this case, a vibration profile 140A according to the detection result of the vehicle sensor group 40 is selected and read from the storage unit 140, and the vibration device VD1 is vibrated according to the read vibration profile.

[0073] Furthermore, Figure 8 illustrates an example where only the vibration device VD1 is vibrated, for the sake of simplicity. However, the vibration device VD2 may be vibrated instead of the vibration device VD1, or both the vibration device VD1 and the vibration device VD2 may be vibrated together. Also, Figure 8 illustrates a case where there is only one predetermined point P on the steering wheel SW, for the sake of simplicity. However, there may be multiple predetermined points P, such as when the driver of the vehicle M grips the steering wheel SW with both hands.

[0074] For example, consider a case where both vibration devices VD1 and VD2 are vibrated, and there are two predetermined points P. In this case, the vibrations generated by vibration device VD1 can be filtered according to the vibration characteristics of vibration device VD1 and the vibration transmission characteristics corresponding to the path from vibration device VD1 to one of the predetermined points P. Similarly, the vibrations generated by vibration device VD2 can be filtered according to the vibration characteristics of vibration device VD2 and the vibration transmission characteristics corresponding to the path from vibration device VD2 to the other predetermined point P.

[0075] As described above, in this embodiment, the second filter unit 250 decomposes the vibration to be regenerated at a predetermined point P of the steering wheel SW into frequency components, filters the decomposed frequency components according to at least one of the vibration characteristics of the vibration device VD1 and the vibration transmission characteristics of the steering wheel SW from the vibration device VD1 to the predetermined point P, and synthesizes the filtered frequency components. Then, it generates vibrations in the vibration device VD1 according to the synthesized frequency components. As a result, even if the vibration characteristics of the vibration device VD1 and the vibration transmission characteristics of the steering wheel SW in the path RT are frequency dependent, the desired vibration can be regenerated at the predetermined point P of the steering wheel SW.

[0076] [Second Embodiment] <Control device> Figure 9 is a block diagram showing the main components of a control device according to the second embodiment of this disclosure. The control device 100A of this embodiment is mounted on a vehicle, similar to the control device 100 shown in Figure 2, and generates vibrations on the steering wheel SW by vibrating vibration devices VD1 and VD2.

[0077] As shown in Figure 9, the control device 100A of this embodiment has a configuration in which a transmission unit 160 and a reception unit 170 are included instead of the generation unit 120 of the control device 100 shown in Figure 2. The control device 100 of the first embodiment used vibration profiles 140A stored in the storage unit 140 or vibration profiles generated by the generation unit 120. In contrast, the control device 100A of this embodiment uses vibration profiles transmitted from the server device 300.

[0078] The transmitter 160 and receiver 170 are connected to the server device 300 via wireless communication. For example, the transmitter 160 and receiver 170 and the server device 300 are connected via wireless communication using 4G (fourth-generation mobile communication system) or 5G (fifth-generation mobile communication system). However, the connection method between the transmitter 160 and receiver 170 and the server device 300 is not limited to 4G or 5G, and any connection method is acceptable. The transmitter 160 and receiver 170 are pre-configured with information indicating the address of the server device 300. The transmitter 160 and receiver 170 can communicate with the server device 300 by identifying the server device 300 by its address.

[0079] The transmitting unit 160 transmits the detection results of the steering sensor group 30 and the vehicle sensor group 40 acquired by the acquisition unit 110 to the server device 300. For example, the transmitting unit 160 may transmit the detection results of the steering sensor group 30 to the server device 300 only when the grip position of the steering wheel SW changes. Also, regarding the detection results of the vehicle sensor group 40, the transmitting unit 160 may transmit to the server device 300 only the detection results that the control unit 130 has determined to satisfy predetermined conditions in step S12 of Figure 8. The receiving unit 170 receives the vibration profile transmitted from the server device 300 as a reply to the detection results transmitted by the transmitting unit 160. The receiving unit 170 outputs the received vibration profile to the control unit 130. The vibration profile received by the receiving unit 170 may be stored in the storage unit 140.

[0080] The server device 300 transmits a vibration profile corresponding to the detection result transmitted from the control device 100A to the control device 100A. For example, the server device 300 may be equipped with the same components as the generation unit 120 described with reference to Figure 3, and may generate a vibration profile corresponding to the detection result transmitted from the control device 100A using the method described with reference to Figures 3 to 6. However, the method by which the server device 300 generates the vibration profile is not limited to the method described with reference to Figures 3 to 6, and other methods may be used.

[0081] Alternatively, the server device 300 may have a large number of vibration profiles stored in advance, read out a vibration profile corresponding to the detection result transmitted from the control device 100A, and transmit it to the control device 100A. Since the server device 300 can have a larger storage capacity than the storage unit 140 mounted on the vehicle M, it can store a wide variety of vibration profiles.

[0082] <Control Method> The control method of this embodiment is the same as the control method of the first embodiment, except that it utilizes the vibration profile transmitted from the server device 300. In other words, the control method according to the second embodiment of this disclosure is, for example, one in step S13 shown in Figure 8, where "generating a vibration profile according to the detection result" is replaced with "sending the detection result to the server device and receiving the vibration profile transmitted from the server device." The control method of the second embodiment will be described below with reference to the modified Figure 8.

[0083] In this embodiment as well, once processing begins, the acquisition unit 110 of the control device 100 acquires the detection results of the vehicle sensor group 40, similar to the first embodiment (step S11). Next, the control unit 130 of the control device 100 determines whether the detection results acquired by the acquisition unit 110 satisfy predetermined conditions (step S12). If the control unit 130 determines that the detection results acquired by the acquisition unit 110 do not satisfy the predetermined conditions (if the determination result in step S12 is "NO"), the processing shown in the flowchart in Figure 8 is terminated.

[0084] In response, if the control unit 130 determines that the detection result acquired by the acquisition unit 110 satisfies predetermined conditions (if the determination result in step S12 is "YES"), the transmission unit 160 transmits the detection result that satisfies the predetermined conditions to the server device 300. The receiving unit 170 then receives the vibration profile transmitted from the server device 300 as a reply to the detection result transmitted by the transmission unit 160 (rephrased step S13).

[0085] Next, the control unit 130 vibrates the vibration devices VD1 and VD2 according to the vibration profile generated by the generation unit 120 (step S14). For example, the control unit 130 vibrates the vibration devices VD1 and VD2 according to a vibration profile that defines vibrations simulating the feel of ice on a frozen road surface. Alternatively, the control unit 130 vibrates the vibration devices VD1 and VD2 according to a vibration profile that defines vibrations that create a sense of accelerator response, traction, or speed. This reproduces the feel of ice on a frozen road surface, or creates a sense of accelerator response, traction, or speed.

[0086] As a result of the process described above, vibrations corresponding to at least one of the surrounding conditions of the vehicle M, the state of the vehicle M, and the driving conditions of the vehicle M are generated in the vibration devices VD1 and VD2. This makes it possible to reproduce the desired vibration at a predetermined point P of the steering wheel SW, even if the vibration characteristics of the vibration devices VD1 and VD2 and the vibration transmission characteristics of the steering wheel SW are frequency-dependent.

[0087] As described above, in this embodiment as well, the second filter unit 250 decomposes the vibration to be regenerated at a predetermined point P of the steering wheel SW into frequency components, filters the decomposed frequency components according to at least one of the vibration characteristics of the vibration device VD1 and the vibration transmission characteristics of the steering wheel SW from the vibration device VD1 to the predetermined point P, and synthesizes the filtered frequency components. Then, it generates vibrations in the vibration device VD1 according to the synthesized frequency components. As a result, even if the vibration characteristics of the vibration device VD1 and the vibration transmission characteristics of the steering wheel SW in the path RT are frequency dependent, the desired vibration can be regenerated at the predetermined point P of the steering wheel SW.

[0088] Although the control device, control method, and program according to the embodiments of this disclosure have been described above, this disclosure is not limited to the embodiments described above and can be freely modified within the scope of this disclosure. For example, the server device 300 described in the second embodiment above may be implemented in a cloud computing system.

[0089] Furthermore, when vibrating the vibration devices VD1 and VD2, audible vibrations may be superimposed on the original vibrations. Alternatively, the audible vibrations may be emitted from the speaker in synchronization with the vibrations of the vibration devices VD1 and VD2. This will reproduce not only the tactile sensation but also the auditory sensation, thereby more accurately reproducing the feel of driving.

[0090] Furthermore, in the second embodiment described above, the control unit 130 may, similar to the first embodiment, control the vibration intensity of the vibration devices VD1 and VD2 to gradually increase or decrease within a predetermined transition period at the start or end of vibration when vibrating the vibration devices VD1 and VD2 according to the vibration profile. This also reduces the abrupt operation of the vibration devices VD1 and VD2 in the second embodiment, preventing malfunctions or abnormal noises of the vibration devices VD1 and VD2.

[0091] Furthermore, in the embodiments described above, it was assumed that the vibration characteristics of the vibration devices VD1 and VD2 hardly change. However, if, for example, the vibration characteristics of the vibration devices VD1 and VD2 change with temperature, it is preferable to use vibration characteristics that correspond to the temperature. Also, regarding the steering wheel switch, if peripheral devices such as airbags are provided, the vibration transmission characteristics of the steering wheel switch and the vibration transmission characteristics of the peripheral devices may be used separately, or a combination of these may be used. [Explanation of Symbols]

[0092] 40 Vehicle Sensor Groups 100, 100A control device 110 Acquisition Department 120 Generation part 130 Control Unit 160 Transmitter 170 Receiver 210 Noise generation unit 220 First filter section 230 Envelope adjustment section 240 Synthesis section 250 Second filter section 300 Server Devices M Vehicle SW Steering Wheel VD1, VD2 Vibration Devices

Claims

1. A control device for controlling vibrations generated in a vibration device mounted on a vehicle's driver control, comprising a processor, the processor executing a program, The vibrations to be reproduced at a predetermined point of the control device are decomposed into frequency components, The decomposed frequency components are subjected to filtering according to at least one of the vibration characteristics of the vibration device and the vibration transmission characteristics of the operating control element from the vibration device to the predetermined point. The frequency components that have undergone the filtering process are combined, The vibration device generates vibrations corresponding to the synthesized frequency components. Control device.

2. The control device according to claim 1, wherein the processor performs the filtering process using a filter having characteristics inverse of characteristics expressed as the product of the vibration characteristics of the vibration device and the vibration transmission characteristics of the operating control element from the vibration device to the predetermined point.

3. The control device according to claim 2, wherein the processor generates the filter using the vibration characteristics of the vibration device and the vibration transmission characteristics of the operating control element from the vibration device to the predetermined point.

4. The processor acquires the detection result of a detection sensor that detects at least one of the surrounding conditions of the vehicle, the state of the vehicle, and the driving conditions of the vehicle. In accordance with the acquired detection results, the vibration device generates vibrations corresponding to at least one of the surrounding conditions of the vehicle, the condition of the vehicle, and the driving conditions of the vehicle. A control device according to any one of claims 1 to 3.

5. The control device according to claim 4, wherein the processor generates vibrations corresponding to at least one of the conditions surrounding the vehicle, the condition of the vehicle, and the driving conditions of the vehicle.

6. The aforementioned processor, The acquired detection results are transmitted to the server device. The server device receives definition information that defines vibrations corresponding to at least one of the surrounding conditions of the vehicle, the condition of the vehicle, and the driving conditions of the vehicle, transmitted from the server device in response to the detection results transmitted to the server device. The vibration device generates vibrations based on the definition information received. The control device according to claim 4.

7. The control device according to claim 1, wherein the processor controls the vibration intensity of the vibration device to gradually increase or decrease within a predetermined transition period at the start or end of vibration of the vibration device.

8. A control method for controlling vibrations generated in a vibration device mounted on a vehicle's driver control panel, wherein a computer controls the vibrations generated in the vibration device. The vibrations to be reproduced at a predetermined point of the control device are decomposed into frequency components, The decomposed frequency components are subjected to filtering according to at least one of the vibration characteristics of the vibration device and the vibration transmission characteristics of the operating control element from the vibration device to the predetermined point. The frequency components that have undergone the filtering process are combined, The vibration device generates vibrations corresponding to the synthesized frequency components. Control method.

9. On the computer, The vibrations reproduced at a predetermined point on the vehicle's control panel are decomposed into frequency components. The decomposed frequency components are subjected to filtering according to at least one of the vibration characteristics of the vibration device mounted on the operating control and the vibration transmission characteristics of the operating control from the vibration device to the predetermined point. The frequency components that have undergone the filtering process are then combined. The vibration device generates vibrations corresponding to the synthesized frequency components. program.

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