Operation device, operation system, and vehicle

Abstract

An operation device according to the present invention comprises an operation unit and an illusionary tactile sense presentation unit. The operation unit is held by a user to control the behavior of a vehicle. The illusionary tactile sense presentation unit is disposed in the operation unit and imparts an illusionary tactile sense to the user independently of the operation unit.

Description

Operating device, operating system, and vehicle , ,

[0011] ,

[0010]

[0001] The present invention relates to an operating device for operating a vehicle.

[0002] Patent Document 1 describes a vibration device for a vehicle steering wheel. The vibration device for a vehicle steering wheel in Patent Document 1 includes a steering wheel having a ring and a vibrator. The vibrator is fixed to the steering wheel.

[0003] Japanese Patent Translation of PCT International Publication No. 2013-523534

[0004] However, the vibrator in Patent Document 1 could provide only simple information.

[0005] Therefore, an object of the present invention is to provide a configuration capable of providing various types of information to an operator.

[0006] An operating device according to an embodiment of the present invention includes an operation unit and an erroneous contact force sensation presentation unit. The operation unit is gripped by a user to operate the behavior of the vehicle. The erroneous contact force sensation presentation unit is disposed on the operation unit and independently gives an erroneous contact force sensation to the user on the operation unit.

[0007] In this configuration, an erroneous contact force sensation different from simple vibration is given from the erroneous contact force sensation presentation unit to the user during the operation of the operation unit.

[0008] An operating device according to an embodiment of the present invention includes an operation unit, a vibrating body, and a support unit. The operation unit is gripped by a user to operate the behavior of the vehicle. The vibrating body generates vibration. The support unit supports the vibrating body so as to be vibratable with respect to the operation unit.

[0009] In this configuration, various vibrations are given from the vibrating body to the operator separately from the operation of the operation unit.

[0010] According to this invention, various types of information can be given to the operator.

[0011] Figure 1 is a front view of the operating device according to the first embodiment. Figure 2(A) is an enlarged front view of the location where the vibrating body is positioned, and Figure 2(B) is a cross-sectional view taken along line A-A in Figure 2(A). Figure 3 is a table showing an example of the relationship between the drive signal applied to the vibrating body and the haptic force sensation. Figure 4 is a functional block diagram showing an example of the configuration of the operating system according to the first embodiment. Figure 5 is a front view of the operating device according to the second embodiment. Figure 6 is a front view showing an example of the operating part of the operating device according to the second embodiment rotated. Figure 7 is a functional block diagram showing an example of the configuration of the operating system according to the second embodiment. Figure 8(A) is a front view of the operating device according to the third embodiment, and Figures 8(B) and 8(C) are enlarged cross-sectional views of the location where the vibrating body is positioned in the operating device according to the third embodiment. Figure 9 is a front view of the operating device according to the fourth embodiment. Figures 10(A) and 10(B) are functional block diagrams showing an example of the configuration of the operating system according to the fourth embodiment. Figure 11 is a front view of the operating device according to the fifth embodiment. Figure 12 is a side view of the operating device according to the sixth embodiment. Figure 13 is a side view of the operating device according to the seventh embodiment. Figure 14 is a functional block diagram showing an example of another embodiment of the operating system.

[0012] [First Embodiment] An operating device and operating system according to the first embodiment of the present invention will be described with reference to the figures.

[0013] (Operating device 10) Figure 1 is a front view of the operating device according to the first embodiment. The front of the operating device is defined as the surface that faces the operator when the operator operates the operating device. Figure 2(A) is an enlarged front view of the location where the vibrating body is arranged, and Figure 2(B) is a cross-sectional view taken along line A-A in Figure 2(A).

[0014] The operating device 10 according to the first embodiment is specifically a steering wheel for an automobile or the like. As shown in Figure 1, the operating device 10 comprises an operating unit 20, a vibrating body 31, a vibrating body 32, a support unit 41, and a support unit 42. The vibrating bodies 31 and 32 correspond to the haptic force feedback units.

[0015] The operating section 20 has an annular shape when viewed from the front. The operating section 20 has a front end 291, a rear end 292, a right end 293, and a left end 294. The front end 291 is the end that corresponds to the front or above the vehicle on which the operating device 10 is mounted when the operating angle of the operating section 20 is 0° (initial state (initial mounting state on the vehicle), or when the vehicle is moving straight). The rear end 292 is the end that corresponds to the rear or below the vehicle in the initial state. The right end 293 is the end that corresponds to the right side of the vehicle in the initial state. The left end 294 is the end that corresponds to the left side of the vehicle in the initial state.

[0016] An operating section holding member 28 is positioned in the central opening of the operating section 20. The operating section holding member 28 connects to the operating section 20 near the rear end 292, near the right end 293, and near the left end 294. The operating section holding member 28 is positioned including the center when the operating section 20 is viewed from the front. The operating section holding member 28 connects to the steering shaft (not shown) at this center.

[0017] As a result, the operating shaft AX20 passes through the center of the operating unit 20. The operating unit 20 is rotatably positioned around the operating shaft AX20. By rotating the operating unit 20, the vehicle user (operator) controls the vehicle's behavior, such as turning.

[0018] When viewing the operating unit 20 from the front, the line passing through the front end 291, the operating axis AX20, and the rear end 292 is the vertical axis of symmetry ASV of the operating unit 20. When viewing the operating unit 20 from the front, the line passing through the right end 293, the operating axis AX20, and the left end 294 is the horizontal axis of symmetry ASS of the operating unit 20.

[0019] The operating section 20 comprises a frame 211 and a frame 212. Frames 211 and 212 are cylindrical. Frames 211 and 212 are connected to the central opening side (inner circumferential surface) of the operating section 20.

[0020] More specifically, the frame 211 is positioned at an intermediate location between the front end 291 and the right end 293 in the circumferential direction of the annular shape of the operating section 20. The frame 212 is positioned at an intermediate location between the front end 291 and the left end 294 in the circumferential direction of the annular shape of the operating section 20.

[0021] Frames 211 and 212 are positioned symmetrically with respect to the vertical axis of symmetry ASV that passes through the center of the operating section 20. In other words, frames 211 and 212 are positioned symmetrically with respect to a plane (plane of symmetry) that includes the front end 291, the operating axis AX20, and the rear end 292.

[0022] The vibrating bodies 31 and 32 have similar configurations. The vibrating bodies 31 and 32 generate vibrations in one axis (one degree of freedom). The vibrating body 31 vibrates along the vibration direction AV 31. The vibrating body 32 vibrates along the vibration direction AV 32.

[0023] The vibrating bodies 31 and 32 each comprise, for example, a housing, a ferromagnetic material (permanent magnet) arranged to vibrate within the housing, and a coil for applying an electromagnetic force to the ferromagnetic material.

[0024] By supplying a predetermined drive signal (AC drive signal) to the coil, the ferromagnetic material (permanent magnet) inside the housing vibrates. This vibration propagates through the housing, causing the vibrating bodies 31 and 32 to emit vibrations to the outside.

[0025] The vibrating body 31 is placed inside the opening of the cylindrical frame 211. The vibrating body 31 is positioned so that its vibration direction AV 31 is parallel to the vertical symmetry axis ASV. Note that this parallelism includes mounting errors, etc.

[0026] The vibrating body 31 is physically connected to the frame 211 via a support portion 41. The support portion 41 is made of a flexible material such as a spring. As a result, the vibrating body 31 is positioned to vibrate relative to the frame 211 in a direction parallel to the vibration direction AV 31. The support portion 41 only needs to have a structure that does not significantly attenuate vibrations in the vibration direction AV 31 and suppresses the propagation of these vibrations to the operating portion 20.

[0027] The vibrating body 32 is positioned within the opening of the cylindrical frame 212. The vibrating body 32 is positioned so that its vibration direction AV 32 is parallel to the vertical symmetry axis ASV. Note that this parallelism includes mounting errors, etc.

[0028] The vibrating body 32 is physically connected to the frame 212 via a support portion 42. The support portion 42 is made of a flexible material such as a spring. The support portion 42 has the same performance as the support portion 41. As a result, the vibrating body 32 is positioned to vibrate relative to the frame 212 in a direction parallel to the vibration direction AV 32. The support portion 42 only needs to have a structure that does not significantly attenuate vibrations in the vibration direction AV 32 and suppresses the propagation of these vibrations to the operating portion 20.

[0029] With the above configuration, the vibrating bodies 31 and 32 are positioned symmetrically with respect to the vertical symmetry axis ASV of the operating unit 20. Furthermore, the vibrating bodies 31 and 32 vibrate independently with respect to the operating unit 20. The vibration direction AV31 of the vibrating body 31 and the vibration direction AV32 of the vibrating body 32 are parallel to the vertical symmetry axis ASV of the operating unit 20.

[0030] It is also possible to configure the vibration directions AV31 and AV32 not to follow the operating state of the operating unit 20 (for example, rotation). For example, the vibration directions AV31 and AV32 can be constantly directed in a specific direction of the vehicle on which the operating device 10 is installed, regardless of the operating state of the operating unit 20.

[0031] Figure 3 is a table showing an example of the relationship between the drive signal applied to the vibrating body and the illusion of tactile force. In Figure 3, drive signals S1F and S1B are drive signals supplied to the vibrating body 31. Drive signals S2F and S2B are drive signals supplied to the vibrating body 32.

[0032] Haptics, unlike simple harmonic motion (the type of vibration used in conventional technology) such as sine waves, employs complex patterns of vibrational stimuli with nonlinear waves. By providing haptic feedback to the user (operator), the user experiences a brain illusion, giving them a sense of force as if being pulled by a great force, or a tactile sensation as if touching a surface. In other words, haptic feedback creates the illusion of a different, more realistic tactile sensation than the stimulus being applied.

[0033] The drive signal S1F is a signal that provides a haptic feedback sensation, making it feel as if the contact point (the part that the operator contacts with the vibrating body 31) is moving from the rear end 292 to the front end 291 of the operating unit 20 when the operator touches the vibrating body 31. The drive signal S1B is a signal that provides a haptic feedback sensation, making it feel as if the contact point (the part that the operator contacts with the vibrating body 31) is moving from the front end 291 to the rear end 292 of the operating unit 20 when the operator touches the vibrating body 31.

[0034] The drive signal S2F is a signal that provides a haptic feedback sensation, making it feel as if the contact point (the part that the operator contacts with the vibrating body 32) is moving from the rear end 292 to the front end 291 of the operating unit 20 when the operator touches the vibrating body 32. The drive signal S2B is a signal that provides a haptic feedback sensation, making it feel as if the contact point (the part that the operator contacts with the vibrating body 32) is moving from the front end 291 to the rear end 292 of the operating unit 20 when the operator touches the vibrating body 32.

[0035] The drive signals S1F and S1B can be switched to adjust the amplitude, frequency, phase, etc. of the vibrations generated by the vibrating body 31. The drive signals S2F and S2B can be switched to adjust the amplitude, frequency, phase, etc. of the vibrations generated by the vibrating body 32.

[0036] A drive signal S1F is supplied to the vibrating body 31, and a drive signal S2F is supplied to the vibrating body 32. As a result, the operating device 10 provides the operator with a haptic feedback that makes them feel as if both hands are moving forward (SIFD as shown in Figure 1).

[0037] A drive signal S1B is supplied to the vibrating body 31, and a drive signal S2B is supplied to the vibrating body 32. As a result, the operating device 10 provides the operator with a haptic feedback that makes them feel as if both hands are moving backward (SIBK as shown in Figure 1).

[0038] A drive signal S1F is supplied to the vibrating body 31, and a drive signal S2B is supplied to the vibrating body 32. As a result, the operating device 10 gives the operator the illusion of haptic force sensation that both hands are rotating counterclockwise (SIRL as shown in Figure 1).

[0039] A drive signal S1B is supplied to the vibrating body 31, and a drive signal S2F is supplied to the vibrating body 32. As a result, the operating device 10 gives the operator the illusion of haptic force sensation that both hands are rotating clockwise (SIRR as shown in Figure 1).

[0040] By linking these various tactile sensations to various information related to vehicle operation and supplying various drive signals, the operating device 10 can provide the operator with diverse information. For example, if the operator is to be directed to rotate to the left, the device supplies drive signals to the vibrating bodies 31 and 32 to provide the aforementioned tactile sensation of left rotation. Similarly, if the operator is to be directed to rotate to the right, the device supplies drive signals to the vibrating bodies 31 and 32 to provide the aforementioned tactile sensation of right rotation.

[0041] This allows the control device 10 to provide more intuitive support for the operator's control of the vehicle.

[0042] Furthermore, in the above configuration, vibrations that attempt to leak from the vibrating body 31 to the operating unit 20 are attenuated by the support unit 41. Vibrations that attempt to leak from the vibrating body 32 to the operating unit 20 are attenuated by the support unit 42. In other words, the vibrating bodies 31 and 32 are configured to vibrate independently of the operating unit 20. Therefore, the tactile force feedback unit configured using the vibrating bodies 31 and 32 can provide tactile force feedback to the operator independently of the operating unit 20, and can efficiently deliver vibrations to the operator.

[0043] Therefore, unwanted vibrations leaking from the vibrating bodies 31 and 32 to the operating unit 20 are suppressed. Consequently, the operating device 10 can suppress the adverse effects of vibrations from the vibrating bodies 31 and 32 on the operation of the operating unit 20. For example, the operating device 10 can suppress the discomfort experienced by the operator due to unwanted vibrations of the operating unit 20 during operation. Furthermore, the operating device 10 can suppress operator errors caused by these unwanted vibrations.

[0044] In this way, the operating device 10 can provide various types of information to the operator while suppressing any adverse effects on the operator's operations. In a more specific example, as one type of information, according to the operating device 10, it is possible to give the operator a feeling as if the operating unit 20 is rotating without actually rotating the operating unit 20. Also, as another type of information, according to the operating device 10, it is possible to give the operator a feeling not limited to the rotational direction of the operating unit 20 but in the forward and backward direction of the vehicle (the front and rear direction of the operating unit 20: SIFD and SIBK in FIG. 1). Thus, the operating device 10 can provide the operator with information on haptic sensations in various directions while suppressing any actual adverse effects on the operator's steering operation.

[0045] In the above description, the vibration direction AV31 of the vibrator 31 and the vibration direction AV32 of the vibrator 32 are shown in a mode parallel to the vertical symmetry axis ASV. However, the vibration direction AV31 and the vibration direction AV32 are not limited to this direction. For example, the vibration direction AV31 and the vibration direction AV32 may be parallel to the horizontal symmetry axis ASS, or may be perpendicular to both the vertical symmetry axis ASV and the horizontal symmetry axis ASS. Furthermore, the vibration direction AV31 and the vibration direction AV32 do not have to be parallel. Also, for example, the vibration direction AV31 and the vibration direction AV32 can be set in the tangential direction of the annular operating unit 20, the direction perpendicular to this tangent, and so on.

[0046] Also, in the above description, a mode including the vibrator 31 and the vibrator 32 is shown. However, a configuration including only one of the vibrator 31 or the vibrator 32 may also be used. Also, the positional relationship between the vibrator 31 and the vibrator 32 is not limited to the above configuration. However, by including the vibrator 31 and the vibrator 32 and having the above positional relationship, the operating device 10 can provide the operator with a more diverse range of haptic sensations.

[0047] In the above description, the modes of connecting the vibrating bodies 31 and 32 to the operation unit 20 using the frames 211 and 212 are shown. However, the frames 211 and 212 can be omitted. In this case, the vibrating body 31 is directly connected to the operation unit 20 via the support portion 41, and the vibrating body 32 is directly connected to the operation unit 20 via the support portion 42.

[0048] (Operation System 1) FIG. 4 is a functional block diagram showing an example of the configuration of an operation system according to the first embodiment. The operation system 1 includes an operation device 10 and a drive signal generation unit 81. The drive signal generation unit 81 is constituted by a processor unit or the like. The operation system 1 is mounted on the vehicle body of a vehicle whose behavior is operated by the operation device 10.

[0049] The drive signal generation unit 81 and the vibrating body 31 are connected through a cable 811. The drive signal generation unit 81 and the vibrating body 32 are connected through a cable 812. Here, a wired connection is shown as an example, but the vibrating bodies 31 and 32 and the drive signal generation unit 81 can also be wirelessly connected.

[0050] Operation assistance information and sensor detection information are input to the drive signal generation unit 81 from a vehicle or the like on which the operation device 10 is mounted.

[0051] The operation assistance information is information for assisting (supporting) the operation of the vehicle by the operator. As an example, the operation assistance information is information for proposing forward movement, backward movement, starting, stopping, left rotation (left turn), and right rotation (right turn) of the vehicle. The operation assistance information is acquired, for example, by an in-vehicle camera, a navigation system, or the like.

[0052] The sensor detection information is information that can be used for vehicle operation based on the detection results of sensors mounted on the vehicle. As an example, the sensor detection information is information indicating the detection of an object having a possibility of collision around the vehicle and the direction of the object. The sensor detection information is acquired, for example, by an in-vehicle camera, a radar system, a TPMS (tire pressure monitoring system), or the like.

[0053] The drive signal generation unit 81 generates drive signals S1 and S2 based on at least one of operation assistance information and sensor detection information. For example, if the drive signal generation unit 81 suggests turning left based on operation assistance information and sensor detection information, it generates drive signal S1F and outputs it to the vibrating body 31, and generates drive signal S2B and outputs it to the vibrating body 32.

[0054] As a result, the operator can obtain a counter-clockwise tactile sensation through the vibration of the vibrating body 31 and the vibrating body 32. Based on this counter-clockwise tactile sensation, the operator can then operate the control unit 20 to rotate counterclockwise.

[0055] In this way, the operating system 1 can present the operator with appropriate operations according to the surrounding conditions of the vehicle.

[0056] [Second Embodiment] An operating device and operating system according to the second embodiment will be described with reference to the figures.

[0057] (Operating device 10A) Figure 5 is a front view of the operating device according to the second embodiment. As shown in Figure 5, the operating device 10A according to the second embodiment differs from the operating device 10 according to the first embodiment in that it includes a vibrating body 31A, a vibrating body 32A, a support part 41A, and a support part 42A. The other components of the operating device 10A are the same as those of the operating device 10, and the description of the same parts will be omitted.

[0058] The vibrating body 31A generates vibrations in two axes. Specifically, the vibrating body 31A generates vibrations in vibration direction AV311 and vibration direction AV312. Vibration directions AV311 and AV312 are orthogonal.

[0059] The vibrating body 31A is positioned and connected to the frame 211 via a support portion 41A, with its vibration direction AV311 parallel to the vertical symmetry axis ASV and its vibration direction AV312 parallel to the horizontal symmetry axis ASS. The support portion 41A is made of a flexible material such as a spring and is structured to at least not significantly dampen the vibration in vibration direction AV311 and vibration direction AV312.

[0060] The vibrating body 32A generates vibrations in two axes. Specifically, the vibrating body 32A generates vibrations in vibration direction AV321 and vibration direction AV322. Vibration directions AV321 and AV322 are orthogonal.

[0061] The vibrating body 32A is positioned and connected to the frame 212 via a support portion 42A, with its vibration direction AV321 parallel to the vertical symmetry axis ASV and its vibration direction AV322 parallel to the horizontal symmetry axis ASS. The support portion 42A is made of a flexible material such as a spring and is structured to at least not significantly dampen the vibration in vibration direction AV321 and vibration direction AV322.

[0062] With this configuration, the operating device 10A can provide a wider variety of tactile sensations. Furthermore, the operating device 10A can provide a wider variety of tactile sensations depending on the operating state (rotation state) of the operating unit 20. For example, by using vibration directions AV311 and AV321, tactile sensations of forward movement (SIFD) and backward movement (SIBK) can be provided. In addition, by using vibration directions AV312 and AV322, tactile sensations of rightward movement (SIFR) and leftward movement (SIFL) can be provided.

[0063] Furthermore, the operating device 10A can provide the operator with vibrations in directions not parallel to the respective vibration axes by combining the vibrations of the two axes of the vibrating bodies 31A and 32A.

[0064] Figure 6 is a front view showing an example of the operating section of the operating device according to the second embodiment in a rotated state. For example, as shown in Figure 6, forward movement (SIFD) is not parallel to any of the vibration directions AV311, AV312, AV321, and AV322. However, by combining the vibration directions AV311, AV312, AV321, and AV322, it is possible to provide the operator with a false tactile sensation of forward movement (SIFD).

[0065] In this way, the operating device 10A can provide the operator with a false tactile sensation in any direction within the plane containing these two axes by combining vibrations of the two axes.

[0066] (Operating System 1A) Figure 7 is a functional block diagram showing an example of the configuration of the operating system according to the second embodiment. As shown in Figure 7, the operating system 1A includes an operating device 10A and a drive signal generation unit 81A. The operating device 10A has the configuration described above. The basic control and processing of the drive signal generation unit 81A is the same as that of the drive signal generation unit 81 according to the first embodiment. The differences between the drive signal generation unit 81A and the drive signal generation unit 81 will be described in detail.

[0067] The drive signal generation unit 81A receives at least one of the following inputs: operation assistance information, sensor detection information, operation angle information of the operation unit 20, and vehicle attitude information. The operation angle indicates the rotation state (rotation angle) of the operation device 10A, as shown in Figure 6. The operation angle is detected, for example, by a sensor (not shown) that is linked to the operation device 10A or the operation shaft AX20. The vehicle attitude is the distance and inclination of the vehicle relative to the road surface, the vehicle's direction of travel, the inclination of the vehicle relative to a specific direction, or the turning speed. The vehicle attitude is detected, for example, by a gyro sensor (angular velocity sensor), an acceleration sensor, etc.

[0068] The drive signal generation unit 81A appropriately combines the input information to generate drive signals S1A and S2A to provide the desired haptic force sensation. Drive signals S1A and S2A are drive signals capable of realizing two-axis vibration.

[0069] The drive signal generation unit 81A outputs a drive signal S1A to the vibrating body 31A. The drive signal generation unit 81A also outputs a drive signal S2A to the vibrating body 32A.

[0070] As a result, the operating system 1A can provide the operator with a wider variety of haptic feedback based on the surrounding conditions and operating status of the vehicle.

[0071] [Third Embodiment] An operating device and operating system according to the third embodiment will be described with reference to the figures.

[0072] (Operating device 10B) Figure 8(A) is a front view of the operating device according to the third embodiment, and Figures 8(B) and 8(C) are enlarged cross-sectional views of the location where the vibrating body is arranged in the operating device according to the third embodiment.

[0073] As shown in Figures 8(A) and 8(B), the operating device 10B according to the third embodiment differs from the operating device 10 according to the first embodiment in that it includes a vibrating body 31B, a vibrating body 32B, a support part 41B, and a support part 42B. The other components of the operating device 10B are the same as those of the operating device 10, and a description of the same parts will be omitted.

[0074] The vibrating body 31B generates vibrations in three axes. Specifically, the vibrating body 31B generates vibrations in vibration direction AV311, vibration direction AV312, and vibration direction AV313. Vibration directions AV311, AV312, and AV313 are orthogonal to each other.

[0075] The vibrating body 31B is positioned and connected to the frame 211 via a support portion 41B, with its vibration direction AV311 parallel to the vertical symmetry axis ASV, its vibration direction AV312 parallel to the horizontal symmetry axis ASS, and its vibration direction AV313 perpendicular to both the vertical symmetry axis ASV and the horizontal symmetry axis ASS. The support portion 41B is made of a flexible material such as a spring and is structured to suppress the propagation of vibrations in the vibration direction AV311, vibration direction AV312, and vibration direction AV313 without significantly dampening them, thereby preventing these vibrations from being transmitted to the operating portion 20.

[0076] The vibrating body 32B generates vibrations in three axes. Specifically, the vibrating body 32B generates vibrations in vibration direction AV321, vibration direction AV322, and vibration direction AV323. Vibration directions AV321, AV322, and AV323 are orthogonal.

[0077] The vibrating body 32B is positioned and connected to the frame 212 via the support portion 42B, with vibration direction AV321 parallel to the vertical symmetry axis ASV, vibration direction AV322 parallel to the horizontal symmetry axis ASS, and vibration direction AV323 perpendicular to both the vertical symmetry axis ASV and the horizontal symmetry axis ASS. The support portion 42B is made of a flexible material such as a spring and is structured to suppress the propagation of vibrations in vibration direction AV321, vibration direction AV322, and vibration direction AV323 without significantly dampening them, thereby preventing these vibrations from being transmitted to the operating portion 20.

[0078] With this configuration, the operating device 10B can provide the operator with a wider variety of haptic feedback in the orthogonal triaxial coordinate system. Furthermore, similar to the operating device 10A, the operating device 10B can provide the operator with a wider variety of haptic feedback depending on the operating state (rotation state) of the operating unit 20.

[0079] The operating system for the operating device 10B differs from the operating system 1A shown in the second embodiment in that it generates a drive signal capable of realizing three-axis vibration.

[0080] This configuration allows the operating system to provide the operator with a wider variety of orthogonal triaxial coordinate system haptic feedback based on the surrounding conditions and operating state of the vehicle.

[0081] [Fourth Embodiment] An operating device and operating system according to the fourth embodiment will be described with reference to the figures.

[0082] (Operating device 10C) Figure 9 is a front view of the operating device according to the fourth embodiment. As shown in Figure 9, the operating device 10C according to the fourth embodiment differs from the operating device 10 according to the first embodiment in that it includes a frame 2111, a frame 2112, a frame 2121, a frame 2122, a vibrating body 311, a vibrating body 312, a vibrating body 321, a vibrating body 322, a support part 411, a support part 412, a support part 421, and a support part 422. The other components of the operating device 10C are the same as those of the operating device 10, and the description of the same parts will be omitted.

[0083] The vibrating body 311, the support portion 411, and the frame 2111 are arranged in the same manner as the vibrating body 31, support portion 41, and frame 211 in the first embodiment, and are positioned relative to the operating portion 20 in the same manner.

[0084] The vibrating body 321, the support portion 421, and the frame 2121 are arranged in the same manner as the vibrating body 32, support portion 42, and frame 212 in the first embodiment, and are positioned in the same manner relative to the operating portion 20.

[0085] Vibrating bodies 312 and 322 have the same configuration as vibrating bodies 311 and 312. Frames 2112 and 2122 have the same configuration as frame 2111 and 2121.

[0086] Frame 2112 is positioned at an intermediate position between the right end 293 and the rear end 292 in the circumferential direction of the annular shape of the operating section 20. Frame 2122 is positioned at an intermediate position between the left end 294 and the rear end 292 in the circumferential direction of the annular shape of the operating section 20.

[0087] Frames 2112 and 2122 are positioned symmetrically with respect to the vertical symmetry axis ASV of the operating section 20.

[0088] The vibrating body 312 is positioned and connected to the frame 2112 via a support portion 412. The support portion 412 is made of a flexible material such as a spring and is structured to suppress the propagation of vibrations to the operating portion 20 without significantly dampening the vibrations of the vibrating body 312 in the direction of vibration.

[0089] The vibrating body 322 is positioned and connected to the frame 2122 via a support portion 422. The support portion 422 is made of a flexible material such as a spring and is structured to suppress the propagation of vibrations to the operating portion 20 without significantly dampening the vibrations of the vibrating body 322 in the direction of vibration.

[0090] With this configuration, the operating device 10C comprises a first set consisting of vibrating bodies 311 and 321, and a second set consisting of vibrating bodies 312 and 322. This allows the operating device 10C to provide false tactile sensation to each set. Therefore, the operating device 10C can provide false tactile sensation to the operator at multiple locations on the operating section 20.

[0091] Furthermore, the number of vibrating elements is not limited to two; there may be three or more. Also, multiple vibrating elements do not necessarily have to form a set; an odd number of vibrating elements may be arranged on the operating unit 20. In addition, the vibration of each vibrating element is not limited to one axis; it may be two or three axes. Moreover, the number of axes may differ for each set.

[0092] (Operating Systems 1C, 1CX) Figures 10(A) and 10(B) are functional block diagrams showing an example of the configuration of the operating system according to the fourth embodiment.

[0093] As shown in Figure 10(A), the operating system 1C comprises an operating device 10C and a drive signal generation unit 81C. The operating device 10C has the configuration described above. The basic control and processing of the drive signal generation unit 81C is the same as that of the drive signal generation unit 81 according to the first embodiment. The differences between the drive signal generation unit 81C and the drive signal generation unit 81 will be described in detail.

[0094] The drive signal generation unit 81 and the vibrating body 311 are connected via cable 8111. The drive signal generation unit 81 and the vibrating body 321 are connected via cable 8121. The drive signal generation unit 81 and the vibrating body 312 are connected via cable 8112. The drive signal generation unit 81 and the vibrating body 322 are connected via cable 8122. Although a wired connection is shown as an example here, a wireless connection can also be used.

[0095] The drive signal generation unit 81C appropriately combines the input information to generate drive signals S11, S21, S12, and S22 to provide the desired haptic feedback.

[0096] Drive signals S11 and S21 are a pair of drive signals. Drive signal S11 is a drive signal for vibrator 311, and drive signal S21 is a drive signal for vibrator 321. Drive signals S12 and S22 are a pair of drive signals. Drive signal S12 is a drive signal for vibrator 312, and drive signal S22 is a drive signal for vibrator 322.

[0097] The drive signal generation unit 81C outputs the set of drive signals S11 and S21 to the vibrating body 311 and the vibrating body 312. The drive signal generation unit 81C also outputs the set of drive signals S12 and S22 to the vibrating body 321 and the vibrating body 322.

[0098] As a result, the operating system 1C can provide the operator with a false tactile sensation at multiple locations on the operating unit 20.

[0099] The operating system 1CX shown in Figure 10(B) differs from the operating system 1C in that it is equipped with a contact detection sensor 50 and in the method of generating the drive signal of the drive signal generation unit 81CX using this sensor.

[0100] The contact detection sensor 50 detects the operator's contact status with the vibrating bodies 311, 321, 312, and 322. The contact detection sensor 50 detects the vibrating body that the operator is in contact with and outputs it to the drive signal generation unit 81CX.

[0101] The drive signal generation unit 81CX generates and outputs a drive signal for the vibrating body that has been detected to be in contact.

[0102] This allows the operating system 1CX to suppress the generation of unnecessary drive signals to vibrating bodies that are not in contact with the operator.

[0103] [Fifth Embodiment] The operating device according to the fifth embodiment will be described with reference to the figures. Figure 11 is a front view of the operating device according to the fifth embodiment. As shown in Figure 11, the operating device 10D according to the fifth embodiment differs from the operating device 10 according to the first embodiment mainly in the shape of the operating section 20D. The differences between the operating device 10D and the operating device 10 will be described in detail.

[0104] The operating device 10D includes an operating section 20D. The operating section 20D includes a right-side annular body 201D and a left-side annular body 202D.

[0105] The right annular body 201D and the left annular body 202D are positioned in a front view with the operating part holding member 28D in between, and are arranged symmetrically with respect to the operating part holding member 28D. In other words, the right annular body 201D and the left annular body 202D are positioned symmetrically with respect to the vertical symmetry axis ASV passing through the operating axis AX20D, front end 291, and rear end 292 of the operating part holding member 28D.

[0106] The right annular body 201D and the left annular body 202D are composed of C-shaped rings with a portion of their circumference cut off. The right annular body 201D is connected to the operating part holding member 28D at the cut portion. The left annular body 202D is connected to the operating part holding member 28D at the cut portion.

[0107] The frame 211D is cylindrical, similar to the frame 211, and is positioned in the inner region of the ring of the right-side annular body 201D. The vibrating body 31D is positioned and connected to the frame 211D via the support portion 41D.

[0108] Frame 212D is cylindrical, similar to frame 212, and is positioned in the inner region of the ring of the left annular body 202D. The vibrating body 32D is positioned and connected to frame 212D via support portion 42D.

[0109] The vibrating bodies 31D and 32D are arranged symmetrically with respect to the vertical symmetry axis ASV.

[0110] With this configuration, the operating device 10D can achieve the same effects as the operating device 10.

[0111] Furthermore, the operating section 20D of the operating device 10D has a smaller gripping area compared to the operating section 20 of the operating device 10. The vibrating bodies 31D and 32D are positioned within this smaller gripping area. As a result, the operator can more reliably maintain contact with the vibrating bodies 31D and 32D when operating the operating section 20D. Therefore, the operating device 10D can more reliably provide the operator with haptic feedback.

[0112] [Sixth Embodiment] The operating device according to the sixth embodiment will be described with reference to the figures. Figure 12 is a side view of the operating device according to the sixth embodiment. As shown in Figure 12, the operating device 10E according to the sixth embodiment differs from the operating device 10 according to the first embodiment in that it uses a rod-shaped operating part 20E and uses a single vibrating body 30E. That is, the operating part 20E has a shape that corresponds to, for example, the handle of a motorcycle. The differences between the operating device 10E and the operating device 10 will be described in detail.

[0113] The operating device 10E includes an operating section 20E. The operating section 20E includes a main body 200E, a right grip 201E, and a left grip 202E.

[0114] The main body 200E is rod-shaped. The main body 200E is fixed to the operating part holding member 28E near the center in the direction of extension.

[0115] The right grip 201E is positioned at one end of the main body 200E in the direction of extension. The left grip 202E is positioned at the other end of the main body 200E in the direction of extension.

[0116] The right grip 201E and the left grip 202E are positioned with the operating section holding member 28E in between, and are positioned symmetrically with respect to the operating section holding member 28E. In other words, the right grip 201E and the left grip 202E are positioned symmetrically with respect to the axis through which the operating shaft AX20E of the operating section holding member 28E passes.

[0117] The frame 210E is cylindrical, similar to the frame 211, and is positioned near the end of the left grip 202E on the side of the operating part holding member 28E. The vibrating body 30E is positioned and connected to the frame 210E via the support part 40E.

[0118] With this configuration, the operating device 10E can achieve the same effects as when using a single vibrating element in the operating device 10.

[0119] Note that the position of the vibrating element 30E is not limited to this position. However, in the case of a motorcycle, since the throttle is operated by rotating the right grip 201E, it is preferable that the vibrating element 30E be positioned on the left grip 202E side. Also, the number of vibrating elements is not limited to one.

[0120] [Seventh Embodiment] The operating device according to the seventh embodiment will be described with reference to the figures. Figure 13 is a side view of the operating device according to the seventh embodiment. As shown in Figure 13, the operating device 10F according to the seventh embodiment differs from the operating device 10 according to the first embodiment in that it uses an operating section 20F composed of multiple levers. That is, the operating section 20F is used to operate vehicles that can move forward, backward, left and right, such as construction machinery such as excavators. The differences between the operating device 10F and the operating device 10 will be described in detail.

[0121] The operating device 10F includes an operating section 20F. The operating section 20F includes a first lever 201F, a second lever 202F, a first shaft 281F, and a second shaft 282F.

[0122] The first lever 201F and the second lever 202F are aligned horizontally in their initial, unoperated state (default state). The first shaft 281F is connected to the first lever 201F and supports the first lever 201F in a state where it can move in the front-rear direction. The second shaft 282F is connected to the second lever 202F and supports the second lever 202F in a state where it can move in the front-rear direction.

[0123] A straight line extending vertically through the center of the alignment of the first lever 201F and the second lever 202F (the position between the first lever 201F and the second lever 202F when not being operated) corresponds to the operating axis AX20F.

[0124] The frame 211F is cylindrical, similar to the frame 211, and is positioned near the connection point of the first lever 201F to the first shaft 281F. The vibrating body 31F is positioned and connected to the frame 211F via the support portion 41F.

[0125] The frame 212F is cylindrical, similar to the frame 212, and is positioned near the connection point of the second lever 202F to the second shaft 282F. The vibrating body 32F is positioned and connected to the frame 212F via the support portion 42F.

[0126] With this configuration, the operating device 10F can achieve the same effects as the operating device 10.

[0127] In the embodiments described above, the vibrating element was shown to be connected to the frame or operating section by a flexible support such as a spring. However, it is also possible to construct the vibrating element separately from the operating section and connect them with an extendable cable or the like. In this case, the cable corresponds to the support. In this case, the vibrating element can be placed, for example, in a glove worn on the operator's hand.

[0128] In the above-described embodiment, the operating system provides the operator of the vehicle (actual vehicle) with a false sense of tactile force, thereby intuitively supporting the operator's control of the vehicle. However, the above-described manner of presenting the false sense of tactile force can also be applied to the following:

[0129] Figure 14 is a functional block diagram showing an example of another embodiment of the operating system. As shown in Figure 14, the operating system 1S comprises an operating state acquisition unit 60, a drive signal generation unit 81S, and an operating device 10S.

[0130] The operating device 10S has the same configuration as the operating device 10 described above. The operating state acquisition unit 60 acquires the operating state (rotational movement, etc.) of a simulated vehicle or a real vehicle and outputs it to the drive signal generation unit 81S. The drive signal generation unit 81S generates a drive signal to provide a haptic feedback that simulates the operating state and outputs it to the vibrators 31 and 32 of the operating device 10S. By using this configuration, the operating system 1S can be applied to the following:

[0131] (A) The driving simulator and amusement equipment operating system 1S is applied to the steering wheel of the driving simulator or amusement equipment. In this case, the operating state acquisition unit 60 acquires the movement of the steering wheel of the driving simulator or amusement equipment. The operating system 1S presents the operator with a haptic feedback that simulates driving a real car, in accordance with the movement of the steering wheel, using the drive signal generation unit 81S and the haptic feedback presentation unit (operating device 10S). As a result, even with a driving simulator or amusement equipment, the operator can get the feeling of driving a real car and experience a sense of realism in driving.

[0132] Amusement equipment includes racing games found in arcades, slow-moving vehicles for children, and consumer game machines equipped with steering wheel controllers.

[0133] (B) The driving instruction operation system 1S is applied to an instruction steering wheel, etc., held by an experiencer who wants to experience driving a vehicle without actually driving a real vehicle. In this case, the operation state acquisition unit 60 acquires the movement of the steering wheel (e.g., rotational movement) when driving a real vehicle. The operation system 1S uses the drive signal generation unit 81S and the haptic force presentation unit (instruction steering wheel equipped with the operation device 10S) to present the experiencer with a haptic force sensation that makes it seem as if they are actually driving the vehicle, according to the movement of the steering wheel. As a result, the experiencer can get the feeling of driving a real vehicle by using the experience steering wheel, even without actually driving the real vehicle.

[0134] For example, during a driving lesson, the instructor drives a real vehicle while the student sits in the passenger seat and holds an instruction steering wheel. The instructor's steering wheel movements (rotational motion) are recorded in real time. The student (experiencer) is given a sense of rotational motion corresponding to the instructor's steering wheel movements through the instruction steering wheel. This allows the student to intuitively grasp the timing and angle of operation.

[0135] In this case, the method by which the steering wheel movement is communicated to the control device (instruct steering wheel) may be wireless communication or wired communication. Furthermore, the instruction steering wheel may or may not be mounted on the vehicle.

[0136] The configurations of each of the embodiments described above can be combined as appropriate, and each combination can produce effects corresponding to its respective purpose.

[0137] 1, 1A, 1C, 1CX, 1S: Operating system 10, 10A, 10B, 10C, 10D, 10E, 10F, 10S: Operating device 20, 20D, 20E, 20F: Operating section 28, 28D, 28E: Operating section holding member 30E, 31, 31A, 31B, 31D, 31F, 32, 32A, 32B, 32D, 32F, 311, 312, 321, 322: Vibrating body 40E, 41, 41A, 41B, 41D, 41F, 42, 42A, 42B, 42D, 42F, 411, 412, 421, 422: Support section 50: Contact detection sensor 60: Operating state acquisition section 81, 81A, 81C, 81CX, 81S: Drive signal generation unit 200E: Main body 201D: Right annular body 201E: Right grip 201F: First lever 202D: Left annular body 202E: Left grip 202F: Second lever 210E, 211, 211D, 211F, 212, 212D, 212F: Frame 281F: First shaft 282F: Second shaft 291: Front end 292: Rear end 293: Right end 294: Left end 811, 812: Cable 2111, 2112, 2121, 2122: Frame 8111, 8112, 8121, 8122: Cable ASS: Horizontal symmetry axis ASV: Vertical symmetry axis AV31, AV311, AV312, AV313, AV32, AV321, AV322, AV323: Vibration direction AX20, AX20D, AX20E, AX20F: Operation axis S1, S11, S12, S1A, S1B, S1F, S2, S21, S22, S2A, S2B, S2F: Drive signal

Claims

1. An operating device comprising: an operating unit that the user grasps to operate the behavior of a vehicle; and a haptic force presentation unit disposed on the operating unit and independently of the operating unit to provide the user with a haptic force sensation.

2. The operating device according to claim 1, comprising a plurality of the aforementioned tactile force presentation units, wherein the plurality of tactile force presentation units are arranged in positions symmetrical with respect to an axis of symmetry passing through the center of the operating unit.

3. The operating device according to claim 2, wherein the operating unit has an operating shaft and is rotatable with respect to the operating shaft, and the operating shaft passes through the center of the operating unit.

4. The operating device according to claim 3, wherein the axis of symmetry is an axis extending in the longitudinal direction of the vehicle when the operating angle of the operating part is 0°.

5. The operating device according to any one of claims 2 to 4, wherein there are multiple sets of the sets of tactile force presentation units arranged in symmetrical positions.

6. An operating device comprising: an operating part for which the user grips and operates the behavior of the vehicle; a vibrating body that generates vibrations; and a support part that supports the vibrating body so as to be vibrable relative to the operating part.

7. The operating device according to claim 6, wherein the vibrating body has multiple vibration directions.

8. The operating device according to claim 6 or 7, wherein the vibrating body generates vibrations that provide a false sense of tactile force.

9. The operating device according to any one of claims 6 to 8, comprising a plurality of vibrating bodies, wherein the plurality of vibrating bodies are arranged in positions symmetrical with respect to an axis of symmetry passing through the center of the operating section.

10. The operating device according to claim 9, wherein the operating unit has an operating shaft and is rotatable with respect to the operating shaft, and the operating shaft passes through the center of the operating unit.

11. The operating device according to claim 10, wherein the axis of symmetry is an axis extending in the longitudinal direction of the vehicle when the operating angle of the operating part is 0°.

12. The operating device according to any one of claims 9 to 11, wherein there are multiple sets of the vibrating bodies arranged in symmetrical positions.

13. An operating system comprising: an operating device according to any one of claims 1 to 5; and a drive control unit that generates a drive signal for generating the false tactile sensation based on information related to the operation of the vehicle and outputs it to the false tactile sensation presentation unit.

14. An operating system comprising: an operating device according to any one of claims 6 to 12; and a drive control unit that generates a drive signal for generating the vibration based on information related to the operation of the vehicle and outputs it to the vibrating body.

15. An operating system comprising: an operating state acquisition unit that acquires the operating state of a vehicle; and a haptic force presentation unit that provides a haptic force sensation that simulates the operating state.

16. A vehicle comprising: an operating system according to claim 13; and a vehicle body on which the operating system is mounted.

17. A vehicle comprising: an operating system according to claim 14; and a vehicle body on which the operating system is mounted.

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