Control device, control method, and program

Abstract

The present invention provides a control device, control method, and program that can create an immersive driving experience. [Solution] The control device 100 includes a processor, which executes a program to acquire detection results from a group of vehicle sensors 40 that detect at least one of the vehicle's driving conditions and the vehicle's behavior. In accordance with the acquired detection results, the control device generates vibrations corresponding to at least one of the vehicle's driving conditions and the vehicle's behavior in vibration devices VD1 and VD2 mounted on the vehicle's steering wheel SW.

Description

Technical Field

[0001] The present disclosure relates to a control device, a control method, and a program.

Background Art

[0002] Conventionally, a technique for transmitting various information to an occupant of a vehicle by vibrating a vibration device mounted on the vehicle is known. For example, Patent Document 1 below discloses a technique for improving fuel efficiency by providing a vibration device on a pedal and changing the operation state of the pedal by vibrating the vibration device. Further, Patent Document 2 below discloses a technique for prompting an occupant of the vehicle to perform a shift operation by providing a vibration device on the steering wheel of the vehicle and vibrating the vibration device at the timing when a shift operation should be performed.

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, currently, in order to reduce greenhouse gas emissions, an EV shift from gasoline vehicles to EVs (electric vehicles) is being promoted. In EVs, there is a tendency for information during driving to be lacking compared to gasoline vehicles, so the sense of immersion during driving decreases. For this reason, in EVs, it is required to feedback information according to the driving state or behavior of the vehicle to the occupant during driving to produce a sense of immersion during driving.

[0005] The present disclosure has been made in view of the above circumstances, and an object thereof is to provide a control device, a control method, and a program capable of producing a sense of immersion during driving. [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) that controls vibrations generated in vibration devices (VD1, VD2) mounted on a driver control (SW) of a vehicle (M), and comprises a processor, the processor which, by executing a program, acquires detection results from a detection sensor that detects at least one of the driving conditions of the vehicle and the behavior of the vehicle, and generates vibrations in the vibration devices corresponding to at least one of the driving conditions of the vehicle and the behavior of the vehicle according to the acquired detection results.

[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, have a processor that generates vibrations corresponding to at least one of the driving conditions of the vehicle and the behavior of the vehicle, based on the acquired detection results.

[0008] A control device according to a third aspect of the present disclosure, in a control device according to a first or second aspect of the present disclosure, may, based on the acquired detection result, select from a plurality of pre-prepared definitions of vibrations that define vibrations corresponding to at least one of the driving conditions of the vehicle and the behavior of the vehicle, and generate vibrations based on the selected definition in the vibration device.

[0009] A control device according to a fourth aspect of the present disclosure, in a control device according to any of the first to third aspects of the present disclosure, the processor may transmit the acquired detection result to a server device (300), receive 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 driving conditions of the vehicle and the behavior of the vehicle, and generate vibrations based on the received definition information in the vibration device.

[0010] A control device according to a fifth aspect of the present disclosure is a control device according to any first to fourth aspect of the present disclosure, wherein the processor may control 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.

[0011] A control device according to a sixth aspect of the present disclosure is a control device according to any first to fifth aspect of the present disclosure, wherein the processor acquires the detection result of a detection sensor for detecting the accelerator opening of the vehicle, and generates vibrations in the vibration device according to the operation status of the accelerator pedal based on the acquired detection result.

[0012] A control device according to a seventh aspect of the present disclosure is a control device according to any first to sixth aspect of the present disclosure, wherein the processor acquires the detection result of a detection sensor that detects at least one of the longitudinal acceleration of the vehicle and the lateral acceleration of the vehicle, and generates vibrations in the vibration device according to the behavior of the vehicle based on the acquired detection result. A control device according to the eighth aspect of the present disclosure is a control device according to any of the first to seventh aspects of the present disclosure, wherein the processor acquires the detection result of a detection sensor for detecting the speed of the vehicle, and generates vibrations in the vibration device corresponding to the speed of the vehicle based on the acquired detection result.

[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 unit (SW) of a vehicle (M), wherein a computer acquires a detection result from a detection sensor (40) that detects at least one of the driving conditions of the vehicle and the behavior of the vehicle (S11), and generates vibrations in the vibration device according to the acquired detection result, corresponding to at least one of the driving conditions of the vehicle and the behavior of the vehicle (S14).

[0014] A program according to one aspect of the present disclosure causes a computer to acquire a detection result of a detection sensor (40) that detects at least one of a driving situation of a vehicle (M) and the behavior of the vehicle (S11), and according to the acquired detection result, causes a vibration device mounted on a driving operator of the vehicle to generate a vibration corresponding to at least one of the driving situation of the vehicle and the behavior of the vehicle (S14), and is a program.

Effect of the Invention

[0015] According to the present disclosure, a special effect that can produce an immersive feeling during driving can be obtained.

Brief Description of the Drawings

[0016] [Figure 1] It is a diagram schematically showing the interior of a vehicle cabin in the first embodiment of the present disclosure. [Figure 2] It is a block diagram showing an exemplary configuration of a vehicle control system including a control device according to the first embodiment of the present disclosure. [Figure 3] It is a block showing the internal configuration of a generation unit in the first embodiment of the present disclosure. [Figure 4] It is a diagram showing an example of the waveform of a signal generated by a generation unit in the first embodiment of the present disclosure. [Figure 5] It is a diagram for explaining the control of a vibration device in the first embodiment of the present disclosure. [Figure 6] It is a flowchart showing an example of a control method according to the first embodiment of the present disclosure. [Figure 7] It is a diagram for explaining an example of producing an acceleration response feeling in the first embodiment of the present invention. [Figure 8] It is a diagram for explaining an example of producing a traction feeling in the first embodiment of the present invention. [Figure 9] It is a diagram for explaining an example of producing a speed feeling in the first embodiment of the present invention. [Figure 10] It is a block diagram showing the main configuration of a control device according to the second embodiment of the present disclosure.

Mode 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 a vehicle cabin 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. inside the vehicle cabin. The vehicle M is, for example, a two-wheeled, three-wheeled, four-wheeled, or other 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 annular, and a deformed steering wheel may be used.

[0020] In addition, vibration devices VD1 and VD2 are mounted on the left and right sides of the steering wheel SW. The vibration devices VD1 and VD2 each incorporate a motor, and by operating the motor according to a reproduction signal output from the control device 100 (see FIG. 2), vibration is generated on the steering wheel SW. The motors incorporated in the vibration devices VD1 and VD2 may be linear motors (for example, voice coil motors) or rotary motors (for example, 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 driving conditions of vehicle M, and sensors that indicate the behavior 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 driving conditions of vehicle M include an accelerator position sensor that detects the accelerator opening. The sensors that indicate the behavior 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, and an orientation sensor that detects the orientation of vehicle M.

[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 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 above detection data may be stored in the storage unit 140.

[0030] The generation unit 120 generates a vibration profile, which is definition information that defines the vibrations (more specifically, vibration intensity, vibration frequency, and phase) of the vibration devices VD1 and VD2, according to the detection results acquired by the acquisition unit 110. The vibration profile generated by the generation unit 120 is intended to enhance the sense of immersion when the driver is operating the vehicle.

[0031] 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).

[0032] The generation unit 120 generates vibration profiles that define vibrations corresponding to the behavior of the vehicle M, based on the detection results of sensors in the vehicle sensor group 40 that indicate the behavior of the vehicle M. For example, the generation unit 120 generates vibration profiles that define vibrations that create a sense of traction caused by the grip force of the tires during acceleration, deceleration, or cornering, based on the detection results of acceleration sensors in the vehicle sensor group 40. Alternatively, the generation unit 120 generates vibration profiles that define vibrations that create a sense of speed corresponding to the contact condition between the tires and the road surface at high speeds, based on the detection results of vehicle speed sensors in the vehicle sensor group 40.

[0033] 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.

[0034] 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.

[0035] 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 multiple vibration profiles that define vibrations that create the aforementioned accelerator response, traction, and sense of speed. When the control unit 130 uses vibration profiles 140A stored in the memory unit 140, it selects and uses one from among vibration profiles 140A that corresponds to the driving conditions or behavior of vehicle M.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] <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. Figure 4 is a diagram showing an example of the waveform of a signal generated by 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.

[0040] 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. In Figure 4, the noise signal generated by the noise generation unit 210 is exemplified as signal SG1.

[0041] 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.

[0042] 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 create the aforementioned sense of accelerator response, traction, and speed. In Figure 4, a signal filtered by any of frequency filters 220-1 to 220-n is shown as signal SG2 as an example.

[0043] 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.

[0044] 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 create the aforementioned sense of accelerator response, traction, speed, etc. In Figure 4, a signal that has been damped by any of the damping adjustment units 230-1 to 230-n is shown as signal SG3 as an example.

[0045] 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.

[0046] 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). In this way, a vibration profile is generated.

[0047] <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.

[0048] Figure 5 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 5, 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 5, 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.

[0049] In the example shown in Figure 5, 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.

[0050] <Control Method> Figure 6 is a flowchart showing an example of a control method according to the first embodiment of this disclosure. The process shown in the flowchart in Figure 6 is executed repeatedly, for example, at regular time intervals. When the process shown in Figure 6 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 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.

[0051] Next, the control unit 130 of the control device 100 determines whether the detection result acquired by the acquisition unit 110 satisfies predetermined conditions (step S12). For example, the control unit 130 determines whether at least one of the detection results from the accelerator position sensor, the acceleration sensor, and the vehicle speed sensor is above a preset threshold for each respective detection result.

[0052] 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 6 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).

[0053] For example, 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. This vibration profile has vibration intensity and vibration frequency defined according to, for example, the accelerator opening and the longitudinal acceleration of the vehicle M. Also, 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. This vibration profile has vibration intensity and vibration frequency defined according to, for example, the longitudinal acceleration of the vehicle M and the lateral acceleration of the vehicle M. Alternatively, 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. This vibration profile has vibration intensity and vibration frequency defined according to, for example, the vehicle speed of the vehicle M.

[0054] 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 that create a sense of accelerator response. This creates a sense of accelerator response. 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 traction. This creates a sense of traction. Or, the control unit 130 vibrates the vibration devices VD1 and VD2 according to a vibration profile that defines vibrations that create a sense of speed. This creates a sense of speed.

[0055] As a result of the process described above, vibrations corresponding to at least one of the driving conditions of vehicle M and the behavior of vehicle M are generated in the vibration devices VD1 and VD2. This makes it possible to create an immersive driving experience.

[0056] In Figure 6, an example was described in which the generation unit 120 generates a vibration profile (step S13), and the control unit 130 vibrates the vibration devices VD1 and VD2 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 devices VD1 and VD2 are vibrated according to the read vibration profile.

[0057] 《Enhancing the feeling of throttle response》 Figure 7 is a diagram illustrating an example of how accelerator response sensation is produced in the first embodiment of the present invention. In Figure 7, the graph in the upper section shows the change in accelerator opening over time, the graph in the middle section shows the change in acceleration of the vehicle M in the longitudinal direction over time, and the graph in the lower section shows the change in vibration intensity of vibration devices VD1 and VD2 over time.

[0058] In the example shown in Figure 7, the feeling of accelerator response is simulated during the periods t11-t12 and t13-t14. Time t11 is the time when the accelerator opening exceeds a predetermined threshold, and time t12 is the time when the magnitude of the forward acceleration (positive acceleration) of vehicle M is at its maximum. Time t13 is the time when the accelerator opening is at its maximum, and time t14 is the time when the magnitude of the rearward acceleration (negative acceleration) of vehicle M is at its maximum.

[0059] In other words, during the period from time t11 to t12, the driver of vehicle M is gradually increasing the pressure on the accelerator pedal, causing vehicle M to gradually accelerate. During the period from time t13 to t14, the driver of vehicle M is gradually releasing the pressure on the accelerator pedal, causing vehicle M to gradually decelerate. For example, during the period from time t11 to t12, vibration devices VD1 and VD2 vibrate at a lower vibration intensity and frequency than during the period from time t13 to t14, while during the period from time t13 to t14, vibration devices VD1 and VD2 vibrate at a higher vibration intensity and frequency than during the period from time t11 to t12.

[0060] Here, the vibration intensity and vibration frequency of the vibration devices VD1 and VD2 may be changed according to the magnitude of the acceleration. For example, during the period from time t11 to t12, the vibration devices VD1 and VD2 may be vibrated such that the vibration intensity and vibration frequency gradually (for example, linearly) increase as the magnitude of the acceleration increases. Alternatively, during the period from time t13 to t14, the vibration devices VD1 and VD2 may be vibrated such that the vibration intensity and vibration frequency gradually (for example, linearly) decrease as the magnitude of the acceleration increases.

[0061] As described above, the vibration devices VD1 and VD2 vibrate to reproduce the feeling of accelerator response. In other words, when the driver of vehicle M presses the accelerator pedal, they can feel the acceleration of vehicle M as it accelerates, and when they release the accelerator pedal, they can feel the deceleration of vehicle M as it decelerates.

[0062] 《Creating a sense of traction》 Figure 8 is a diagram illustrating an example of traction sensation in the first embodiment of the present invention. In Figure 8, the upper graph shows the change over time of acceleration of the vehicle M in the longitudinal direction, the middle graph shows the change over time of acceleration of the vehicle M in the lateral direction, and the lower graph shows the change over time of vibration intensity of vibration devices VD1 and VD2.

[0063] In the example shown in Figure 8, the traction effect is simulated during the periods t21-t22 and t23-t24. Time t21 is when the magnitude of the forward and lateral acceleration of vehicle M exceeds a predetermined threshold, and time t22 is when the magnitude of the forward acceleration of vehicle M reaches its maximum. Similarly, time t23 is when the magnitude of the forward and lateral acceleration of vehicle M exceeds a predetermined threshold, and time t24 is when the magnitude of the forward acceleration of vehicle M reaches its maximum.

[0064] In other words, during the periods t21-t22 and t23-t24, the forward acceleration of vehicle M gradually increases, and lateral acceleration of vehicle M occurs (for example, vehicle M is turning). Note that in the example shown in Figure 8, the lateral acceleration of vehicle M is greater during the period t21-t22 than during the period t23-t24.

[0065] For example, during the periods t21-t22 and t23-t24, vibration devices VD1 and VD2 vibrate at similar vibration frequencies. It is preferable that the vibration frequencies of vibration devices VD1 and VD2 be lower than those used to reproduce the feeling of acceleration response, in order to reproduce the feeling of traction. During the period t21-t22, the lateral acceleration of the vehicle M is greater than during the period t23-t24. Therefore, during the period t21-t22, vibration devices VD1 and VD2 vibrate with a greater vibration intensity than during the period t23-t24.

[0066] Here, the vibration intensity and vibration frequency of the vibration devices VD1 and VD2 may be changed according to the magnitude of the acceleration. For example, during the periods from time t21 to t22 and from time t23 to t24, the forward acceleration of the vehicle M is gradually increasing, so the vibration devices VD1 and VD2 may be vibrated such that the vibration intensity and vibration frequency gradually (for example, linearly) increase as the magnitude of the acceleration increases.

[0067] As described above, the vibration devices VD1 and VD2 vibrate to reproduce the feeling of traction. In other words, the driver of vehicle M can feel the traction caused by the tire grip when vehicle M turns, for example, by pressing the accelerator pedal while operating the steering wheel switch.

[0068] Creating a sense of speed Figure 9 is a diagram illustrating an example of creating a sense of speed in the first embodiment of the present invention. In Figure 9, the graph in the upper section shows the change in vehicle speed of vehicle M over time, and the graph in the lower section shows the change in vibration intensity of vibration devices VD1 and VD2 over time.

[0069] In the example shown in Figure 9, a sense of speed is created during the periods from time t31 to t32 and from time t32 to t33. For example, the period from time t31 to t32 represents the case where vehicle M is traveling on an ordinary road, while the period from time t32 to t33 represents the case where vehicle M is traveling on a highway.

[0070] For example, during the periods t31-t32 and t32-t33, vibration devices VD1 and VD2 vibrate at similar vibration frequencies. It is preferable that the vibration frequencies of vibration devices VD1 and VD2 are at or below the vibration frequency used to reproduce accelerator response, and higher than the vibration frequency used to reproduce traction, in order to reproduce a sense of speed. During the period t32-t33, the vehicle speed of vehicle M is greater than during the period t31-t32. Therefore, during the period t32-t33, vibration devices VD1 and VD2 vibrate with a greater vibration intensity than during the period t31-t32.

[0071] Here, the vibration intensity and vibration frequency of the vibration devices VD1 and VD2 may be changed according to the magnitude of the vehicle speed. For example, since the vehicle speed of vehicle M is gradually increasing during both the period from time t31 to t32 and the period from time t32 to t33, the vibration devices VD1 and VD2 may be vibrated such that the vibration intensity and vibration frequency gradually (for example, linearly) increase as the vehicle speed increases.

[0072] As described above, the vibration devices VD1 and VD2 vibrate to reproduce a sense of speed. In other words, the driver of vehicle M can feel a sense of speed corresponding to the vehicle's speed, for example.

[0073] As described above, in this embodiment, the acquisition unit 110 acquires the detection results of the vehicle sensor group 40, which detect at least one of the driving conditions of the vehicle M and the behavior of the vehicle M. Then, the control unit 130 generates vibrations in the vibration devices VD1 and VD2 according to the detection results acquired by the acquisition unit 110, corresponding to at least one of the driving conditions of the vehicle M and the behavior of the vehicle M. This makes it possible to reproduce, for example, the feeling of accelerator response, traction, and speed, thereby creating an immersive driving experience.

[0074] [Second Embodiment] <Control device> Figure 10 is a block diagram showing the main components of a control device according to a 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.

[0075] As shown in Figure 10, 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.

[0076] 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.

[0077] The transmitting unit 160 transmits the detection results of the vehicle sensor group 40 acquired by the acquisition unit 110 to the server device 300. For example, in step S12 of Figure 6, 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. 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.

[0078] 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 the vibration profile corresponding to the detection result transmitted from the control device 100A using the method described with reference to Figures 3 and 4. 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 and 4, and other methods may be used.

[0079] 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.

[0080] <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 6, 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 6.

[0081] 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 6 is terminated.

[0082] 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).

[0083] 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 that create a sense of accelerator response. This creates a sense of accelerator response. 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 traction. This creates a sense of traction. Or, the control unit 130 vibrates the vibration devices VD1 and VD2 according to a vibration profile that defines vibrations that create a sense of speed. This creates a sense of speed.

[0084] As a result of the process described above, vibrations corresponding to at least one of the driving conditions of vehicle M and the behavior of vehicle M are generated in the vibration devices VD1 and VD2. This allows for the reproduction of, for example, the feeling of accelerator response, traction, and speed, thereby enhancing the sense of immersion while driving.

[0085] As described above, in this embodiment as well, the acquisition unit 110 acquires the detection results of the vehicle sensor group 40, which detect at least one of the driving conditions of the vehicle M and the behavior of the vehicle M. Then, the control unit 130 generates vibrations in the vibration devices VD1 and VD2 according to the detection results acquired by the acquisition unit 110, corresponding to at least one of the driving conditions of the vehicle M and the behavior of the vehicle M. As a result, for example, the feeling of accelerator response, traction, and speed can be reproduced, thereby creating an immersive driving experience.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] Furthermore, in the first and second embodiments described above, in order to avoid the inconvenience of driving due to continuous vibration, the vibration of vibration devices VD1 and VD2 may be terminated after a certain period of time has elapsed since the start of vibration of the vibration devices VD1 and VD2. In addition, the embodiments described above have explained examples of creating a sense of traction based on the acceleration of the vehicle M in the longitudinal and lateral directions. However, the sense of traction may also be created based only on the acceleration of the vehicle M in the longitudinal direction, or only on the acceleration of the vehicle M in the lateral direction. [Explanation of symbols]

[0090] 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 detection result of a detection sensor that detects at least one of the driving conditions of the vehicle and the behavior of the vehicle is obtained. In accordance with the acquired detection results, the vibration device generates vibrations corresponding to at least one of the vehicle's driving conditions and the vehicle's behavior. A control device equipped with the following features.

2. The control device according to claim 1, wherein the processor generates vibrations corresponding to at least one of the driving conditions of the vehicle and the behavior of the vehicle, based on the acquired detection results.

3. Based on the acquired detection results, the processor selects from a plurality of pre-prepared definitions of vibrations that define vibrations corresponding to at least one of the vehicle's driving conditions and the vehicle's behavior. The vibration device generates vibrations based on the selected definition information. The control device according to claim 1.

4. 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 vehicle's driving conditions and the vehicle's behavior, 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 1.

5. 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.

6. The processor acquires the detection result from the detection sensor that detects the accelerator opening of the vehicle, A control device according to any one of claims 1 to 5, which generates vibrations in the vibration device corresponding to the operation status of the accelerator pedal based on the acquired detection results.

7. The processor acquires the detection result of a detection sensor that detects at least one of the accelerations of the vehicle in the longitudinal direction and the lateral direction, A control device according to any one of claims 1 to 5, which generates vibrations in the vibration device corresponding to the behavior of the vehicle based on the acquired detection results.

8. The processor acquires the detection result from the detection sensor that detects the speed of the vehicle, A control device according to any one of claims 1 to 5, which generates vibrations in the vibration device corresponding to the speed of the vehicle based on the acquired detection results.

9. 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 detection result of a detection sensor that detects at least one of the driving conditions of the vehicle and the behavior of the vehicle is obtained. In accordance with the acquired detection results, the vibration device generates vibrations corresponding to at least one of the vehicle's driving conditions and the vehicle's behavior. Control method.

10. On the computer, The detection result of a detection sensor that detects at least one of the vehicle's driving conditions and the vehicle's behavior is obtained. In accordance with the acquired detection results, a vibration is generated in a vibration device mounted on the vehicle's control panel, corresponding to at least one of the vehicle's driving conditions and the vehicle's behavior. program.

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