EP4713226A1

EP4713226A1 - Vehicle haptic system

Info

Publication number: EP4713226A1
Application number: EP24724941.0A
Authority: EP
Inventors: Sam SOAR; Paul WILES; Scott URQUHART; Eric ZALESKI
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2023-05-15
Filing date: 2024-05-02
Publication date: 2026-03-25
Also published as: GB2630267A; WO2024235642A1; CN121335822A; GB202307170D0

Abstract

Aspects of the present invention relate to a vehicle haptic system (100) for vibrating at least one foot (205) of an occupant (2000) of a vehicle (1000), the vehicle haptic system (100) comprising at least one foot haptic module (3000) for positioning in a footrest or floor portion (105) of a vehicle (1000), the at least one foot haptic module (3000) comprising at least one haptic transducer (320), wherein the at least one haptic transducer (320) is configured to receive a haptic signal (410) and generate a vibration (425) according to the haptic signal (410).

Description

VEHICLE HAPTIC SYSTEM

TECHNICAL FIELD

The present disclosure relates to a vehicle haptic system. Aspects of the invention relate to a vehicle haptic system.

BACKGROUND

Vehicles may include massage systems to massage the back or feet of a user. Where massage systems are employed in a vehicle, these typically comprise a pneumatic system, for example, inflatable bladders. These systems are generally unsuitable for disposing in a footrest or floor portion of the vehicle. For example, the use of pneumatic systems has been found to be ineffective in transmitting the massaging sensation when the massage system is not in direct contact with, or very close to, the user. As a result, this limitation restricts the position of the system and the selection of upholstery in corresponding areas of the vehicle. As an example, the use of known foot massage systems relies on the user removing their footwear, which may be uncomfortable to some. In addition, the pneumatic systems are typically too bulky to be positioned within the footrest or floor portion of the vehicle. As a result, known foot massage systems may instead be disposed in the seat in front of the user. This presents a range of disadvantages. For example, in order to receive the massage sensation, the user of the massage system must elevate their feet, as to be in contact with the massage system. Elevating the feet of a user may be difficult for those with limited mobility, and limits usage to when the vehicle is stationary, as to avoid potential injuries when inmotion. Further, as the massage system is disposed in a seat opposite to a user, only a passenger in a rear vehicle seat can experience the massage sensation.

It is an aim of the present invention to address one or more of the disadvantages associated with the prior art.

SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide a vehicle haptic system, a footrest or floor portion of a vehicle, and a vehicle as claimed in the appended claims.

According to an aspect of the present invention there is provided a vehicle haptic system for vibrating at least one foot of an occupant of a vehicle, the vehicle haptic system comprising at least one foot haptic module for positioning in a footrest or floor portion of a vehicle, the at least one foot haptic module comprising at least one haptic transducer, wherein the at least one haptic transducer is configured to receive a haptic signal and generate a vibration according to the haptic signal.

Advantageously, the haptic transducers allow the vehicle haptic system to be more compact than known vehicle haptic systems that instead use pneumatic systems, for example, as massaging means. As such, the more compact system can be positioned within the footrest or floor portion of a vehicle, and is therefore accessible to more occupants of a vehicle. In addition, the use of haptic transducers is surprisingly more effective at providing a massage sensation through typical vehicle flooring than the known massaging means, similarly allowing the vehicle haptic system to be positioned within the footrest or floor portion of a vehicle.

In an embodiment, the vehicle haptic system comprises a control system coupled to the at least one haptic transducer, wherein the control system is configured to output a haptic signal to actuate the at least one haptic transducer. In an embodiment, the at least one haptic transducer comprises a plurality of haptic transducers. Advantageously, the plurality of haptic transducers may vibrate different feet and/or different parts of the foot of a user of the vehicle haptic system.

In an embodiment, a first haptic transducer of the plurality of haptic transducers is configured to receive a first haptic signal and generate a vibration according to the first haptic signal and wherein a second haptic transducer of the plurality of haptic transducers is configured to receive a second haptic signal, different to the first haptic signal, and generate a vibration according to the second haptic signal. That is, the vibrations, and thereby the massage sensation, transmitted from the first haptic transducer and the second haptic transducer are distinct from one and another. Advantageously, this allows targeted haptic signals to be sent to different feet and/or different parts of the foot of a user of the vehicle haptic system for targeted activation.

In an embodiment, the at least one foot haptic module comprises a profile having a length and a width, wherein each haptic transducer of the plurality of haptic transducer is offset from other haptic transducers of the plurality of haptic transducers along the length and/or the width of the profile of the at least one foot haptic module. That is, the haptic transducers are spaced apart so as to target different feet and/or different parts of the foot of a user. Advantageously, each haptic transducer may provide a different massage sensation to different feet and/or different parts of the foot of a user of the vehicle haptic system.

In an embodiment, the at least one foot haptic module is configured to be positioned in a footrest or floor portion of a vehicle so that the length of the profile extends transverse to a forward viewing direction of a user of the vehicle haptic system. That is, the at least one foot haptic module is sized so as to be suitable for positioning within the footrest or floor portion of a vehicle. As such, the vehicle haptic system overcomes disadvantages of known systems, in that the vehicle haptic system can be utilised by more occupants of the vehicle, the occupant does not have to elevate their legs in order to operate the vehicle haptic system, and the vehicle haptic system can be used when the vehicle is in-motion.

In an embodiment, the plurality of haptic transducers comprises: a first set of at least one haptic transducer for vibrating a first foot of a user of the vehicle haptic system; and a second set of at least one haptic transducer for vibrating a second foot of the user of the vehicle haptic system. Advantageously, separate vibrations, and thereby massage sensations, can be transmitted to the first and second feet of a user of the vehicle haptic system. This allows for targeted vibrations to be sent to each foot, for example so as to achieve spatial haptic effects, where a vibration or vibration pattern 'moves’ from one foot to another.

In an embodiment, the control system is configured to independently control the at least one haptic transducer of the first set and the at least one haptic transducer of the second set. Advantageously, separate haptic signals can be sent to the at least one haptic transducer of the first set and the at least one haptic transducer of the second set, so as to separately activate each foot, if required.

In an embodiment, the at least one haptic transducer of the first set is offset from the at least one haptic transducer of the second set along the length of the profile of the at least one foot haptic module. That is, the first set and the second set are spaced transverse to a forward viewing direction of a user such that the haptic transducers within each set correspond to, or are proximal to, a corresponding foot. In an embodiment, the first set of at least one haptic transducer and the second set of at least one haptic transducer each comprise: a fore haptic transducer positioned so as to be proximal to a forefoot of the user of the vehicle haptic system. That is, each set includes a fore haptic transducer positioned so as to target the forefoot of a user. Advantageously, the forefoot of a user can be activated with vibrations, and thereby massage sensations, that specifically target, or are most suited for, the forefoot area.

In an embodiment, the first set of at least one haptic transducer and the second set of at least one haptic transducer each comprise: a hind haptic transducer positioned so as to be proximal to a hindfoot of the user of the vehicle haptic system. That is, each set includes a hind haptic transducer positioned so as to target the hindfoot of a user. Advantageously, the hindfoot of a user can be activated with vibrations, and thereby massage sensations, that specifically target, or are most suited for, the hindfoot area.

In an embodiment, the fore haptic transducer and the hind haptic transducer of each of the first set of at least one haptic transducer and the second set of at least one haptic transducer are offset along the width of the at least one foot haptic module.

In an embodiment, the control system is configured to output a first haptic signal to actuate the fore haptic transducers of the first set and the second set, and output a second haptic signal to actuate the hind haptic transducers of the first set and second set. That is, the fore and hind haptic transducers of both the first set and second set can be controlled independently from one and another. Advantageously each of the forefoot and hindfoot regions can be separately targeted with vibrations that are most suited for each area.

In an embodiment, the control system is configured to independently control the fore haptic transducers and the hind haptic transducers.

In an embodiment, the control system is configured to actuate the fore haptic transducers of the first set and the second set to vibrate at a frequency of from 60 to 150 Hz according to the first haptic signal. Advantageously, the forefoot of an occupant has been found to be particularly receptive to vibrations in the frequency range of from 60 to 150 Hz, maximising the massage sensation.

In an embodiment, the control system is configured to actuate the hind haptic transducers of the first set and the second set to vibrate at a frequency of from 25 to 60 Hz according to the second haptic signal. Advantageously, the hindfoot of an occupant has been found to be particularly receptive to vibrations in the frequency range of from 20 to 60 Hz, as the tactile feedback is transferred from the hindfoot, through the legs, to the calves and thigh areas of an occupant, providing a more complete lower-body massage sensation.

In an embodiment, the control system comprises an input for receiving an audio signal from an audio source and, following receipt of an audio signal from an audio source, the control system is configured to output a first haptic signal to actuate the fore haptic transducers of the first set and the second set, and output a second haptic signal to actuate the hind haptic transducers of the first set and second set.

In an embodiment, the control system is configured to generate the first haptic signal and the second haptic signal based on the audio signal. Advantageously, the first and second haptic signals generated by the control system can be complementary to the audio signal.

In an embodiment, the at least one foot haptic module comprises a sealed unit. Advantageously, the sealed unit protects the at least one foot haptic module from damage induced by ingress of fluids (water, oil, etc.).

In an embodiment, the at least one foot haptic module comprises an insulating member disposed around the at least one haptic transducer. Advantageously, the insulating member helps ensure vibrations emitted from the at least one transducer are directed towards the feet of the occupant, mitigating against vibrations being undesirably transferred to other components of the vehicle haptic system.

In an embodiment, the at least one foot haptic module comprises a vibro-tactile membrane, wherein the at least one haptic transducer is affixed to the vibro-tactile membrane. Advantageously, the vibro-tactile membrane spreads the vibrations emitted from the at least one transducer over the at least one foot haptic module, enabling occupants with a wide-range of different sizes of feet to use the vehicle haptic system effectively.

In an embodiment, the vehicle haptic system comprises input means for receiving an input signal from an occupant of a vehicle, wherein the control system is configured to adjust the haptic signal sent to at least one haptic transducer in response to the input signal. Advantageously, the occupant can adjust the haptic signal sent to the at least one haptic transducer to their personal preference.

In an embodiment, the vehicle haptic system comprises an amplifier for amplifying haptic signals, wherein the control system is coupled to the at least one haptic transducer via the amplifier.

In an embodiment, the at least one haptic module of the vehicle haptic system is located beneath at least a surface layer of the footrest or floor portion. Advantageously, as the at least one haptic transducer of the vehicle haptic system is more effective at transmitting a massage sensation than known massage systems, the vehicle haptic system can be covered by upholstery etc. and is thereby hidden from view within the footrest or floor portion.

In an embodiment, a footrest or floor portion of a vehicle comprises a vehicle haptic system as described herein.

In an embodiment, a vehicle comprises a footrest or floor portion as described herein.

Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

Figure 1 shows a vehicle in accordance with an embodiment of the invention;

Figure 2 shows an illustration of a footrest or floor portion of a vehicle in accordance with an embodiment of the invention;

Figure 3 shows an illustration of a foot haptic module;

Figure 4 shows a further illustration of a foot haptic module;

Figure 5 shows a further illustration of a foot haptic module;

Figure 6 shows a further illustration of a foot haptic module;

Figure 7 shows an exploded view of a foot haptic module;

Figure 8 shows a schematic representation of a vehicle haptic system;

Figure 9 shows a further schematic representation of a vehicle haptic system;

Figure 10 shows an example control system for use in a vehicle haptic system.

DETAILED DESCRIPTION

A vehicle haptic system 100 in accordance with an embodiment of the present invention is described herein with reference to accompanying Figures 1 to 10.

As shown in Figure 1, a vehicle haptic system 100 is installed in a vehicle 1000. The vehicle 1000 in the present embodiment is an automobile, such as a wheeled vehicle, but it will be understood that the vehicle haptic system 100 may be used in other types of vehicle.

Referring to Figure 2, the vehicle 1000 includes a floor portion 105 for supporting the feet 205a, 205b of an occupant 2000 of a vehicle 1000. The back, buttocks, and legs of the occupant 2000 may be supported by a vehicle seat (not shown) of the vehicle 1000. The occupant 2000 may be a driver of the vehicle 1000, or a passenger of the vehicle 1000. The floor portion 105 may be inclined at an angle, or substantially flat. Only one floor portion 105 is evident in Figure 2, but the vehicle 1000 may include a number of floor portions 105, for example two, three, or more. In particular the vehicle 1000 may include a floor portion 105 for each occupant 2000 of the vehicle 1000. The floor portion 105 may be located in a footwell of the vehicle 1000.

The floor portion 105 may be of any suitable construction. For example, the floor portion 105 may include an underlying frame or support member. The floor portion 105 may include a surface layer 110. When an occupant 2000 is present, the feet 205a, 205b of the occupant 2000 generally directly contact the surface layer 110. The surface layer 110 may be manufactured from a polymer, for example polyester or another low-density material. The surface layer 110 may have a thickness of around 10 mm.

The vehicle haptic system 100 includes at least one foot haptic module 3000 for positioning in the floor portion 105. In a vehicle 1000 including a number of floor portions 105 for supporting feet 205a, 205b, a foot haptic module 3000 may be positioned within each floor portion 105.

As shown in Figures 3, 4 and 5, the foot haptic module 3000 has a profile or shape, having a length 335 and a width 330. The profile of the foot haptic module 3000 may be substantially rectangular, such that the length 335 of the foot haptic module 3000 is a larger dimension than the width 330. In use, the foot haptic module 3000 is positioned in a floor portion 105a so that the length 335 of the foot haptic module 3000 extends transverse to a forward viewing direction of a user of the vehicle haptic system 100. The forward direction of a user of the vehicle haptic system may be understood to be the forward direction of travel of the vehicle 1000.

In the illustrated examples, the foot haptic module 3000 is located beneath the surface layer 110 of the floor portion 105. Advantageously, locating the foot haptic module 3000 beneath the surface layer 110 of the floor portion 105 protects the foot haptic module 3000 from damage, such as impact damages or water ingress.

Referring to Figures 3, 4, and 5, the foot haptic module 3000 includes at least one haptic transducer 320. The haptic transducer(s) 320 may include, for example, vibrators or shakers, which are configured to receive a haptic signal and generate a vibration according to the haptic signal. As used herein, a haptic signal is a signal generated for the purpose of actuating a haptic transducer. The haptic transducer 320 is configured to produce vibrations of low, or bass, frequencies, typically in the range of 20 Hz to 200 Hz. The vibrations produced by the haptic transducer’s response to a haptic signal may be referred to as haptic vibrations or tactile vibrations.

As will be explained further below, the vehicle haptic system 100 is configured so that the vibrations produced by the haptic transducers 320 provide haptic or tactile feedback to the user.

The use of at least one haptic transducer 320 for providing haptic or tactile feedback to a user’s feet rather than other vibration methods, for example inflatable bladder systems, ensures that the vehicle haptic system 100 is compact. The resulting system is compact enough so as to be positioned within the footwell of a vehicle. In addition, the use of haptic transducers is, surprisingly, more effective at providing a massage sensation through typical vehicle flooring than the known inflatable bladder systems. Again, this allows the system to be positioned within the footwell of a vehicle.

In this illustrated example, the foot haptic module 3000 includes a plurality of haptic transducers 320. Each haptic transducer 320 of the plurality of haptic transducer is offset from other haptic transducers of the plurality of haptic transducers 320 along the length 335 and/or the width 330 of the profile of the foot haptic module 3000. In this manner, tactile feedback can be provided to different locations, for example locations corresponding to the feet of a user or different positions on each foot of the user.

The plurality of haptic transducers 320 include at least two sets of haptic transducers. As shown in Figure 3, the at least two sets of haptic transducers 320 include a first set 320a of haptic transducers and a second set 320b of haptic transducers. In the examples illustrated in Figures 3, 4, and 5, each of the first set 320a and the second set 320b includes two haptic transducers 320. However, in other examples the first set 320a and the second set 320b may include one, three, or more haptic transducers.

The haptic transducers 320 of the first set 320a are positioned so as to vibrate, or provide targeted vibrations to, a first foot of a user of the vehicle haptic system 100 when the system is in use. Similarly, the haptic transducers 320 of the second set 320b are positioned so as to vibrate, or provide targeted vibrations to, a second foot of the user of the vehicle haptic system 100. The haptic transducers 320 of the first set 320a are offset from the haptic transducers of the second set 320b along the length 335 of the foot haptic module 3000. That is, as shown in Figure 5, when a user is seated in a typical seating position in a vehicle seat adjacent to the floor portion 105, the first foot 205a of the user engages the floor portion 105 in a position substantially overlying, or adjacent to, the first set 320a of haptic transducers. The second foot 205b of the user engages the floor portion 105 in a position substantially overlying, or adjacent to, the second set 320b of haptic transducers. The haptic transducers 320 of the first set 320a may be offset from the haptic transducers 320 of the second set 320b along the length 335 of the foot haptic module 3000 by from 200mm to 300mm.

As shown in Figure 4, the first set 320a and the second set 320b each include a fore haptic transducer 325a. The first set 320a and the second set 320b also each include a hind haptic transducer 325b. The fore haptic transducers 325a of the first set 320a and the second set 320b are positioned so as to be proximal to a forefoot of the user of the vehicle haptic system 100. The hind haptic transducers 325b of the first set 320a and the second set 320b are positioned so as to be proximal to a hindfoot of the user of the vehicle haptic system 100.

That is, as shown in Figure 5, when a user is seated in a typical seating position in a vehicle seat adjacent to the floor portion 105, the forefoot regions of each foot 205a, 205b of the user engage the floor portion 105 in a position substantially overlying, or adjacent to, the fore haptic transducers 325a. The hindfoot regions of each foot 205b engage the floor portion 105 in a position substantially overlying, or adjacent to, the hind haptic transducers 325b. The fore haptic transducer 325a and the hind haptic transducer 325b of each of the first set 320a and the second set 320b are offset along the width 330 of the foot haptic module. The fore haptic transducer 325a and the hind haptic transducer 325b of each of the first set 320a and the second set 320b may be offset along the width 330 of the foot haptic module by from 100mm to 200mm.

As used herein, a forefoot region of the user refers to the portion of the foot including the phalanges and metatarsals, the ball of the foot and the sole of the foot beneath these. As used herein, a hindfoot of the user refers to the portion of the foot including the heel and ankle and the sole of the foot beneath these. It would be understood that the forefoot region of the user is separated by a midfoot region, including the arch of the foot.

Positioning haptic transducers 325a, 325b in this way is advantageous as the forefoot and hindfoot regions are particularly sensitive to vibrations, with these areas providing the greatest contact between the foot and an underlying surface.

The vehicle haptic system 100 is arranged so that the fore haptic transducers 325a of the first set 320a and the second set 320b are configured to, or arranged to, to receive a first haptic signal and generate a vibration according to the first haptic signal. The hind haptic transducers 325b of the first set 320a and the second set 320b are configured to, or arranged to, receive a second haptic signal, different to the first haptic signal, and generate a vibration according to the second haptic signal. The first haptic signal and the second haptic signal may be differentiated by channel, frequency, amplitude, tempo, or any further audio properties known in the art.

By providing different haptic signals to the fore haptic transducers 325a and the hind haptic transducers 325b, the forefoot and hindfoot regions can be activated differently. That is, haptic signals can be sent to the fore haptic transducers 325a so that the forefoot area of each foot is vibrated at a frequency, amplitude or tempo to which it is particularly sensitive. Similarly, the hindfoot area can be vibrated at a frequency, amplitude or tempo to which it is particularly sensitive. For example, the first haptic signal may produce vibrations having a waveform that is substantially sharper or more transient than the second signal. The first haptic signal may include frequencies in the range of 60 to 200 Hz, aptly the first haptic signal may include frequencies in the range of 60 to 150 Hz. The second haptic signal may include frequencies in the range of 20 to 60 Hz. The lower frequencies in the range of 20 to 60 Hz when applied to the hindfoot area are particularly effective as the resulting tactile feedback is more easily transferred through the legs to the calves and thigh areas to provide a more complete lower-body tactile sensation.

Referring to Figure 2, 6, and 7, the foot haptic module 3000 may be formed as a sealed unit. That is, the foot haptic module 3000 may include a sealed housing 305. The housing 305 houses the haptic transducers 320 and other additional components, such as those described below. The housing 305, any openings or connections thereof may be sealed by waterproof seals, screws or by other sealing method known in the art. Advantageously, the sealed unit protects the haptic transducers 320 from damage, for example water ingress or shock damage.

The foot haptic module 3000 includes a spreader plate, for example a vibro-tactile membrane 315. The haptic transducers 320 are affixed to the vibro-tactile membrane 315. That is, the haptic transducers 320 are in direct contact with the vibro-tactile membrane 315. The vibro-tactile membrane 315 covers the haptic transducers 320. The vibro-tactile membrane 315 extends beyond the locations of each of the haptic transducers 320 so as to provide a surface for spreading the vibrations emitted from the haptic transducers 320 over the floor portion 105, and in turn, to the user.

The foot haptic module 3000 includes an upper face, facing the feet 205a, 205b of the user, when in use, and a lower face, facing away from the feet 205a, 205b of the user, when in use. The vibro-tactile membrane 315 is positioned substantially towards the upper face of the foot haptic module 3000, with the haptic transducers 320 being affixed to the back of the vibro- tactile membrane 315, i.e., facing the lower face of the foot haptic module 3000. The vibro-tactile membrane 315 is then affixed to the foot haptic module 3000 by way of adhesive strips, screws, or other fixing components. The vibro-tactile membrane 315 may be manufactured from a polymer material, for example, a polyurethane (PU) foam. The polyurethane (PU) foam may be a high density (approximately 320 kgm ³) closed-cell polyurethane (PU) foam. The vibro-tactile membrane 315 may have a thickness of approximately 3mm.

Advantageously, spreading the vibrations produced by the haptic transducers 320 over the floor portion 315 ensures the vehicle haptic system 100 is suitable for occupants 2000 of different physical sizes. That is, the forefoot 210a and the hindfoot 210b regions of the feet 205a, 205b of the user can still be activated even in situations where the haptic transducers 320 do not exactly align with these regions 205a, 205b. In addition, the vibro-tactile membrane 315 acts to spread (to some extent) the localised vibrations felt in the regions 205a, 205b to provide the user with a more homogenised feeling. The foot haptic module 3000 includes one or more insulating members 310 disposed around at least one of the haptic transducers 320. The insulating member 310 may be disposed around substantially all faces of the haptic transducer(s) 320, apart from that which faces the upper face of the foot haptic module 3000. The insulating member 310 may include an insulating layer covering the lower face of each haptic transducer 320. In this example, separate insulating layers are included for the haptic transducers of the first set 320a and the second set 320b.

The insulating member 310 may include recesses for receiving each haptic transducer 320. The insulating member 310 may be manufactured from a polymer material, for example polyurethane (PU) foam, or any insulating material known in the art. Preferably, the polyurethane (PU) foam is low density (approximately 49 kgm ³) closed cell polyurethane (PU) foam. Where in contact with one of the haptic transducers 320, the insulating member 310 is at least 10 mm in thickness, and where not in contact with one of the haptic transducers 320, the insulating member 310 is 5 mm in thickness. The insulating member 310 may be affixed to the vibro-tactile membrane 315 by way of adhesive strips, screws or other means known in the art.

Advantageously, the insulating member 310 may prevent vibration losses by directing vibrations emitted from the haptic transducers 320 towards the feet 205a, 205b of the user, when in use. This increases efficiency and prevents damage to other components that may not be suitable for receiving such vibrations.

Figure 8 illustrates an example implementation of the vehicle haptic system 100 described above. In this example the vehicle haptic system 100 includes a control system 510. The control system 510 may be located proximate to a centre console, dashboard, media player, or navigation system, of the vehicle 1000. Alternatively, the control system 510 may be located within the foot haptic module 3000.

The control system 510 is coupled, either directly or indirectly, to the haptic transducers 320. The control system 510 may be coupled to the haptic transducers 320 via any of the means described above, or known in the art, either directly or indirectly. The control system 510 is configured to pass, or output, haptic signals 410 to the haptic transducers 320 so as to actuate the haptic transducers 320 to produce vibrations 425. More specifically the control system 510 is configured to pass a first haptic signal 410a to the fore haptic transducers 325a of the first set 320a and the second set 320b and a second haptic signal 410b to the haptic transducers 325b of the first set 320a and the second set 320b. Thereby, the control system 510 is configured to independently control the fore haptic transducers 325a of the first set 320a and the second set 320 and the hind haptic transducers 325b of the first set 320a and the second set 320b, via the first haptic signal 410a and the second haptic signal 410b respectively. Further, the control system 510 may be configured to pass separate haptic signals to each fore haptic transducer 325a and may be configured to pass separate haptic signals to each hind haptic transducer 325b. For example, separate left and right channels of the first or second haptic signal may be sent to haptic transducers in the first set 320a and the second set 320b respectively.

The first haptic signal 410a and the second haptic signal 410b may be stored within a memory (e.g., internal storage, external storage devices) of the control system 510. Alternatively, the first haptic signal 410a and the second haptic signal 410b may be streamed to the control system 510 from an external source (e.g., cloud storage), via an internet connection, or other means known in the art.

Figure 9 illustrates a further example implementation of the vehicle haptic system 100 described above. In comparison to the implementation of Figure 8, the vehicle haptic system 100 of Figure 9 further includes an audio source 525. The control system 510 is coupled, either directly or indirectly, to the audio source 525, via a wired connection, a wireless connection, or by any means known in the art. The audio source 525 may be an internal source within the vehicle 1000, for example a radio system, or an external source, for example a MP3 player or a mobile phone. The audio source 525 generates the audio signal 405, suitable to be received by the control system 510. The audio signal 405 may include, for example, a music track, a podcast, or the audio channel of a visual medium (e.g., a film, television programme). The audio signal 405 may be stored within a memory of the audio source 525 or generated therefrom, for example a streamed signal.

The vehicle haptic system 100 of Figure 9 further includes at least one audio speaker 505 for converting an audio signal 405 to sound waves 415. The at least audio speaker 505 may include a loudspeaker, headphones, earphones, or other types of audio speaker known in the art. The audio speaker 505 may be disposed within door panelling or within a vehicle seat, for example. Where the at least one audio speaker 505 comprises headphones or earphones, the control system 510 may be configured to detect different types of headphones or earphones and adjust any latency in the audio signal 405 accordingly.

The control system 510 is coupled to the at least one audio speaker 505. The control system 510 may be coupled to the at least one audio speaker 505 by any means described above or known in the art, either directly or indirectly. The control system 510 may be coupled to the at least one audio speaker 505 via an audio amplifier for amplifying audio signals 405. Following the receipt of an audio signal 405 from an audio source 525 the control system 510 is configured to instruct the at least one audio speaker 505 to convert the audio signal 405 to sound waves 415 so as to be audible to one or more occupants 2000 of the vehicle 1000. Where, the audio speaker 505 is, for example, headphones, the sound waves 415 may only be audible to one occupant 2000 of the vehicle 1000. Advantageously, an occupant 2000 may be able to listen to audio signal 405 privately. In contrast, where the audio speaker 505 is, for example, a loudspeaker, the sound waves may be audible to more than one occupant 2000 of the vehicle 1000.

Advantageously, the vibrations 425 emitted from the haptic transducers 325a, 325b may be complimentary to the sound waves 415 emitted from the at least one audio speaker 505. That is, the haptic signal(s) 410 may be based on the audio signal 405 in terms of frequency, amplitude, tempo, or any further audio properties known in the art. In this manner the entertainment value of listening to an audio signal 405 using the vehicle haptic system 100 is enhanced with complementary tactile sensations. For example, the complementary tactile sensations emphasise the bass frequencies of the audio signal 405, such that occupants 2000 who demand a premium audio experience with enhanced bass response, whilst avoiding distracting other occupants of the vehicle, and those who are hard of hearing, are satisfied. This reduces the required specification of the at least one audio speaker 505 with regards to bass output. The control system 510 may be configured to generate the haptic signal(s) 410 based on the audio signal 405 received from the audio source 525. That is, the control system 510 may receive the audio signal 405 and may generate, using one or more processors implementing computer-readable instructions, corresponding haptic signals 410.

The vehicle haptic system 100 further includes input means 520 for receiving an input signal 420 from an occupant 2000 of the at least one vehicle seat. The input means 520 may include a user-interface suitable for an occupant 2000 inputting instructions, such that the instructions form the input signal 420. The control system 510 is configured to adjust the first haptic signal 410a and/or the second haptic signal 410b in response to the input signal 420. The first haptic signal 410a and/or the second haptic signal 410b may be adjusted in frequency, amplitude, tempo, or any further audio properties known in the art. The first haptic signal 410a and/or the second haptic signal 410b may be paused, muted, or stopped. The control system 510 is further configured to adjust the audio signal 405 in response to the input signal 420. The audio signal 405 may be adjusted in frequency, amplitude, tempo, or any further audio properties known in the art. The audio signal 405 may be paused, muted, or stopped. The user-interface of the input means 520 may alert the occupant 2000 of the vehicle that an adjustment has been made to the haptics signals 410 and/or the audio signal 405. The control system 510 may further store the instructions of how the haptic signals 410 and/or the audio signals 405 have been adjusted for each vehicle seat in a memory, such that adjustments made to the haptic signals 410 and/or audio signals 405 are retained between ignition cycles of the vehicle 1000. Where the vehicle haptic system 100 is being used for the first time, the haptic signals 410 and/or the audio signal 405 may be adjusted to a predetermined factory setting of any given frequency, amplitude, tempo, or any further audio properties known in the art.

Advantageously, the haptic signals 410 and/or the audio signals 405 may be adjusted to suit the preference of the occupant 2000 of the at least one vehicle seat. The first haptic signal 410a and/or second haptic signal 410b and/or audio signal 405 may be adjusted such that the respective waveform properties of the first haptic signal 410a and/or second haptic signal 410b and/or audio signal 405 are adjusted together. For example, the tempo of both the first haptic signal 410a and/or second haptic signal 410b and/or audio signal 405 are adjusted. Alternatively, the first haptic signal 410a and/or second haptic signal 410b and audio signal 405 may be adjusted such that only one of the waveform properties of the first haptic signal 410a and/or second haptic signal 410b and/or audio signal 405 is adjusted. For example, only the intensity of the first haptic signal 410a is adjusted.

The vehicle haptic system 100 further includes an amplifier 340 for amplifying haptic signals 410. The control system 510 is coupled to the haptic transducers 325a, 325b via amplifier 340, by any means described above or known in the art. The amplifier 340 may be disposed in the foot haptic module 3000, or in another location within the vehicle 1000, for example, a centre console of the vehicle 1000. Advantageously the amplifier 340 may be positioned between the first set 320a and the second set 320b (as shown in Figure 7) so as to utilise otherwise un-used space and avoid the need for an amplifier external to the foot haptic module 3000.

Advantageously, the haptic signals 410 are amplified such that the haptic signal 410 are suitable to be received by the haptic transducers of the first set 320a and the haptic transducers of the second set 320b.

In Figure 9, the system 100 is shown with a first foot haptic module 3000a and a second foot haptic module 3000b. The haptic signals sent to each foot haptic module 3000a, 3000b may differ. Similarly, the haptic signals 410 sent to each foot haptic module 3000a, 3000b may be controlled independently by the respective user. Alternatively, the haptic signals 410 sent to each foot haptic module 3000a, 3000b may be controlled by a user of the first haptic module 3000a only. As such, the users of the first foot haptic module 3000a and the second foot haptic module 3000b may receive different vibrations 425. The vehicle haptic system 100 may be configured to disable a foot haptic module 3000a, 3000b, such that the haptic transducers 320 are prevented from generating vibrations 425. In other embodiments, the vehicle haptic system 100 may be further configured to correspond the haptic signals 410 sent to the second foot haptic module 3000b to the haptic signals 410 sent to the first foot haptic module 3000a.

In addition, in the example shown in Figure 9, the at least one audio speaker 505 includes a first audio speaker 505a and a second audio speaker 505b. The first audio speaker 505a corresponds to the first foot haptic module 3000a, and the second audio speaker 505b corresponds to the second foot haptic module 3000b. As such, the user of the first foot haptic module 3000a, for example an occupant of a first vehicle seat, and the user of the second haptic module 3000b, for example an occupant of a second vehicle seat may, advantageously, listen to soundwaves generated from separate audio signals 405a, 405b. The separate audio signals 405a may be generated by a single audio source 525 or by first and further audio sources, for example an external source (e.g., an MP3 player).

Where the audio signal 405 comprises a spoken word track (e.g., an audiobook, a podcast), as opposed to a musical track (e.g., a song), the control system 510 is configured to detect that the audio signal 405 comprises a spoken word track and adjust the haptic signals 410 accordingly. The first haptic signal 410a and/or the second haptic signal 410b may be adjusted in frequency, amplitude, tempo, or any further audio properties known in the art.

Where the control system 510 detects a fault in the vehicle haptic system 100, the control system 315 is configured to instruct the haptic transducers 320 to prevent the generation of vibrations 425. A fault may include, but is not limited to, loss of connectivity to an audio source 525, or detection of damage to a haptic transducer 320.

Where an occupant 2000 of the at least one vehicle seat receives a phone call, the control system 510 is configured to detect the phone call and instruct the haptic transducers 320 to stop the generation of vibrations 425. On termination of the phone call, the control system 510 is further configured to instruct the haptic transducers 320 to resume the generation of vibrations 425.

The vehicle 1000 may comprise a “low power” mode, wherein, when activated, the vehicle haptic system 100 is disabled. When disabled, the haptic transducers 320 of the vehicle haptic system 100 are prevented from generating vibrations 425. Similarly, the vehicle 1000 may comprise a “eco power” mode, wherein, when activated, the vehicle haptic system 100 is adjusted. When adjusted, the first haptic signal 410a and/or the second haptic signal 410b may be adjusted in frequency, amplitude, tempo, or any further audio properties known in the art, such that power to the vehicle 1000 is conserved.

The vehicle 1000 may comprise a calf rest for supporting the calves of an occupant 2000 of one or more of the vehicle seats. The calf rest has a retracted position and an extended position. In the retracted position the legs of the occupant 2000 are unsupported by the calf rest or supported by the calf rest while still engaged with the floor of the vehicle. In the extended position the legs of the occupant are supported in an elevated position by the calf rest. That is, the legs of the occupant can be outstretched and elevated from the floor of the vehicle. When the calf rest is in the extended position, the vehicle haptic system 100 is configured to disable the haptic transducers 320, such that the haptic transducers 320 are prevented from generating vibrations 425.

Figure 10 illustrates an example control system, for example control system 510 as described above. In this example the control system 510 comprises one controller 5101, although it will be appreciated that this is merely illustrative. The controller 5101 comprises processing means 5102 and memory means 5103. The processing means 5102 may be one or more electronic processing device 5102 which operably executes computer-readable instructions. The memory means 5103 may be one or more memory device 5103. The memory means 5103 is electrically coupled to the processing means 5102. The memory means 5103 is configured to store instructions. The memory means 5103 may also store one or more audio signals, haptic signals or means for generating haptic signals from, or corresponding to, audio signals in the manner described above. The processing means 5102 is configured to access the memory means 5103 and execute the instructions stored thereon.

The controller 5101 comprises an input means 5104 and an output means 5105. The input means 5104 may comprise an electrical input 5104 of the controller 5101. The output means 5105 may comprise an electrical output 5105 of the controller 5101. The input 5104 is arranged to receive any of an audio signal 405, or an input signal 420, as described above. The output 5105 is arranged to output any of an audio signal 405, or a haptic signal 410, as described above.

A method of controlling the vehicle haptic system 100 in any of ways described above may be performed by the control system 510 illustrated in Figure 10. In particular, the memory 5103 may comprise computer-readable instructions which, when executed by the processor 5102, perform the method according to an embodiment of the invention.

It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application. For example, it would be understood that the vehicle haptic system 100 would be operable without the vibro-tactile membrane 315 and/or the insulating member 310.

Aspects of the vehicle haptic system 100 described in Figure 9 may be omitted - for example the input means, the amplifier or the audio speaker.

A vehicle haptic system 100 may be provided in a footrest rather than, or in addition to, a floor portion 105.

The first set 320a and/or the second set 320b may include one or more fore haptic transducers 325a and/or one or more hind haptic transducers 325b and/or one or more haptic transducers positioned so as to be proximal to both a forefoot and hindfoot of the user.

Claims

1. A vehicle haptic system for vibrating at least one foot of an occupant of a vehicle, the vehicle haptic system comprising at least one foot haptic module for positioning in a footrest or floor portion of a vehicle, the at least one foot haptic module comprising at least one haptic transducer, wherein the at least one haptic transducer is configured to receive a haptic signal and generate a vibration according to the haptic signal, the vehicle haptic system further comprising a control system coupled to the at least one haptic transducer, wherein the control system is configured to output the haptic signal to actuate the at least one haptic transducer.

2. A vehicle haptic system according to claim 1, wherein the at least one haptic transducer comprises a plurality of haptic transducers, and wherein a first haptic transducer of the plurality of haptic transducers is configured to receive a first haptic signal and generate a vibration according to the first haptic signal and wherein a second haptic transducer of the plurality of haptic transducers is configured to receive a second haptic signal, different to the first haptic signal, and generate a vibration according to the second haptic signal.

3. A vehicle haptic system according to claim 2, wherein the at least one foot haptic module comprises a profile having a length and a width, wherein each haptic transducer of the plurality of haptic transducers is offset from other haptic transducers of the plurality of haptic transducers along the length and/or the width of the profile of the at least one foot haptic module.

4. A vehicle haptic system according to claim 2 or 3, wherein the plurality of haptic transducers comprises: a first set of at least one haptic transducer for vibrating a first foot of a user of the vehicle haptic system; and a second set of at least one haptic transducer for vibrating a second foot of the user of the vehicle haptic system.

5. A vehicle haptic system according to claim 4, wherein the control system is configured to independently control the at least one haptic transducer of the first set and the at least one haptic transducer of the second set.

6. A vehicle haptic system according to claim 4 or 5, wherein the first set of at least one haptic transducer and the second set of at least one haptic transducer each comprise a fore haptic transducer positioned so as to be proximal to a forefoot of the user of the vehicle haptic system and/or wherein the first set of at least one haptic transducer and the second set of at least one haptic transducer each comprise a hind haptic transducer positioned so as to be proximal to a hindfoot of the user of the vehicle haptic system.

7. A vehicle haptic system according to claim 6, wherein the fore haptic transducer and the hind haptic transducer of each of the first set of at least one haptic transducer and the second set of at least one haptic transducer are offset along the width of the at least one foot haptic module.

8. A vehicle haptic system according to claim 7, wherein the control system is configured to output a first haptic signal to actuate the fore haptic transducers of the first set and the second set, and output a second haptic signal to actuate the hind haptic transducers of the first set and second set, optionally wherein the control system is configured to independently control the fore haptic transducers and the hind haptic transducers.

9. A vehicle haptic system according to any of claims 6 to 8, wherein the control system is configured to actuate the fore haptic transducers of the first set and the second set to vibrate at a frequency of from 60 to 150 Hz according to the first haptic signal, and/or wherein the control system is configured to actuate the hind haptic transducers of the first set and the second set to vibrate at a frequency of from 25 to 60 Hz according to the second haptic signal.

10. A vehicle haptic system according to any of claims 6 to 9, wherein the control system comprises an input for receiving an audio signal from an audio source and, following receipt of an audio signal from an audio source, the control system is configured to output a first haptic signal to actuate the fore haptic transducers of the first set and the second set, and output a second haptic signal to actuate the hind haptic transducers of the first set and second set, optionally wherein the control system is configured to generate the first haptic signal and the second haptic signal based on the audio signal.

11. A vehicle haptic system according to any preceding claim, wherein the at least one foot haptic module comprises a sealed unit; and/or wherein the at least one foot haptic module comprises an insulating member disposed around the at least one haptic transducer; and/or, wherein the at least one foot haptic module comprises a vibro-tactile membrane, and wherein the at least one haptic transducer is affixed to the vibro-tactile membrane.

12. A vehicle haptic system according to any preceding claim, wherein the vehicle haptic system comprises input means for receiving an input signal from an occupant of a vehicle, wherein the control system is configured to adjust the haptic signal or signals sent to the at least one haptic transducer in response to the input signal.

13. A vehicle haptic system according to any preceding claim, wherein the vehicle haptic system comprises an amplifier for amplifying haptic signals, wherein the control system is coupled to the at least one haptic transducer via the amplifier.

14. A footrest or floor portion of a vehicle comprising a vehicle haptic system according to any of the preceding claims.

15. A vehicle comprising a footrest or floor portion according to claim 14.