WO2021144013A1

WO2021144013A1 - Method of interaction between an automotive vehicle and a user

Info

Publication number: WO2021144013A1
Application number: PCT/EP2020/050870
Authority: WO
Inventors: Aurélien BADOIL
Original assignee: Toyota Motor Europe
Priority date: 2020-01-15
Filing date: 2020-01-15
Publication date: 2021-07-22
Also published as: WO2021144040A1; JP2023512470A; JP7404546B2

Abstract

A method of interaction between an automotive vehicle (100) or a simulator of automotive vehicle and a user, including continuously detecting the presence of at least one user on a seat (10) of the automotive vehicle or the simulator of automotive vehicle with one or more stretch sensor included between two stretch fabric layers of the seat; determining the contact zones between the user and the seat with the stretch sensors by continuously mapping the contact zones; determining stimulation zones based on the contact zones; determining stimulation to be sent to the user in function of the driving conditions; sending stimulation to the user through the stimulation zones with one or more actuator including electro-active polymer, the actuator being included between two stretch fabric layers of the seat. An assembly comprising a seat and a control unit for implementing the method.

Description

METHOD OF INTERACTION BETWEEN AN AUTOMOTIVE VEHICLE AND

A USER

TECHNICAL FIELD

[0001] The present disclosure is related to a method of interaction between an automotive vehicle or a simulator of automated vehicle and a user, in particular between a seat of an automotive vehicle or a simulator of automated vehicle and a user.

BACKGROUND

[0002] Stretch sensors are known in combination with actuators allowing changing the shape of a seat when a user is seated on the seat.

SUMMARY

[0003] According to embodiments of the present disclosure, a method of interaction between an automotive vehicle or a simulator of automotive vehicle and a user is provided. The method includes:

- continuously detecting the presence of at least one user on a seat of the automotive vehicle or the simulator of automotive vehicle with one or more stretch sensor included between two stretch fabric layers of the seat;

- determining the contact zones between the user and the seat with the stretch sensors by continuously mapping the contact zones;

- determining stimulation zones based on the contact zones;

- determining stimulation to be sent to the user in function of the driving conditions;

- sending stimulation to the user through the stimulation zones with one or more actuator including electro-active polymer, the actuator being included between two stretch fabric layers of the seat.

[0004] Thanks to the continuous detection of the presence of the user and the determination of the contact zones, it is possible to transmit information through the seat to the user in function of the driving conditions. [0005] Driving conditions includes simulated driving conditions when the seat is the seat of a simulator of automotive vehicle.

[0006] Non-limiting examples of stimulation may include avoiding motion sickness and/or improving support of the user in the seat in function of the driving conditions.

[0007] Non-limiting examples of simulation may include sending alerts to the user through direct communication between the contact zones of the seat and the user.

[0008] Non-limiting examples of electro-active polymer may include dielectric elastomers, for example silicone based dielectric elastomers, ionic electro-active polymer (metal composite), twist polymer coils, for example polyamide or polyethylene fibres, ferrofluid, piezoelectric polymers, for example PVDF, shape memory polymers, for example shape memory polymers including polyurethane and polyetherester.

[0009] Non-limiting examples of stretch sensor may include electro-active polymer or conductive fabric, such as silver plated nylon.

[0010] By determining the contact zones between the user and the seat, the method allows for better interaction between the automotive vehicle or the simulator of automotive vehicle, through the seat, and the user.

[0011] According to some embodiments, stimulation may comprise haptic feedback.

[0012] According to some embodiments, haptic feedback may comprise vibrations.

[0013] According to some embodiments, the vibrations may comprise animated vibrations.

[0014] It is intended by animated vibrations, vibrations that may change in intensity, frequency and/or pattern in a given location of the seat giving the user the impression that the vibration is moving from one place to another in the seat.

[0015] According to some embodiments, intensity, frequency and/or pattern of the vibrations may be based on motion sensing of the automotive vehicle or the simulator of automotive vehicle.

[0016] According to some embodiments, vibration pattern may induce body muscle stimulation of the user for anticipation purpose. [0017] According to some embodiments, stimulation may be sent when the motion sensing is above a threshold.

[0018] The threshold may be defined so as to avoid unwanted stimulation during movement of the automotive vehicle or the simulator of automotive vehicle. The threshold may be different depending upon the driving

[0019] According to some embodiments, continuous detection of the presence of at least one user may comprise identifying the body parts of the user in contact with the seat.

[0020] According to some embodiments, stimulation may comprise deforming one or more part the seat with the one or more actuator.

[0021] Deforming of a part of the seat is different from generating vibrations in the seat. Indeed, during deformation of a part of the seat, the part of the seat may have a constant deformation over at least 1 second.

[0022] As a non-limiting example, the front part of the seat may be deformed so as to be raised when the automotive vehicle is strongly braking, thus enhancing the anti-submarining effect.

[0023] As a non-limiting example, lateral parts of the seat may be deformed towards the user so as to protect the user when cornering is detected.

[0024] As a non-limiting example, protective head and shoulder parts of the seat may be deformed by enveloping the head and the shoulder of the user so as to prevent cervical injury and/or to protect the user from fragments projection when lateral shock is detected.

[0025] According to some embodiments, the part of the seat to be deformed may be based on motion sensing and/or pre-collision sensing of the automotive vehicle or the simulator of automotive vehicle.

[0026] According to some embodiments, stimulation may be dependent upon the orientation of the seat relative to the motion of the automotive vehicle or the simulator of automotive vehicle.

[0027] According to another embodiment of the present disclosure, an assembly is provided. The assembly may include a seat for an automotive vehicle or a simulator of automotive vehicle and a control unit, the seat comprising one or more stretch sensor included between two stretch fabric layers of the seat, one or more actuator including electro-active polymer, the actuator being included two stretch fabric layers of the seat and the control unit being configured to continuously detect the presence of at least one user on the seat of the automotive vehicle or the simulator of automotive vehicle with the one or more stretch sensor, determine the contact zones between the user and the seat with the stretch sensors by continuously mapping the contact zones, determine stimulation zones based on the contact zones, determine stimulation to be sent to the user in function of the driving conditions and send stimulation to the user through the stimulation zones with the one or more actuator.

[0028] According to some embodiments, the seat may be a seat with a backrest and a seat cushion.

[0029] According to some embodiments, the seat may be a leaning bar.

[0030] According to some embodiments, the control unit may include a motion sensing system.

[0031] According to some embodiments, the control unit may include a pre^¬ collision system.

[0032] According to some embodiments, the control unit may include a safety sensor system.

[0033] According to some embodiments, the safety sensor system may include a motion sensing system, a pre-collision system and/or a break assist system.

[0034] According to another embodiment of the present disclosure, an automotive vehicle is provided. The automotive vehicle may include an above- defined assembly.

[0035] According to some embodiments, the automotive vehicle may be a car.

[0036] According to some embodiments, the automotive vehicle may be a bus.

[0037] According to some embodiments, the automotive vehicle may be a tram.

[0038] According to some embodiments, the automotive vehicle may be a train.

[0039] According to some embodiments, the automotive vehicle may be an airplane.

[0040] According to some embodiments, the automotive vehicle may be a boat. [0041] According to another embodiment of the present disclosure, a simulator of automotive vehicle is provided. The simulator may include an above-defined assembly.

[0042] It is intended that combinations of the above-described elements and those within the specification may be made, except where otherwise contradictory.

[0043] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure, as claimed.

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles thereof.

BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Fig. 1 shows a partial representation of an exemplary automotive vehicle according to embodiments of the present disclosure;

Fig. 2 shows an exemplary seat for automotive vehicle;

Figs. 3 and 4 show other exemplary seats for automotive vehicle;

Fig. 5 shows an exploded view of exemplary layers forming the xxx according to embodiments of the present disclosure;

Fig. 6 shows an exploded view of exemplary layers forming the according to other embodiments of the present disclosure;

Figs. 7-10 show exemplary seat control system for an automotive vehicle according to embodiments of the present disclosure;

Fig. 11 and 12 show a representation of area in which stimulation is sent to the user based on motion sensing;

Figs. 13-18 show exemplary stimulation according to embodiments of the present disclosure.

DETAILED DESCRIPTION [0046] Reference will now be made in detail to exemplary embodiments of the disclosure, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.

[0047] Fig. 1 shows a partial representation of an exemplary automotive vehicle 100 according to embodiments of the present disclosure.

[0048] The automotive vehicle 100 may include an interior 102. The interior 102 may include seats 10. The seat 10 may include a stretchable fabric 12 covering the seat 10. The seat 10 may include a seat cushion 14, a backrest 16, a headrest 18, and side support portions 20.

[0049] The seat 10 may be a seat of a simulator of automotive vehicle.

[0050] Figs. 2-4 show other exemplary seats. The exemplary seat 10 of Fig. 2 may include a seat cushion 14, a backrest 16, a headrest 18, side support portions 20, and shoulder and head protections 22.

[0051] As shown in Figs. 3 and 4, the automotive vehicle 100 may include seats 24 for accommodating more than one user as well as seats, also known as leaning bars 26.

[0052] Some parts of the seats 10, 24, 26 may be covered with a stretchable fabric 12.

[0053] As shown in Fig. 5, the stretchable fabric 12 may include an actuator 28 including electro-active polymer and a stretch sensor 30. The actuator 28 and the stretch sensor 30 may be sandwiched between two stretch fabric layers 32, 34. It is understood that the number of stretch fabric layers is not limited to two layers. It is understood that the two stretch fabric layers 32, 34 need not be identical. The actuator 28 may be sandwiched between two stretch fabric layers that are different from the two stretch fabric layers that may sandwich the stretch sensor 30. The actuator 28 may be sandwiched between two stretch fabric layers and the stretch sensor 30 may be sandwiched between two stretch fabric layers, one stretch fabric layer being in common for both the actuator 28 and the sensor 30, i.e., one stretch fabric layer being sandwiched between the actuator 28 and the sensor 30.

[0054] The stretch sensor 30 may include electro-active polymer.

[0055] As shown in Fig. 6, the stretchable fabric 12 may include an actuator 28 and a stretch sensor 30 including electro-active polymer, the actuator 28 and the stretch sensor 30 not being distinct from one another. The actuator 28/stretch sensor 30 may be sandwiched between two stretch fabric layers 32, 34.

[0056] As shown in Fig. 6, the actuator 28 and the stretch sensor 30 may be connected to a control unit 36. The control unit 36 may receive information from the stretch sensor 30, through connection 30A and send information to the actuator 28, through connection 28A. Figs. 8-10 show different deformation that may be contemplated with such an actuator 28.

[0057] Actuator 28 and stretch sensor 30 represented on Figs. 5-10 may take various shape and there may be more than one actuator 28 and more than one stretch sensor 30.

[0058] Indeed, the seat 10, 24, 26 may include a plurality of actuators 28 and a plurality of stretch sensor 30.

[0059] As non-limiting example and as shown on Figs. 1-3 all the area of the seat 10, 24, 26 that is covered with stretchable fabric 12 may include actuators 28 and stretch sensors 30.

[0060] As non-limiting example and as shown on Fig. 4, some areas 40 of the area covered with stretchable fabric 12 may include actuators 28 and stretch sensors 30.

[0061] A method of interaction between the automotive vehicle 100 and a user may include different steps.

[0062] The information received from the stretch sensor 30 may allow the control unit 36 to continuously detect the presence of at least one user 38 on the seat 10, 24, 26 of the automotive vehicle 100 with the stretch sensors 30 and to determine the contact zones between the user and the seat by continuously mapping the contact zones. The control unit 36 may be configured and capable of determining the body posture of the user.

[0063] The control unit 36 may then determine stimulation zones based on the contact zones and determine stimulation to be sent to the user in function of the driving conditions. The determination of stimulation zones and of the type of stimulation to be sent to the user may depends upon the body parts of the user that are in contact with the seat taking into account the morphology of the user and the fact that some parts of the body may include more nerve endings and may therefore be more sensitive to stimulation.

[0064] The information sent to the actuators 28 may allow the control unit 36 to send stimulation to the user through the stimulation zones. [0065] As non-limiting example and as shown in Fig. 4, when the control unit 36 may have determined that the user is not in contact with some of the areas 40 including actuators 28 and stretch sensors 30, the control unit 36 may determine the stimulation zones taking into account only the areas 40 which are in contact with the user.

[0066] As non-limiting examples and as shown on Fig. 13, from the stimulation zones determined, the control unit 36 may determine to send the user stimulation in the cervical/shoulder area 56 of the seat 10.

[0067] As non-limiting example and as shown in Fig. 14, the control unit 36 may determine to send the user haptic feedback, such as vibrations, in the cervical/shoulder area 56.

[0068] As non-limiting example and as shown in Fig. 15, when the control unit 36 may have determined that a user is on the seat 10 and may have not put on the seat belt 62, which is a non-limiting example of driving conditions, the control unit 36 may determine to send animated vibrations 64 in the lumbar area 58. The vibrations 64 moving from one side of the lumbar area 58 to the other.

[0069] As non-limiting example and as shown in Fig. 16, the control unit 36 may determine that an area 60 of the cushion may be a stimulation zone and that the stimulation may be a deformation exemplified by arrow 66 of the area 60 of the cushion 14.

[0070] As non-limiting example, the intensity, frequency and pattern of the vibrations may be based on motion sensing of the automotive vehicle 100. As non-limiting example, the control unit 36 may comprise a motion sensing device measuring the inertia, exemplified through a traction circle 42 shown in Fig. 11.

[0071] In Fig. 11, the arrow with letter "A" represents acceleration, the arrow with letter "D" represents deceleration, the arrow with letter "L" represents left turn and the arrow with letter "R" represent right turn.

[0072] The traction circle 42 may have an area 44 in which no stimulation is sent to the user and above a threshold, when in the area 46 for example, the control unit 36 may determine that stimulation may be sent to the user for anticipation purpose and/or avoiding motion sickness. [0073] As non-limiting example and as shown on Figs. 17 and 18, the control unit 36 may determine that the stimulation zones are the right side 68 of the backrest 16 of the seat 10, the left side 70 of the backrest 16 of the seat 10, the right side 72 of the cushion 14 of the seat 10 and the left side 74 of the cushion 14 of the seat 10.

[0074] As non-limiting example, these stimulation zones may be chosen for anticipation purpose and/or avoiding motion sickness.

[0075] Depending upon the driving conditions, i.e., the traction circle 42 and the contact zones, the control unit 36 may determine to stimulate at least one of the are the right side 68 of the backrest 16 of the seat 10, the left side 70 of the backrest 16 of the seat 10, the right side 72 of the cushion 14 of the seat 10 and the left side 74 of the cushion 14 of the seat 10.

[0076] As non-limiting example and as shown on Fig. 18, the control unit 36 may determine that the stimulation is an animated vibration as exemplified by arrows 76 and 78. Animated vibrations may induce body muscle stimulation of the user for anticipation purpose.

[0077] As non-limiting example, when the control unit 36 may determine that cornering anticipation is requested, the control unit 36 may determine that stimulation may be animated vibrations from the right side 68 of the backrest 16 of the seat 10 to the left side 70 of the backrest 16 of the seat 10 and/or from the right side 72 of the cushion 14 of the seat 10 to the left side 74 of the cushion 14 of the seat 10, as shown by arrow 78.

[0078] As non-limiting example, when the control unit 36 may determine that cornering anticipation is requested, the control unit 36 may determine that stimulation may be animated vibrations from the left side 70 of the backrest 16 of the seat 10 to the right side 68 of the backrest 16 of the seat 10 and/or from the left side 74 of the cushion 14 of the seat 10 to the right side 72 of the cushion 14 of the seat 10, as shown by arrow 78.

[0079] As non-limiting example, when the control unit 36 may determine that change of velocity anticipation is requested, the control unit 36 may determine that stimulation may be animated vibrations from the right side 68 of the backrest 16 of the seat 10 to the right side 72 of the cushion 14 of the seat 10 and from the left side 70 of the backrest 16 of the seat 10 to the left side 74 of the cushion 14 of the seat 10, as shown by arrow 76. [0080] As non-limiting example, when the control unit 36 may determine that change of velocity anticipation is requested, the control unit 36 may determine that stimulation may be animated vibrations from the right side 72 of the cushion 14 of the seat 10 to the right side 68 of the backrest 16 of the seat 10 and from the left side 74 of the cushion 14 of the seat 10 to the left side 70 of the backrest 16 of the seat 10, as shown by arrow 76.

[0081] The stimulation may change upon the orientation of the seat 10, 24, 26 relative to the motion of the automotive vehicle 100. As non-limiting example, when the seat is rear facing, i.e., the user is watching the rear of the automotive vehicle, cornering anticipation, acceleration anticipation and deceleration anticipation are inversed compared to the cornering anticipation, acceleration anticipation and deceleration anticipation for a seat front facing, i.e., the user is watching the front of the automotive vehicle. As non-limiting example, when the seat is side facing, i.e., the user is watching the side of the automotive vehicle, cornering anticipation may be stimulation according to arrow 76 and acceleration or deceleration anticipation may be stimulation according to arrow 78 of Fig. 18.

[0082] The control unit 36 may include a safety sensor system that may include a pre-collision system, a motion sensing system and/or a break assist system.

[0083] As non-limiting example, the stimulation may be a deformation of parts of the seat based on safety sensing of the automotive vehicle 100. As non-limiting example, the control unit 36 may comprise a safety sensor system measuring the inertia, exemplified through a traction circle 48 shown in Fig. 12.

[0084] In Fig. 12, the arrow with letter "A" represents acceleration, the arrow with letter "D" represents deceleration, the arrow with letter "L" represents left turn and the arrow with letter "R" represent right turn.

[0085] The traction circle 48 may have an area 50 in which no stimulation is sent to the user and above a threshold, when in the areas 52 or 54 for example, the control unit 36 may determine that stimulation may be sent to the user for safety reasons and protection of the user. Depending upon the driving conditions, i.e., the traction circle 42, and the contact zones, the control unit 36 may determine to stimulate given stimulation zones.

[0086] As non-limiting example, the control unit 36 may determine that, based on the driving conditions, i.e., when extreme deceleration is perceived, the stimulation zone is the front part of the cushion 14 and that the stimulation is a deformation in the upward direction of the front part of the cushion 14 so as to enhance the anti-submarining effect, i.e., avoiding the user sliding under the seat belt. When it is considered that the feature is not required anymore, the control unit 36 stops the stimulation and the seat 10 may take back the initial shape of the cushion 14 s.

[0087] As non-limiting example, the control unit 36 may determine, based on the driving conditions, i.e., when extreme cornering is perceived, that the stimulation zones are the side support portions 20 and that the stimulation is a deformation towards the user of the side support portions 20. The side support portions may absorb the inertia of the body of the user applied on the seat 10 and help maintaining the body posture. When it is considered that the feature is not required anymore, the control unit 36 stops the stimulation and the seat 10 may take back the initial shape of the side support portions 20.

[0088] As non-limiting example, the control unit 36 may determine, based on the driving conditions, i.e., when lateral shock is foreseen, that the stimulation zones are the shoulder and head protections 22 and that the stimulation is a deformation towards the user of the shoulder and head protections 22. The shoulder and head protections 22 may deform to envelop the head and the shoulder of the user so as to prevent cervical injury and/or to protect the user from fragments projection when lateral shock is detected.

[0089] Throughout the description, including the claims, the term "comprising a" should be understood as being synonymous with "comprising at least one" unless otherwise stated. In addition, any range set forth in the description, including the claims should be understood as including its end value(s) unless otherwise stated. Specific values for described elements should be understood to be within accepted manufacturing or industry tolerances known to one of skill in the art, and any use of the terms "substantially" and/or "approximately" and/or "generally" should be understood to mean falling within such accepted tolerances.

[0090] Where any standards of national, international, or other standards body are referenced (e.g., ISO, etc.), such references are intended to refer to the standard as defined by the national or international standards body as of the priority date of the present specification. Any subsequent substantive changes to such standards are not intended to modify the scope and/or definitions of the present disclosure and/or claims.

[0091] Although the present disclosure herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present disclosure. Indeed, interaction between the automotive vehicle and the user may include all the interactions describe above and/or some of the interactions. It is understood that reference to automotive vehicle, the embodiment may also be included in a simulator of automotive vehicle.

[0092] It is intended that the specification and examples be considered as exemplary only, with a true scope of the disclosure being indicated by the following claims.

Claims

1. A method of interaction between an automotive vehicle (100) or a simulator of automotive vehicle and a user (38), comprising:

- continuously detecting the presence of at least one user (38) on a seat (10, 24, 26) of the automotive vehicle(lOO) or the simulator of automotive vehicle with one or more stretch sensor (30) included between two stretch fabric layers (32, 34) of the seat (10, 24, 26);

- determining the contact zones between the user (38) and the seat (10, 24, 26) with the stretch sensors (30) by continuously mapping the contact zones;

- determining stimulation zones based on the contact zones;

- determining stimulation to be sent to the user (38) in function of the driving conditions;

- sending stimulation to the user (38) through the stimulation zones with one or more actuator (28) including electro-active polymer, the actuator (28) being two stretch fabric layers (32, 34) of the seat (10, 24, 26).

2. The method according to claim 1, wherein stimulation comprises haptic feedback.

3. The method according to claim 2, wherein haptic feedback comprises vibrations.

4. The method according to claim 3, wherein the vibrations comprises animated vibrations.

5. The method according to claim 3 or 4, wherein intensity, frequency and/or pattern of the vibrations are based on motion sensing of the automotive vehicle (100) or the simulator of automotive vehicle.

6. The method according to claim 5, wherein the vibration pattern induces body muscle stimulation of the user for anticipation purpose.

7. The method according to claim 6, wherein stimulation is sent when the motion sensing is above a threshold.

8. The method according to any of the previous claims, wherein continuous detection of the presence of at least one user comprises identifying the body parts of the user in contact with the seat.

9. The method according to any of the previous claims, wherein stimulation comprises deforming one or more part the seat with the one or more actuator.

10. The method according to claim 9, wherein the part of the seat to be deformed is based on motion sensing and/or pre-collision sensing of the automotive vehicle or the simulator of automotive vehicle.

11. The method according to any of the previous claims, wherein stimulation is dependent upon the orientation of the seat relative to the motion of the automotive vehicle or the simulator of automotive vehicle.

12. An assembly comprising a seat for an automotive vehicle or a simulator of automotive vehicle and a control unit, the seat comprising one or more stretch sensor included between two stretch fabric layers of the seat, one or more actuator including electro-active polymer, the actuator being included two stretch fabric layers of the seat and the control unit being configured to continuously detect the presence of at least one user on the seat of the automotive vehicle or the simulator of automotive vehicle with the one or more stretch sensor, determine the contact zones between the user and the seat with the stretch sensors by continuously mapping the contact zones, determine stimulation zones based on the contact zones, determine stimulation to be sent to the user in function of the driving conditions and send stimulation to the user through the stimulation zones with the one or more actuator.

13. The assembly according to claim 12, wherein the seat is a seat with a backrest and a seat cushion.

14. The assembly according to claim 12, wherein the seat is a leaning bar.

15. An automotive vehicle comprising an assembly according to any of claims 12-14.

16. A simulator of automotive vehicle comprising an assembly according to any of claims 12-14.