A method and a system for generating vibrations and / or sounds in a vehicle

Abstract

The present invention refers to a method for generating vibrations and / or sounds in a vehicle, the method comprising the following steps: a) receiving one or more vehicle state input, such as a throttle position, a brake position, and / or Advanced Driver Assistance Systems (ADAS) outputs; b) selecting at least one vibration or sound pattern from a pattern database based on said one or more vehicle state input; c) synchronizing two or more in-wheel motors (20A, 20B, 20C, 20D) of a vehicle to generate vibrations according to said selected vibration or sound pattern; d) transmitting said vibrations through a network of vibration-transmitting members of said vehicle so that said vibrations reach predefined components and provide an output signal to the inside or the outside of said vehicle. The invention discloses also the corresponding system for generating vibrations and / or sounds in a vehicle and a vehicle comprising such a system.

Description

[0001] A METHOD AND A SYSTEM FOR GENERATING VIBRATIONS AND / OR SOUNDS IN A VEHICLE

[0002] Technical field

[0003] The invention relates to the field of vehicles, such as electric vehicles. In particular, the invention relates to a method and a system for generating vibrations and / or sounds in a vehicle.

[0004] State of the art

[0005] Sounds and vibrations in a car have several functions, such as creating pleasant driving conditions, sending warnings to the driver, and emitting warning sounds to the outside. For example, if the vibrations of the direct drive electric in-wheel motors of the electric cars are reduced, the interior of the car is rendered silent for proper comfort. On the other hand, if the vibrations of the in-wheel motors are modified so that the driver feels or hears them, it is possible to create different levels or types of comfort or functionalities.

[0006] It is known, in the state of the art, to place additional actuators in the cars to generate vibrations or sounds and / or to enable the transmission of sounds within the car. However, the solutions of the state of the art make the vehicle heavier, increase costs and occupy some of the integration space.

[0007] The document US2023001853A1 discloses a road vehicle comprising an electric motor and a sound system with a reproduction device which generates sounds that can be associated with the electric motor mechanically connected to the reproduction device to be able to excite its resonant frequency. In this document, the loudness current or voltage excites a frequency that causes the reproduction device to vibrate, emitting a sound as a function of the injected loudness current or voltage.

[0008] However, the solution of US2023001853A1 presents several disadvantages. The first shortcoming is its limited functionality due to the envisioned control of only the voltage or current amplitude or frequency and not also their phase shift. The second shortcoming is the need to have the resonating device directly coupled with the electric motor, thus making it difficult to generate the sound at the desired location. Moreover, the proposed configuration is only focused on the generation and / or modification of sounds, and not also on the lower frequency vibrations. Furthermore, the solution of US2023001853A1 fails to transmit the sounds or vibrations via the chassis and / or frame to the other components. Finally, the system of US2023001853A1 does not generate warning sounds and vibrations for the driver with a clear direction of origin and it does not generate significant external sound volume also with direction.

[0009] Therefore, there is a need to develop an improved method and system for generating and / or modifying sounds and vibrations in a vehicle to create a rich and complex environment inside and / or outside the cabin. Moreover, there is a need to control the location and the direction of the generated sounds or vibrations to determine how they are perceived by the driver and the passengers.

[0010] The present invention aims at overcoming one or more of the disadvantages discussed above.

[0011] Summary of the invention

[0012] In the present disclosure, it is to be understood that the expressions “synchronizing the in-wheel motors", “operating the motors in a synchronized manner", and similar expressions indicate that the in-wheel motors receive a command signal to generate vibrations substantially at the same time, with a predefined precision (for example a precision of 1 -10 microseconds). In other words, the internal clocks of each in-wheel motor are synchronized with each other with a predefined precision due to the system used, which can be for instance of 1 -10 microseconds. The command signal comprises predefined settings for the phase of the vibrations of each in -wheel motor so that the generated vibrations can be phase-shifted. In this way, by adjusting the phase relationships between the synchronized in-wheel motors, the system can achieve constructive (in-phase) or destructive (counter-phase) interference, thus allowing for controlled amplification or cancellation of vibrations at targeted locations.

[0013] According to the first aspect of the invention, a method for generating vibrations and / or sounds in a vehicle is provided, the method comprising the following steps: a) receiving one or more vehicle state inputs, such as a throttle position, a brake position, and / or Advanced Driver Assistance Systems (ADAS) outputs; b) selecting at least one vibration or sound pattern from a pattern database based on the one or more vehicle state inputs; c) synchronizing two or more in-wheel motors of a vehicle to generate vibrations according to the selected vibration or sound pattern; d) transmitting the vibrations through a network of vibration-transmitting members of the vehicle so that the vibrations reach predefined components and provide an output signal to the inside or the outside of the vehicle. The method of the present invention is advantageous because it can support the driver with additional information about the external environment and / or the status of the vehicle, such as a warning or feedback that enhances the driver's connectedness to the road. Moreover, the proposed method can be used to enhance the cabin experience, by generating sound and vibration that make driving more fun and engaging. Since the vibrations are directly transmitted through a network of vibration-transmitting members of the vehicle, such as chassis and / or suspensions, the method is particularly simple and efficient in transmitting the vibrations to the other components of the vehicle and / or outside the vehicle. Moreover, since there is no need to add other components for transmitting the generated vibrations inside or outside the vehicle, the method also ensures saving of costs.

[0014] Additionally, the proposed method can produce considerable levels of external sound volume in an energy-efficient way without using loudspeakers, as it can provide a sense of directionality of sound / vibration not only in the vehicle cabin but also outside. The solution proposed also provides for authentic sound from a torque-generating device.

[0015] According to preferred embodiments, the output signal may comprise driver feedback, pedestrian warnings, and / or cabin experience enhancement.

[0016] According to a preferred embodiment of the present invention , the step c) comprises synchronizing the two or more in-wheel motors to generate phase-shifted vibrations that are localized in specific areas of the vehicle.

[0017] It is understood that "phase-shifted vibrations" indicate vibrations having different timings or a time delay, as the wheels are at different distances from the targeted vibration component.

[0018] Preferably, the amplitude, frequency, and phase of the generated vibrations are adjusted based on the one or more vehicle state inputs.

[0019] The advantage of controlling not only the amplitude and the frequency of the vibrations, but also their phase, is that the method of the present invention can make the vibrations appear as if they were coming from specific areas or components of the vehicle. By adjusting the phase relationships between the in-wheel motors, in fact, the system can achieve constructive (in-phase) or destructive (counter-phase) interference, thus allowing for controlled amplification or cancellation of vibrations at targeted locations. The method can thus concentrate vibrations in specific areas or components of the vehicle and can send a specific signal (warning or feedback) to the driver, or the passengers. According to a preferred embodiment of the present invention , the selected vibration or sound pattern is adjusted in real-time based on the one or more vehicle state inputs, in order to dynamically optimize the vibrations and the output signal.

[0020] The advantage of this configuration is that the vibrations and the output signal are dynamically adapted depending on the vehicle state inputs (which may change and are also adapted in real time).

[0021] Preferably, the one or more vehicle state inputs comprise real-time feedback from sensors, such as accelerometers, wheel slip detectors, and / or suspension travel sensors.

[0022] According to a preferred embodiment of the present invention, the selected vibration or sound pattern is updated remotely via over-the-air (OTA) updates to accommodate changes in vehicle performance or sensor configurations.

[0023] The advantage of this configuration is that the selected vibration or sound pattern can be controlled remotely from a user.

[0024] According to an alternative embodiment of the present invention , the selected vibration or sound pattern is updated automatically, for instance by means of machine learning algorithms to accommodate changes in vehicle performance or sensor configurations.

[0025] The advantage of this configuration is that the selected vibration or sound pattern can be automatically controlled and optimized.

[0026] According to a preferred embodiment of the present invention, a method for generating vibrations and / or souns is provided, further comprising the step of generating directional pedestrian warnings by using phase-controlled vibrations, based on real-time data from ADAS sensors.

[0027] The advantage of this configuration is that the system can generate different alerts based on whether the pedestrian is on the left side, right side, in front of, or in the back of the car. Accordingly, both the driver and the pedestrian can modify their route to avoid a potential collision or accident.

[0028] According to a preferred embodiment of the present invention, a method for generating vibrations and / or souns is provided, further comprising the step of synchronizing the generated vibrations with music or ambient sounds from the vehicle infotainment system to enhance the cabin experience for users. The advantage of this configuration is that the driving experience can be made richer and more pleasant for the driver and the passengers.

[0029] According to a preferred embodiment of the present invention, a method for generating vibrations and / or sounds is provided, wherein the step b) comprises selecting two or more vibration or sound patterns and the step c) further comprises the following sub-steps: c1 ) if the two or more selected patterns can be executed simultaneously, synchronizing the two or more in-wheel motors to generate vibrations according to both selected patterns; c2) if the two or more selected patterns cannot be executed simultaneously, synchronizing the two or more in-wheel motors to generate vibrations according to one selected pattern having priority based on urgency and / or temporal criteria.

[0030] The advantage of this method having a prioritation function is that, if two or more patterns conflict, it is possible to select the most urgent one based on a pre-defined hierarchy of functions. Therefore, the method can ensure safety during driving.

[0031] According to a preferred embodiment of the present invention, the two or more in-wheel motors may be controlled to achieve torque ramps greater than 200 Nm / ms.

[0032] According to a preferred embodiment of the present invention , the two or more in-wheel motors may be synchronized to communicate at a frequency of greater than 200 Hz, with internal clocks synchronized down to 1 -10 microseconds.

[0033] According to a preferred embodiment of the present invention , each selected pattern may comprise one or more harmonics of voltage or current, each harmonic having individually controlled amplitude, frequency, and phase.

[0034] According to a preferred embodiment of the present invention, a method for generating vibrations and / or sounds is provided, further comprising the step of exciting the vibration -transmitting members of said vehicle based on their eigenfrequencies to enhance specific vibration patterns within the vehicle.

[0035] The advantage of this configuration is that the generated vibrations may be adapted to specific needs.

[0036] According to the second aspect of the invention, a system for generating vibrations and / or sounds in a vehicle is provided, the system comprising: two or more in-wheel motors configured to be rigidly coupled to a vehicle chassis; • a Decision Module configured to select at least one vibration or sound pattern based on a vehicle state input and to send a command signal to the two or more in -wheel motors on the basis of the selected pattern, so that the two or more in-wheel motors generate vibrations, in a synchronized manner, upon receipt of the command signal, wherein the generated vibrations are transmitted through a vehicle body to provide an output signal to the inside or the outside of the vehicle.

[0037] The system can be advantageously used to implement the methods described above.

[0038] Moreover, the system of the present invention can advantageously create a controlled and rich sound and vibration environment in a vehicle with a limited number of components, without employing additional actuators. In this way, the users can experience various vibrations and / or sounds, while the vehicle developers and manufacturers can save on cost, material, and time by not needing to develop, build, or integrate additional actuators and their controllers in the system.

[0039] Preferably, the system of the present invention does not use any additional actuators to generate vibrations, but it uses the in-wheel motors of the vehicle.

[0040] According to a preferred embodiment of the present invention, a system is provided, wherein the output signal comprises driver feedback, pedestrian warnings, and / or cabin experience enhancement.

[0041] According to a preferred embodiment of the present invention, a system is provided, wherein the vibrations are generated through a combination of tangential and radial forces in the in-wheel motors.

[0042] According to a preferred embodiment of the present invention, a system is provided, wherein the Decision Module is configured to set the amplitude, frequency, and phase of the vibrations to be generated based on the one or more vehicle state inputs.

[0043] According to a preferred embodiment of the present invention, a system is provided, wherein the in-wheel motors are synchronized with a precision of 1 to 10 microseconds to control phase shifts of the generated vibrations and create localized vibrations.

[0044] According to a preferred embodiment of the present invention, a system is provided, wherein the in-wheel motors are capable of torque ramps greater than 200 Nm / ms.

[0045] According to a preferred embodiment of the present invention, a system is provided, wherein the in-wheel motors communicate with each other at a frequency of greater than 200 Hz. According to the third aspect of the invention, a vehicle is provided, the vehicle comprising:

[0046] • a system for generating vibrations and / or sounds in a vehicle as the ones described above;

[0047] • a vehicle chassis;

[0048] • two or more suspensions coupled to the two or more in-wheel motors, respectively;

[0049] • a steering wheel;

[0050] • one or more seats;

[0051] • one or more pedals; wherein the vehicle chassis and the two or more suspensions act as vibration -transmitting members for the vibrations generated by the system, in order to transmit the generated vibrations to the steering wheel, the one or more seats, and / or the pedals.

[0052] The vehicle can be advantageously equipped with a system for generating vibrations and / or sounds as described above. Preferably, the vehicle does not comprise additional actuators to generate the vibrations, but the in-wheel motors of the vehicle are used to generate the vibrations.

[0053] According to another embodiment of the present invention, a vehicle is provided, further comprising one or more resonating members configured to locally enhance the amplitude of the generated vibrations at predetermined frequencies, wherein the one or more resonating members are mechanically connected to the vibration-transmitting members.

[0054] The advantage of this configuration is that the resonating members can contribute to creating a predefined output vibration pattern.

[0055] According to a preferred embodiment of the present invention, a vehicle is provided, further comprising a Predictive Module configured to adjust the selected vibration or sound pattern based on real-time feedback from accelerometers placed on the vibration-transmitting members or said resonating members.

[0056] This solution ensures that the system remains accurate, even as the vehicle components age.

[0057] According to the fourth aspect of the invention, a computer program is provided, which comprises instructions to cause the system disclosed above to execute the steps of any of the above methods. The advantage of this configuration is that the systems of the present invention can implement the steps of the method of the present invention.

[0058] Brief description of the figures

[0059] In the following, embodiments, examples, advantages and implementations of the invention will be explained in more detail by means of the accompanying figures, in which:

[0060] Fig. 1 A schematically illustrates a vehicle as a network of vibration-transmitting members comprising a chassis, in-wheel motors, suspensions, a steering wheel, and seats, pedals (not shown), according to an embodiment of the present invention ;

[0061] Fig. 1 B schematically illustrates a detail of a vehicle further comprising a resonating members, according to another embodiment of the present invention ;

[0062] Fig. 2 shows an example of a frequency response in the driver's seat when the chassis is stimulated by the front left wheel, according to an embodiment of the present invention;

[0063] Fig. 3 schematically represents the system for generating vibrations and / or sounds for providing feedback to the driver, according to an embodiment of the present invention.

[0064] Detailed description

[0065] In the following, the present invention is described with reference to particular embodiments, as illustrated in the enclosed figures. However, the present invention is not limited to the particular embodiments described in the following detailed description and shown in the figures. Instead, the described embodiments simply exemplify the different features of the present invention, the scope of which is defined in the claims. Further modifications and variations of the present invention will be clear to the skilled person.

[0066] Fig. 1 A schematically illustrates a vehicle 100 comprising a chassis 10, four in-wheel motors 20A, 20B, 20C, and 20D, four suspensions 30A, 30B, 30C, and 30D, a steering mechanism 40, and two seats 50, according to an embodiment of the present invention.

[0067] Even if four in-wheel motors and four suspensions are shown in Fig. 1A, it is to be understood that their number is not limited to four, and could be any number, such as two, three, or five.

[0068] The in-wheel motors 20A, 20B, 20C, and 20D are rigidly coupled to the vehicle chassis 10 and the corresponding suspension elements 30A, 30B, 30C, and 30D. The in-wheel motors 20A, 20B, 20C, and 20D are capable of generating tangential and radial forces, which can excite the rotor housing and the chassis, and transmit structure-borne noise through the vehicle 100. The in- wheel motors 20A, 20B, 20C, and 20D are designed to handle high-frequency vibrations while also providing dynamic torque control for vehicle motion.

[0069] Fig. 1 B schematically shows a detail of a vehicle 100 according to another embodiment of the present invention. The vehicle 100 of Fig. 1 B further comprises resonating memebrs 60, which have a specific resonance frequency and are thus configured to enhance vibration at that specific resonance frequency.

[0070] For the purposes of the present invention, the entire vehicle 100 can be considered as a system composed of various rigidly connected vibration-transmitting members.

[0071] During operation, the in-wheel motors 20A, 20B, 20C, and 20D are induced to generate tangential and radial forces between their rotors and stators to excite the rotor housing, which in turn generates air-born noise and excite the vibration -transmitting members that transmit the structure-borne noise to the cabin and in specific cases to the resonating members 60. As vibrations transfer throughout this structure, they generate a specific frequency response at each location in the vehicle 100.

[0072] Since the vibrations are small amplitude excitations, the system can be approximated by a linear system. Accordingly, the excitations can be superimposed, thus facilitating the localization of vibration responses to specific parts of the chassis, such as a seat 50 or the steering wheel 40.

[0073] The structure of a vehicle is complex and difficult to describe analytically, thus making synthesizing any particular response challenging. However, the frequency response can be measured using readily available accelerometers. Synthesizing the vibrations can be performed on a sample vehicle or in a digital environment. The response depends on the geometry and materials used. The production of vehicles is accurate enough to ensure this procedure is feasible across all car samples and over an extended period.

[0074] The inventors have also found out that modulating the phases of the vibrations makes them appear as if the vibrations are coming from specific areas. Since humans can detect the direction of incoming sounds, the vibrations in the audio frequency range can be specific to the sound origin and can provide directional information to the user. For example, as described in detail below, in case of slip feedback from a single wheel, the slip warning sound can identify the affected wheel. Similarly, for pedestrian warnings, the system may generate different alerts based on whether the pedestrian is on the left side, right side, or in front of the car.

[0075] The in-wheel motors 20A, 20B, 20C, 20D can thus be synchronized to generate vibrations whose phase, amplitude, and frequency can be precisely controlled to enable the system to concentrate vibrations on specific locations, such as the driver seat 50. Fig. 2 shows an example of a frequency response in the driver seat 50 when the chassis 10 is stimulated by the motor of the front left wheel 20D. By adjusting the phase relationships between the in-wheel motors 20A, 20B, 20C, 20D, the system can achieve constructive (in-phase) or destructive (counter-phase) interference, thus allowing for controlled amplification or cancellation of vibrations at targeted locations.

[0076] The actuation of the seats 50 and / or the steering wheel 40 can be based on a “superimposed torque”, or a “torque-neutral”.

[0077] According to the superimposed torque method, the system is configured to superimpose a torque ripple on the main drive torque signal to generate dynamic vibrations. This technique is used for producing vibrations that affect both tangential and radial forces, thus resulting in dynamic sound and vibration patterns without significantly affecting the overall vehicle torque.

[0078] According to the torque neutral method, the system generates only radial forces, thus producing vibrations without altering the vehicle driving torque. This mode is particularly useful for feedback applications, such as road feedback, where the system needs to alert the driver without influencing vehicle dynamics.

[0079] Fig. 3 schematically represents the system for generating sounds and vibrations, according to an embodiment of the present invention. The system may be implemented for instance in a vehicle as the one shown in Fig. 1 A or in Fig. 1 B.

[0080] The system comprises the System State Module, the Pattern Database, the Decision Module, the Active Vibration Control Module, and the In-Wheel Motors Controllers.

[0081] The System State Module monitors the state of the vehicle by collecting various data such as vehicle speed, throttle and brake position, vehicle motion controller states (e.g., wheel slip and / or side slip angle), Advanced Driver Assistance Systems output (pedestrian warning quadrant), infotainment request, and the like.

[0082] The Pattern Database stores pre-defined vibration or sound patterns that are triggered based on system inputs or vehicle conditions. These patterns can be updated remotely via over-the-air (OTA) updates, allowing for new functionalities and refinements post-production. Additionally or alternatively, to use the feedback system to collect the online data from the vehicle, the remote OTA system can include a machine learning mechanism, which can adapt vibration patterns over time, compensating for ageing components like actuators or resonating members. This ensures long-term consistency in the system performance. The Decision Module selects the appropriate vibration or sound pattern from the Pattern Database based on the vehicle system state and other inputs such as throttle, brake position, and Advanced Driver Assistance Systems outputs. The Decision Module can be designed according to two versions:

[0083] Simple Version: In this version, the Decision Module receives specific requests for patterns (e.g., pedestrian warnings or road feedback) and only verifies whether the system is in the correct state to execute these requests.

[0084] Sophisticated Version: In this more complex version, the Decision Module analyzes raw signals, uses digital signal processing techniques to generate a system state vector, and dynamically selects patterns based on the vehicle real-time conditions.

[0085] The Decision Module also includes a prioritization function to determine which patterns should be executed, when multiple patterns are triggered simultaneously. If two or more functions can be executed simultaneously (as predetermined) the Decision Module will trigger both executions. If two or more patterns conflict and should not be executed simultaneously, the Decision Module will use a predetermined prioritization based on importance / urgency and temporal criteria (which one was triggered first). The Decision Module can discard the execution of a pattern or postpone it until the prioritization allows it or until it times out.

[0086] The Active Vibration Control Module (AVCM) manages the output vibrations or sounds by using two key components:

[0087] 1 ) Predictive Module (PM), which predicts corrections to control signals based on real-time feedback and desired outcomes, ensuring that vibrations are adjusted dynamically to match the intended effects;

[0088] 2) Diagnostic Module (DM), which continuously compares feedback signals from the vehicle (e.g., accelerometers mounted on resonating members) and, if deviations between expected and actual vibrations are detected, dynamically adjusts the control signals to correct for these discrepancies. This ensures that the system remains accurate, even as the vehicle components age.

[0089] The in-wheel motor controllers (IWM1 , IWM2, IWM3, IWM4 controllers) receive the selected control pattern and perform a control action that includes superimposing the current control components Iq and Id with an additional pattern -dependent control. The control action uses the selected pattern, which includes the coefficients for the different harmonic amplitudes and the variables for their corresponding phases.

[0090] Preferably, all the in-wheel motor controllers are synchronized by a central clock with a precision of up to 10 microseconds. This ensures that the vibrations from the different in-wheel motors are coordinated for a synergistic effect, particularly in applications requiring precise directional or localized vibrations.

[0091] Preferably, the in-wheel motors can react at a rate of 200 Nm / ms or more.

[0092] The method for generating vibrations and / or sounds according to the present invention is described in the following.

[0093] The vibration or sound patterns are initially stored in the Pattern Database. These patterns are decomposed into frequency components with specific amplitude and phase. It is possible to use a single pattern or a combination of different patterns, as long as their combination is verified to be safe.

[0094] The System State Module collects and processes various data from the powertrain and the external sensors, including sensors for pedestrian proximity, wheel position sensors, accelerometers, suspension travel sensors and others. Any type of sensor can be used for collecting vehicle input data. The System State Module can receive also direct requests from external modules.

[0095] Based on the System State Module, the Decision Module extracts the appropriate signals from the Pattern Database. The Decision Module contains a function (such as a threshold lookup table) for monitoring the vehicle system state via the System State Module, and triggering a corresponding vibration or sound pattern. When a specific condition is met, the vibration or sound pattern is transmitted to the in-wheel motor controllers. To ensure precise phase control of the inwheel motors, the central clock is used to synchronize the in-wheel motor controllers.

[0096] The inverter's three-phase power outputs are then fed to the in-wheel motors, thus generating the vibration or acoustic signals.

[0097] Some illustrative implementations of the vibrations and / or sounds generated by the method and the system according to the present invention are described in the following.

[0098] Warnings to the driver

[0099] According to this configuration, specific vibrations in the steering wheel or pedals can be generated to warn the driver of an imminent danger or a change in road traction. This function improves driver awareness and response times in critical situations.

[0100] In the general Driver Warning (DW) mode, the in-wheel motors may generate localized vibrations to alert the driver of potential hazards or changes in road conditions. All or some in-wheel motors may perform a predetermined control pattern that excites the network of vibration-transmitting members.

[0101] In the Driver Directional Warning (DDW) mode, the actuation is performed predominantly by one of the in-wheel motors.

[0102] To enhance the vibration on a specific member, a resonating member can be attached to a vibration-transmitting member that matches the expected warning signal excitation profile.

[0103] Warnings to pedestrians

[0104] The system can also produce external sounds to warn pedestrians of the vehicle's presence, which is especially useful for electric vehicles with low noise levels. This functionality ensures a focused, energy-efficient alert that enhances pedestrian safety without needing additional external hardware like loudspeakers.

[0105] In the Pedestrian External Warning (PEW) mode, all or some in-wheel motors are operated according to a predetermined control pattern that excites rotor housing that radiates sound.

[0106] In the Pedestrian Directional External Warning (PDEW) mode, one of the in-wheel motors is predominantly operated, so that directional warnings can be issued to pedestrians in the vicinity of the vehicle, particularly when they are detected by Advanced Driver Assistance Systems (ADAS) sensors.

[0107] Road feedback: traction warnings and side slip warnings

[0108] When the vehicle detects lateral slip (loss of traction during a turn) or longitudinal slip (loss of grip during acceleration), the in-wheel motors generate torque-neutral vibrations, which can be felt in the steering wheel or pedals, indicating which part of the vehicle is slipping. This feature allows the driver to intuitively adjust their behaviour in realtime, improving vehicle control.

[0109] In the Traction Warning (TW) mode, when a lateral slip is detected on one of the axes, the corresponding in-wheel motors are operated according to a predetermined control pattern that warns the driver where there is a lack of lateral grip by vibrating the acceleration pedal. The actuation in this case is torque-neutral, hence it only produces radial forces without altering the driving torque.

[0110] In the Side Slip Warning (SSW) mode, when a longitudinal slip is detected on one of the axes, the corresponding actuators in-wheel motors are operated according to a predetermined control pattern that warns the driver where there is a lack of lateral grip by vibrating the steering wheel. Also, in this case, the actuation is torque-neutral.

[0111] Propulsion power / torque feedback

[0112] Based on vehicle speed, throttle input, and other system data, the Decision Module can add superimposed torque feedback to provide a richer, more engaging driving experience. Vibrations corresponding to the vehicle torque output can give the driver feedback about engine power or torque distribution, making the driving experience more immersive. This feedback may be deterministic (i.e. it follows pre-set patterns), but it may also include a random component to create a more authentic, non-repetitive experience.

[0113] In the Derating Feedback (DF) mode, a warning signal including a vibration or a sound may be emitted to avoid derating. In case of heavy driving or abuse, the brake or actuator temperature limits may impose a limit on performance.

[0114] Cabin experiences enhancement

[0115] The system may integrate the vehicle infotainment system by producing vibrations synchronized with music or ambient sounds. This creates a more immersive experience for the users, thus enhancing both entertainment and comfort. The system OTA update capability ensures that new patterns or feedback options can be introduced after production, allowing continuous enhancement of the in-cabin experiences.

[0116] Even if the present invention has been described with reference to the embodiments described above, it is clear to the skilled person that it is possible to apply different modifications, variations and improvements to the present invention in light of the teachings described above and the field, and within the scope of the enclosed claims, without departing from the scope and purpose of the present invention.

[0117] Finally, those fields considered known to the skilled person have not been described to avoid unnecessarily covering the described invention.

[0118] For example, the Superimposed Torque and the Torque Neutral methods have not been described in detail, as they are known in the state of the art.

[0119] REFERENCES:

[0120] 10: chassis

[0121] 20A, 20B, 20C, 20D: in-wheel motor A, 30B, 30C, 30D: vibration-transmitting members, e.g. suspension: steering wheel : seat : resonating members 0: vehicle

Claims

CLAIMS1 . A method for generating vibrations and / or sounds in a vehicle, said method comprising: a) receiving one or more vehicle state inputs, such as a throttle position, a brake position, and / or Advanced Driver Assistance Systems (ADAS) outputs; b) selecting at least one vibration or sound pattern from a pattern database based on said one or more vehicle state inputs; c) synchronizing two or more in-wheel motors (20A, 20B, 20C, 20D) of a vehicle to generate vibrations according to said selected vibration or sound pattern, so that said in-wheel motors receive a command signal to generate vibrations substantially at the same time, with a predefined precision ; d) transmitting said vibrations through a network of vibration-transmitting members of said vehicle so that said vibrations reach predefined components and provide an output signal to the inside or the outside of said vehicle.

2. The method of claim 1 , wherein said output signal comprises driver feedback, pedestrian warnings, and / or cabin experience enhancement.

3. The method of claim 1 or 2, wherein said step c) comprises synchronizing said two or more in-wheel motors (20A, 20B, 20C, 20D) to generate phase-shifted vibrations that are localized in specific areas of said vehicle.

4. The method of any of claims 1 to 3, wherein said selected vibration or sound pattern is adjusted in real-time based on said one or more vehicle state inputs, in order to dynamically optimize said vibrations and said output signal.

5. The method of any of claims 1 to 4, wherein the amplitude, frequency, and phase of said generated vibrations are adjusted based on said one or more vehicle state inputs.

6. The method of any of claims 1 to 5, wherein said one or more vehicle state inputs comprise real-time feedback from sensors, such as accelerometers, wheel slip detectors, and / or suspension travel sensors.

7. The method of any of claims 1 to 6, wherein said selected vibration or sound pattern is updated remotely via over-the-air (OTA) updates to accommodate changes in vehicle performance or sensor configurations.

8. The method of any of claims 1 to 7, wherein said selected vibration or sound pattern is updated automatically, for instance by means of machine learning algorithms to accommodate changes in vehicle performance or sensor configurations.

9. The method of any of claims 1 to 8, further comprising the step of generating directional pedestrian warnings by using phase-controlled vibrations, based on real-time data from ADAS sensors.

10. The method of any of claims 1 to 9, further comprising the step of synchronizing said generated vibrations with music or ambient sounds from the vehicle infotainment system to enhance the cabin experience for users.1 1 . The method of any of claims 1 to 10, wherein said step b) comprises selecting two or more vibration or sound patterns and said step c) further comprises the following sub-steps: c1 ) if said two or more selected patterns can be executed simultaneously, synchronizing said two or more in-wheel motors (20A, 20B, 20C, 20D) to generate vibrations according to both said selected patterns; c2) if said two or more selected patterns cannot be executed simultaneously, synchronizing said two or more in-wheel motors (20A, 20B, 20C, 20D) to generate vibrations according to one selected pattern having priority based on urgency and / or temporal criteria.

12. The method of any of claims 1 to 11 , wherein said two or more in-wheel motors (20A, 20B, 20C, 20D) are controlled to achieve torque ramps greater than 200 Nm / ms.

13. The method of any of claims 1 to 12, further comprising the step of synchronizing said two or more in-wheel motors (20A, 20B, 20C, 20D) to communicate at a frequency of greater than 200 Hz, with internal clocks synchronized down to 1 -10 microseconds.

14. The method of any of claims 1 to 13, wherein each selected pattern comprises one or more harmonics of voltage or current, each harmonic having individually controlled amplitude, frequency, and phase.

15. The method of any of claims 1 to 14, further comprising the step of exciting the vibrationtransmitting members of said vehicle based on their eigenfrequencies to enhance specific vibration patterns within the vehicle.

16. The method of any of claims 1 to 15, wherein said network of vibration-transmitting members comprises the vehicle chassis (10) and two or more suspensions (30A, 30B, 30C, 30D) coupled to said two or more in-wheel motors (20A, 20B, 20C, 20D).

17. A system for generating vibrations and / or sounds in a vehicle, said system comprising:• two or more in-wheel motors (20A, 20B, 20C, 20D) configured to be rigidly coupled to a vehicle chassis (10);• a Decision Module configured to select at least one vibration or sound pattern based on a vehicle state input and to send a command signal to said two or more in-wheel motors (20A, 20B, 20C, 20D) on the basis of said selected pattern, so that said two or more in-wheel motors (20A, 20B, 20C, 20D) receive said command signal substantially at the same time, with a predefined precision, and generate vibrations, in a synchronized manner, upon receipt of said command signal, wherein said generated vibrations are transmitted through a vehicle body to provide an output signal to the inside or the outside of said vehicle.

18. The system of claim 17, wherein said output signal comprises driver feedback, pedestrian warnings, and / or cabin experience enhancement.

19. The system of claim 17 or 18, wherein said vibrations are generated through a combination of tangential and radial forces in said in-wheel motors (20A, 20B, 20C, 20D).

20. The system of any of claims 17 to 19, wherein said Decision Module is configured to set the amplitude, frequency, and phase of the vibrations to be generated based on said one or more vehicle state inputs.21 . The system of any of claims 17 to 20, wherein said in-wheel motors (20A, 20B, 20C, 20D) are synchronized with a precision of 1 to 10 microseconds to control phase shifts of said generated vibrations and create localized vibrations.

22. The system of any of claims 17 to 21 , wherein said in-wheel motors (20A, 20B, 20C, 20D) are capable of torque ramps greater than 200 Nm / ms.

23. The system of any of claims 17 to 22, wherein said in-wheel motors (20A, 20B, 20C, 20D) communicate with each other at a frequency of greater than 200 Hz.

24. A vehicle (100) comprising:• a system for generating vibrations and / or sounds in a vehicle according to any of claims 17 to 23;• a vehicle chassis (10);• two or more suspensions (30A, 30B, 30C, 30D) coupled to said two or more inwheel motors (20A, 20B, 20C, 20D), respectively;• a steering wheel (40);• one or more seats (50);• one or more pedals; wherein said vehicle chassis (10) and said two or more suspensions (30A, 30B, 30C, 30D) act as vibration-transmitting members for the vibrations generated by said system, in order to transmit said generated vibrations to said steering wheel (40), said one or more seats (50), and / or said pedals.

25. The vehicle (100) of claim 24, further comprising one or more resonating members (60) configured to locally enhance the amplitude of said generated vibrations at predetermined frequencies, said one or more resonating members (60) being mechanically connected to said vibration-transmitting members.

26. The vehicle (100) of claim 24 or 25, further comprising a Predictive Module configured to adjust said selected vibration or sound pattern based on real-time feedback from accelerometers placed on said vibration-transmitting members or said resonating members.

27. A computer program comprising instructions to cause the system of any of claims 17 to 23 to execute the steps of the method of any of claims 1 to 16.

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