Control device, control method, and program

Abstract

The present invention provides a control device, control method, and program capable of reproducing the feel of operation. [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 surrounding conditions of the vehicle and the state of the vehicle. In accordance with the acquired detection results, the control device generates vibrations that simulate the texture of at least one of the surrounding conditions of the vehicle and the state of the vehicle 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, there has been known a technique of transmitting various information to an occupant of a vehicle by vibrating a vibration device mounted on the vehicle. For example, Patent Document 1 below discloses a technique of providing a vibration device on a pedal and vibrating the vibration device to change the operation state of the pedal, thereby improving fuel efficiency. Further, Patent Document 2 below discloses a technique of providing a vibration device on a steering wheel of a vehicle and vibrating the vibration device at a timing when a shift operation should be performed, thereby prompting the occupant of the vehicle to perform a shift operation.

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, for the reduction of 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, making it difficult for the occupant to grasp the road surface conditions or vehicle state during driving, and thus the driving quality deteriorates. For this reason, in EVs, it is required to feedback information according to the road surface conditions or vehicle state to the occupant during driving to reproduce the driving quality.

[0005] This disclosure is made in view of the above circumstances and aims to provide a control device, a control method, and a program that can reproduce the texture during operation. [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 surrounding conditions of the vehicle and the state of the vehicle, and generates vibrations in the vibration devices that simulate the texture of at least one of the surrounding conditions of the vehicle and the state of the vehicle, in accordance with the acquired detection results.

[0007] A control device according to a second aspect of the present disclosure, in which the processor generates vibrations that simulate the texture of at least one of the surrounding conditions of the vehicle and the state of the vehicle, based on the acquired detection results.

[0008] A control device according to a third aspect of the present disclosure is a control device according to a second aspect of the present disclosure in which the processor generates a noise signal, performs a plurality of filtering processes on the generated noise signal, adjusts the envelope of each of the filtered signals, and synthesizes the signals with adjusted envelopes.

[0009] A control device according to a fourth aspect of the present disclosure may, in a control device according to a third aspect of the present disclosure, have the processor perform a process of multiplying the synthesized signal by the inverse function of the vehicle's transfer function.

[0010] A control device according to a fifth 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 that simulate the texture of at least one of the surrounding conditions of the vehicle and the state of the vehicle, and generates vibrations based on the received definition information in 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 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.

[0012] A control device according to a seventh aspect of the present disclosure is a control device according to any of the first to sixth aspects of the present disclosure, wherein the processor may cause the vibration device to generate vibrations that simulate the feel of ice when the road surface is frozen.

[0013] 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 may cause the vibration device to generate vibrations that simulate the feeling of a tire losing air.

[0014] 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 acquires detection results from a detection sensor (40) that detects at least one of the surrounding conditions of the vehicle and the state of the vehicle (S11), and generates vibrations in the vibration device that simulate the texture of at least one of the surrounding conditions of the vehicle and the state of the vehicle, in accordance with the acquired detection results (S14).

[0015] 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 situation around a vehicle (M) and a state of the vehicle (S11), and according to the acquired detection result, causes a vibration device mounted on an operation element of the vehicle to generate a vibration simulating a texture indicating at least one of the situation around the vehicle and the state of the vehicle (S14), and is a program.

Advantages of the Invention

[0016] According to the present disclosure, an excellent operational effect of being able to reproduce the texture during driving can be obtained.

Brief Description of the Drawings

[0017] [Figure 1] FIG. schematically shows the interior of the passenger compartment of the vehicle in the first embodiment of the present disclosure. [Figure 2] FIG. 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] FIG. is a block showing the internal configuration of a generation unit in the first embodiment of the present disclosure. [Figure 4] FIG. shows an example of the waveform of a signal generated by a generation unit in the first embodiment of the present disclosure. [Figure 5] FIG. is a diagram for explaining the control of a vibration device in the first embodiment of the present disclosure. [Figure 6] FIG. is a flowchart showing an example of a control method according to the first embodiment of the present disclosure. [Figure 7] FIG. is a block diagram showing the main configuration of a control device according to the second embodiment of the present disclosure.

Modes for Carrying Out the Invention

[0018] 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.

[0019] 〔First Embodiment〕 <Vehicle> FIG. 1 is a diagram schematically showing the interior of a vehicle cabin in a first embodiment of the present disclosure. As shown in FIG. 1, a vehicle M includes an instrument panel IN, a driver's seat DS, a passenger seat AS, a steering wheel SW, etc. in the vehicle cabin. The vehicle M is, for example, a two-wheeled, three-wheeled, four-wheeled vehicle, etc., 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.

[0020] The steering wheel SW is a driving operator operated by the driver of the vehicle M. A sensor for detecting an operation amount or the presence or absence of an operation is attached to the steering wheel SW, and the detection result is output to a driving support ECU (Electronic Control Unit) 10 and a 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.

[0021] 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 a 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).

[0022] The vibration device VD1 is installed on the left side of the steering wheel SW and is used to transmit vibration to the left hand of the driver holding the steering wheel SW. The vibration device VD2 is installed on the right side of the steering wheel SW and is used to transmit vibration to the right hand of the driver holding the steering wheel SW.

[0023] <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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] The vehicle sensor group 40 includes sensors that indicate the surrounding conditions of vehicle M and sensors that indicate the status of vehicle M. The sensors that indicate the surrounding conditions of vehicle M include an image sensor and an ambient 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, an orientation sensor that detects the orientation of vehicle M, and an air pressure sensor that detects tire pressure. As the image sensor, for example, a solid-state image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) can be used.

[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 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 conditions of the vehicle M or changes in the state of 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 simulating the feel corresponding to the state of the vehicle M, based on the detection results of sensors in the vehicle sensor group 40 that indicate the state of the vehicle M. For example, the generation unit 120 generates vibration profiles that define vibrations simulating the feel of a leaking tire, based on the detection results of an air pressure sensor in the vehicle sensor group 40. In addition to the feel of a leaking tire, the generation unit 120 may also generate vibration profiles that define vibrations indicating the state of the drive source (electric motor) or battery. Details of the vibration profile generation method will be described later.

[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, for example, vibration profiles that define vibrations simulating the feeling of ice on a frozen road surface, and vibration profiles that define vibrations simulating the feeling of air leaking from a tire.

[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 simulate the feeling of ice on a frozen road surface, or vibrations that simulate the feeling of air leaking from a tire. 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 simulate the feeling of ice on a frozen road surface, or vibrations that simulate the feeling of air leaking from a tire. 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 illustrating 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 ambient temperature sensor, air pressure 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 device 100 determines whether the detection result of the ambient temperature sensor is below a predetermined reference temperature. Alternatively, the control device 100 determines whether the detection result of the air pressure sensor is below a predetermined reference pressure. The reference temperature is, for example, the temperature at which road freezing occurs (or the temperature at which road freezing may occur). The reference pressure is, for example, the pressure at which tire pressure adjustment is required.

[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 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. Alternatively, 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. The generation unit 120 generates the vibration profile using the method described with reference to Figures 3 and 4.

[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 simulating the feeling of ice on a frozen road surface. This reproduces the feeling 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 simulating the feeling of air leaking from a tire. This reproduces the feeling of air leaking from a tire.

[0055] As a result of the process described above, vibrations simulating the texture of at least one of the surrounding conditions of vehicle M and the state of vehicle M are generated in the vibration devices VD1 and VD2. This reproduces the texture of at least one of the surrounding conditions of vehicle M and the state of vehicle M.

[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 reading a vibration profile 140A corresponding to the detection result from the storage unit 140 may be performed. As a result, a vibration profile 140A corresponding to the detection result of the vehicle sensor group 40 is read from the storage unit 140, and the vibration devices VD1 and VD2 are vibrated according to the read vibration profile.

[0057] 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 surrounding conditions of the vehicle M and the state of the vehicle M. Then, the control unit 130 generates vibrations in the vibration devices VD1 and VD2 that simulate the texture of at least one of the surrounding conditions of the vehicle M and the state of the vehicle M, according to the detection results acquired by the acquisition unit 110. This makes it possible to reproduce the texture of driving, such as the feeling of ice on a frozen road surface or the feeling of air leaking from the tires.

[0058] [Second Embodiment] <Control device> Figure 7 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.

[0059] As shown in Figure 7, the control device 100A of this embodiment is configured to include a transmission unit 160 and a reception unit 170 in place of the generation unit 120 of the control device 100 shown in Figure 2. The control device 100 of the first embodiment utilized 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 utilizes vibration profiles transmitted from the server device 300.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] <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.

[0065] 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.

[0066] 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).

[0067] 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 feeling of ice on a frozen road surface. This reproduces the feeling 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 simulating the feeling of air leaking from a tire. This reproduces the feeling of air leaking from a tire.

[0068] As a result of the process described above, vibrations simulating the texture of at least one of the surrounding conditions of vehicle M and the state of vehicle M are generated in the vibration devices VD1 and VD2. This reproduces the texture of at least one of the surrounding conditions of vehicle M and the state of vehicle M.

[0069] 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 surrounding conditions of the vehicle M and the state of the vehicle M. Then, the control unit 130 generates vibrations in the vibration devices VD1 and VD2 that simulate the texture of at least one of the surrounding conditions of the vehicle M and the state of the vehicle M, according to the detection results acquired by the acquisition unit 110. This makes it possible to reproduce the texture of driving, such as the feeling of ice on a frozen road surface or the feeling of air leaking from the tires.

[0070] 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.

[0071] 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.

[0072] 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. [Explanation of symbols]

[0073] 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 surrounding conditions of the vehicle and the state of the vehicle is obtained. In accordance with the acquired detection results, the vibration device generates vibrations that simulate the texture of at least one of the surrounding conditions of the vehicle and the state of the vehicle. A control device equipped with the following features.

2. The control device according to claim 1, wherein the processor generates vibrations that simulate the texture of at least one of the surrounding conditions of the vehicle and the state of the vehicle, based on the acquired detection results.

3. The aforementioned processor, Generate a noise signal, Multiple filtering processes are performed on the generated noise signal. Adjust the envelope of each of the filtered signals, The envelope is adjusted to synthesize the signal. The control device according to claim 2.

4. The control device according to claim 3, wherein the processor performs a process of multiplying the synthesized signal by the inverse function of the vehicle's transfer function.

5. The aforementioned processor, The acquired detection results are transmitted to the server device. The server device receives definition information that defines vibrations simulating the texture of at least one of the surrounding conditions of the vehicle and the state 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 1.

6. 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.

7. The control device according to claim 1, wherein the processor generates vibrations in the vibration device that simulate the feel of ice when the road surface is frozen.

8. The control device according to claim 1, wherein the processor causes the vibration device to generate vibrations that simulate the feeling of a tire losing air.

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 surrounding conditions of the vehicle and the state of the vehicle is obtained. In accordance with the acquired detection results, the vibration device generates vibrations that simulate the texture of at least one of the surrounding conditions of the vehicle and the state of the vehicle. Control method.

10. On the computer, The detection results of a detection sensor that detects at least one of the surrounding conditions of the vehicle and the state of the vehicle are obtained. In accordance with the acquired detection results, a vibration device mounted on the vehicle's driver control panel generates vibrations that simulate the texture of at least one of the surrounding conditions of the vehicle and the state of the vehicle. program.

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