Abstract:
A system for controlling vehicle systems includes a haptic actuator, a gesture detection device, a controller, and a plurality of vehicle systems. The gesture detection device captures movements of a vehicle driver or passenger and outputs data representing a gesture made by the vehicle driver or passenger. The controller is coupled to the gesture detection device and receives a signal from the gesture detection device indicative of the gesture. The controller is coupled to the haptic actuator, and selects a haptic effect based on the detected gesture and sends a signal to the haptic actuator to provide the selected haptic effect. The controller is also coupled to the vehicle systems, and based on the detected gesture, the controller sends a signal to one of the vehicle systems to perform a particular action. The particular action of the vehicle system is matched with the selected haptic effect.

Description:
FIELD OF THE INVENTION 
       [0001]    The present invention relates generally to gesture based input system for a vehicle, and more particularly to a gesture based input system for controlling vehicle systems and including haptic feedback to provide haptic effects to the user to confirm the gesture based inputs. 
       BACKGROUND OF THE INVENTION 
       [0002]    Vehicles continue to add technology to assist, entertain, and/or provide a comfortable environment for occupants of the vehicle. For example, and not by way of limitation, navigation system using global positioning systems (GPS), environmental or climate control systems (such as HVAC controls), radios, CD players, auxiliary device players, video screens, DVD players, telephone systems, and other similar systems are frequently incorporated into vehicles. Controls for these systems are provided in various forms, such as, but not limited to, knobs, buttons, dials, and touch screens. More and more of the control systems are being incorporated into touch screens. Using these controls may require the driver to take his or her eyes off the road, which is dangerous. This may be particularly problematic with the increasing use of touch screen devices using virtual buttons and sliders displayed on a screen as an alternative to physical inputs. Users may interface with such devices almost exclusively by touching and/or otherwise manipulating the virtual buttons, sliders, scrollers, and the like on the screen with one or more finger(s). Because there often is no physical or “feel” distinction between virtual buttons, slides, etc., a user cannot “feel” for the location of a virtual button as was possible with physical buttons or knobs, for example. Further, graphic displays on the screen provide visual feedback responsive to the manipulation which further tempts the driver to look at the screen instead of the road. 
         [0003]    Recent developments have allowed for voice-controlled systems for some of the vehicle systems. However, voice-controlled systems disrupt passengers in the vehicle, especially in situations where the microphone for receiving the voice command does not accurately receive or understand the voice command. This results in repetition of the command, and often causes the user to shout the command, thereby disturbing other passengers in the vehicle. Further, ambient noise such as the vehicle&#39;s entertainment system and road noise may interfere with the microphone receiving the command. 
         [0004]    There has been some recent development in gesture based interfaces wherein a computer system can react to gestures or hand motions of a user. However, gestures based interfaces in a vehicle may not alleviate the problem of driver distraction as drivers may tend to look at a display screen or other device to ensure that a gesture based command is properly interpreted by the system. Further, accidental activation of the systems needs to be avoided. Accordingly, it would be desirable to incorporate a gesture based input system into a vehicle and to provide feedback in a manner that a user such as the driver is not distracted from the primary task of driving the vehicle. 
       SUMMARY OF THE INVENTION 
       [0005]    Embodiments hereof are directed to systems for controlling vehicle systems including a haptic actuator, a gesture detection device, a controller, and a plurality of vehicle systems. The gesture detection device captures movements of a vehicle driver or passenger and outputs data representing a gesture made by the vehicle driver or passenger. The controller is coupled to the gesture detection device and receives a signal from the gesture detection device indicative of the gesture. The controller is coupled to the haptic actuator, and selects a haptic effect based on the detected gesture and sends a signal to the haptic actuator to provide the selected haptic effect. The controller is also coupled to the vehicle systems, and based on the detected gesture, the controller sends a signal to one of the vehicle systems to perform a particular action. The particular action of the vehicle system is matched with the selected haptic effect. 
         [0006]    Embodiments hereof are also directed to systems for controlling vehicle systems including a haptic actuator, a gesture detection device, an audio detection device, a controller, and a plurality of vehicle systems. The gesture detection device captures movements of a vehicle driver or passenger and outputs data representing a gesture made by the vehicle driver or passenger. The audio detection device detects voice commands from the vehicle driver or passenger and outputs data representing the voice command to the controller. The controller is coupled to the gesture detection device and the audio detection device and receives signals from the gesture detection device indicative of the gesture and signals from the audio detection device indicative of the voice command. The controller is coupled to the haptic actuator, and selects a haptic effect based on the detected gesture or detected voice command and sends a signal to the haptic actuator to provide the selected haptic effect. The controller is also coupled to the vehicle systems, and based on the detected gesture or detected voice command, the controller sends a signal to one of the vehicle systems to perform a particular action. The particular action of the vehicle system is matched with the selected haptic effect. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0007]    The foregoing and other features and advantages of the invention will be apparent from the following description of embodiments thereof as illustrated in the accompanying drawings. The accompanying drawings, which are incorporated herein and form a part of the specification, further serve to explain the principles of the invention and to enable a person skilled in the pertinent art to make and use the invention. The drawings are not to scale. 
           [0008]      FIG. 1  is schematic illustration of a vehicle with various systems illustrating an embodiment of a gesture based input system and haptic feedback system hereof. 
           [0009]      FIG. 2  is a schematic illustration of one of the seats of the vehicle of  FIG. 1 . 
           [0010]      FIG. 3  is a schematic illustration of the center console and armrest between the driver seat and front passenger seat of the vehicle of  FIG. 1   
           [0011]      FIG. 4  is a block diagram of an embodiment of a gesture based input and haptic feedback system hereof. 
           [0012]      FIG. 5  is a schematic illustration of a display device of a vehicle. 
           [0013]      FIG. 6  is a block diagram of an embodiment of a gesture and audio based input and haptic feedback system hereof. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0014]    Specific embodiments of the present invention are now described with reference to the figures, wherein like reference numbers indicate identical or functionally similar elements. The following detailed description is merely exemplary in nature and is not intended to limit the invention or the application and uses of the invention. Although descriptions of embodiments hereof are in the context of a gesture based input and haptic feedback system in a vehicle, the invention may also be used in any other applications where it is deemed useful. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary or the following detailed description. 
         [0015]      FIG. 1  is a schematic illustration of an interior of a vehicle V. Several typical features of a vehicle interior will be described with respect to  FIGS. 1-3 . Vehicle V includes a driver seat  10  including a head rest  12 , a back rest  14 , and a seat base  16 . A passenger side front seat  20  similarly includes a head rest  22 , a back rest  24 , and a seat base  26 . A driver side rear seat  30  includes a head rest  32 , a back rest  34 , and a seat base  36 , and a passenger side rear seat  40  includes a head rest  42 , a back rest  44 , and a seat base  46 . Those skilled in the art would recognize that vehicle V can include more seats (as shown in  FIG. 1 ) or fewer seats. Further, all seats do not need to include all the features described herein. For example, and not by way of limitation, head rests need not be provided. Vehicle V also includes a steering wheel  18 , and an arm rest  28  disposed between driver seat  10  and passenger side front seat  20 , as known in the art. 
         [0016]    Vehicle V may also include an electronic control and display system  50  disposed in the front dash between driver seat  10  and passenger side front seat  20 . Electronic control and display system  50  may be similar to a conventional control and display system such that it can be used to control and display functions of systems such as, but not limited to, a radio, a navigation system, a vehicle climate control system, blue-tooth systems, auxiliary systems such as DVD players, CD players and cellular phones, information systems, and other systems known to those skilled in the art. A driver side rear control and display system  38  may be attached to driver seat head rest  12  and face driver side rear seat  30 . Similarly, a passenger side rear control and display system  48  may be attached to passenger side front seat head rest  22  and face passenger side rear seat  40 . Control and display systems  38 ,  48  may include conventional control and display systems to control and display functions of systems such as, but not limited to, rear climate systems, rear entertainment systems such as DVD players and CD players, blue tooth systems, and other systems known to those skilled in the art. 
         [0017]    Control and display system  50  may include a camera or other gesture input detector  60  configured to detect movements of a driver and/or a passenger. Similarly, control and display systems  38 ,  48  may include cameras or other gesture input detectors  39 ,  49 , respectively, to detect movements of passengers in rear seats  30 ,  40 , as explained in more detail below. Although a camera  60 ,  39 ,  49 , is shown associated with each control and display system  50 ,  38 ,  48 , the present disclosure is not limited to such an embodiment. Instead, any manner in which the gestures of the driver and passengers may be detected and used as described in detail below may be used. For example, and not by way of limitation, several cameras located in the interior of vehicle V may track movements of the entire vehicle interior. Such a group of cameras can detect location, orientation, and movements of each of the passengers, including such details as movements of the passengers&#39; hands and fingers. Cameras used in the present embodiment may be motion capture cameras used for optical detection. However, those skilled in the art would understand that other types of camera or detection systems may be used, such as, but not limited to, infra-red, RFID, and electromagnetic. As would be understood by those skilled in the art, systems such as those used for motion detection and processing in games such a XBOX Kinect™ or similar systems may be used. 
         [0018]      FIG. 2  shows further details of driver seat  10  of  FIG. 1 . In particular, driver seat  10  may include one or more haptic actuators  110  in portions of driver seat  10 . In the embodiment shown in  FIG. 2 , haptic actuators  110  are incorporated into head rest  12 , back rest  14 , and seat base  16 . However, as would be understood by those skill in the art, haptic actuators  110  may be incorporated in more or fewer locations in driver seat  10 . Haptic actuators  110  are used in conjunction with a gesture based input system, as described in more detail below. Further, while  FIG. 2  shows haptic actuators  110  incorporated into driver seat  10 , haptic actuators may also be incorporated into passenger seat  20 , driver side rear seat  30 , and passenger side rear seat  40 , and, more particularly, in their respect head rests,  22 ,  32 ,  42 , back rests,  24 ,  34 ,  44 , and seat bases  26 ,  36 ,  46 . 
         [0019]      FIG. 3  shows a portion of arm rest  28  and center console  29  disposed between driver seat  10  and passenger seat  20 . Arm rest  28  may include a haptic actuator  110  incorporated therein. Further, center console  29  may include a camera or other gesture input detector  62 . In the situation where a gesture input detector  62  is used in center console  29 , it may take the place of the camera  60 . Further, camera or gesture input detector  62  may include a limited field of view such that user needs to perform the gestures in the vicinity of camera  62 . Such a situation may be desirable such that inadvertent movements of a user are not detected as gestures to control the vehicle systems. Also, separating the camera or gesture input detector  62  from the display system  50  psychologically trains the user to separate the gestures from looking at the display. Thus, a driver is more likely to keep his or her eyes on the road instead of viewing display  50 , which will also be aided by the haptic feedback system described in more detail below. 
         [0020]    Haptic actuators  110  may be provided in other common contact surfaces of vehicle V. For example, and not by way of limitation, steering wheel  18  may include haptic actuators  110 , as shown in  FIG. 1 . Further, other surfaces, such as door arm rests, arm rests between rear passenger seats, seat belts, and floors of the vehicle may include haptic actuators  110 . Further, haptic actuators may be provided in objects or items that are wearable by the driver or passengers of vehicle V. For example, and not by way of limitation, haptic actuators  110  may be provided in gloves, hats, necklaces, wrist bands or wristlets, and other similar items that the driver or passenger may wear such that the haptic effect is felt directly by the driver or passenger. 
         [0021]    In an embodiment, haptic actuators  110  may be vibrotactile devices that generate vibrations on the object in which actuator  110  is located, for example, within portions of seat  10 ,  20 ,  30 ,  40 , on arm rest  28 , steering wheel  18 , or the wearable object, etc. Other types of haptic feedback may be provided. For example, and not by way of limitation, haptic actuators  110  may provide electrostatic friction or ultrasonic friction to the user. Other types of haptic feedback may be generated and provided to the user, including kinesthetic feedback (e.g., active and resistive force feedback), deformation, and/or other types of tactile feedback such as texture. As shown in  FIGS. 1-3 , multiple haptic actuators may be incorporated in different areas of vehicle V for providing haptic effects to different users or to signify different events, as explained in more detail below. Haptic actuators  110  may include electromagnetic motors, eccentric rotating mass (“ERM”) actuators in which an eccentric mass is moved by a motor, linear resonant actuators (“LRAs”) in which a mass attached to a spring is driven back and forth, shape memory alloys, electro-active polymers that deform in response to signals, mechanisms for changing stiffness, vibrotactile actuators, inertial actuators, piezoelectric actuators, moving magnet actuators, or other suitable types of actuating devices. 
         [0022]      FIG. 4  shows a block diagram of an embodiment of a gesture based input and haptic feedback system  100  and a flow chart for using the system  100 . In particular, gesture input block  102  represents a gesture by a user of the vehicle, such as the driver. It is contemplated that such gestures are hand and/or finger gestures by the user. Other gestures may also be used. As the gesture is being made by the user, camera or other gesture detector  60  detects the gesture by the user. As explained above, gesture detector  60  may be a single camera, multiple cameras, or other devices configured to detect location, orientation, and movements of the user. 
         [0023]    When the camera or gesture detector  60  detects a gesture, it sends a signal to a gesture input controller/translator  104 . Gesture input controller/translator  104  converts the camera signal into a gesture signal and transmits the signal to a computer/controller  106 . For example, and not by way of limitation, camera  60  may provide data in the form of location of the detected hands/fingers, speed/direction of motion, and other data regarding position, orientation, and movement of a users hands/fingers. Gesture input controller/translator  104  converts this data into a particular gesture from a table of potential gestures. For example, and not by way of limitation, possible gestures may include a hand wave in particular directions, finger movement left, right, up, or down, hand/finger rotation, finger pinch/unpinch, rapid waving, finger movement towards camera, and other gestures known to those skilled in the art. If desired, sophisticated gesture detection systems may detect individual fingers such that movement by the pointer finger may be distinguished by movement from movement by the pinkie finger, for example. However, the use of an interactive haptic feedback system, as described in more detail below, allows for a system which does not need to recognize or distinguish between minor variations in movements. Accordingly, a less costly gesture recognition system can be used in combination with the interactive haptic feedback system. 
         [0024]    After the gesture input controller/translator  104  converts the data, the gesture signal is sent to a computer/controller  106 . Those skilled in the art would recognize that gesture input controller/translator  104  may be combined with computer/controller  106 . In the embodiment shown in  FIG. 4 , when computer/controller  106  receives a gesture signal, computer/controller  106  processes the data to provide signals to three different devices. In particular, computer/controller  106  matches the gesture signal to a haptic effect that is selected from a haptic table  108 . For example, and not by way of limitation, if the haptic effect is generally a vibratory effect, a particular vibratory effect, in terms of degree, magnitude, frequency, and/or duration, is selected. Further, if the gesture based input system allows for input from multiple users, the computer/controller  106  selects to which user the haptic effect will be delivered. Further, in an embodiment, different haptic actuators  110  may be selected for an individual user. For example, and not by way of limitation, activation of a haptic actuator  110  in head rest  12  of driver seat  10  may have a different feedback meaning that activation of a haptic actuator  110  in seat base  16  of driver seat  10 . In essence, the computer/controller  106  selects to which haptic actuator  110  a signal will be sent. Thus, computer/controller  106  selects a particular haptic effect from haptic table  108  and a particular haptic actuator  110  to which the effect will be applied. A signal for the selected haptic effect is then sent to the selected haptic actuator  110 . 
         [0025]    Simultaneously, computer/controller  106  sends a signal to display  50  to show the action being taken. For example, and not by way of limitation, if a user selects an icon (e.g., radio, navigation, climate, etc.), computer/controller  106  sends a signal to display  50  for the selected icon to be highlighted. Further, any sub-menus associated with the selected icon will be displayed. For example, and not by way of limitation,  FIG. 5  shows an example display with a main menu  52  and a sub menu  54 . As described in more detail below, a gesture may be interpreted as selecting the climate control icon on main menu  52 , as shown in  FIG. 5 . With such a selection, computer/controller  106  sends a signal to display to highlight the climate control icon, as shown in  FIG. 5 . With the climate control icon selected, the sub-menu  54  associate with the climate controls appears. Similarly, if any of the other icons on the main menu  52  are selected, a sub-menu associated with that main menu will appear. 
         [0026]    Further, if the gesture by the user is used to control a particular system, computer/controller  106  also sends a signal to the vehicle system  112  to perform the selected control. For example, and not by way of limitation, upon selecting the climate icon of main menu  52 , if a gesture to increase the driver side temperature is recognized by the camera  60  and processed as described above, computer/controller  106  sends a signal to the climate control system of the vehicle to increase the temperature air blown through the driver side vents, for example. In another example, if the radio icon is selected from main menu  52  and a particular gesture for increasing the volume is recognized, computer/controller  106  sends a signal to the radio control system  112  to increase the volume. Such signals will be sent to other vehicle control systems  112 , such as for a CD player, navigation system, phone, DVD player, gaming system, or other vehicle system or sub-system, or auxiliary system coupled to a vehicle system. Further, those skilled in the art will recognize that although display  50  has been identified separately from other vehicle systems, display  50  is one of the vehicle systems and need not be identified separately. It is identified separately in this description for convenience because some actions result only in action on the display, such as highlighting an icon, whereas other actions result in action either only on the other vehicle systems, or in both the other vehicle systems and the display. 
         [0027]    Accordingly, the haptic feedback described above can be used confirm or describe actions that are being taken based on the gesture based input. In one example, summarized in Table 1 below and described with respect to a system such as the system shown in  FIG. 5 , a driver of a vehicle V makes gestures that are monitored by camera  60 . Although the example below is described with respect to a driver making gestures and particular haptic effects described below being felt by the driver, those skilled in the art will recognize that similar gestures may be made by passengers in the vehicle, that such gestures may be detected by camera  60  or other cameras, and that the haptic effect may be provided to the passenger making the gesture. Of course, those skilled in the art will also recognize that in some embodiments, only the driver of the vehicle senses haptic feedback, while the passengers may receive other types of feedback, such as audio or visual, because the passengers do not need to keep their eyes on the road. However, haptic effects may be desirable for passengers to enhance their experience when interacting with entertainment systems in the vehicle, such as gaming systems or video systems. 
         [0028]    In the particular example discussed with respect to Table 1, the driver waves his or her hand/finger to wake up the system. Accordingly, computer/controller  106  sends a signal to select the haptic effect of a short vibration from table  108  and sends it to a haptic actuator  110  associated with the driver, such as in driver seat  10 . Upon feeling the short vibration, the driver may begin moving a finger or hand to track across main menu  52 . As the driver is moving a finger/hand, a light continuous vibration alerts the drive that a pointer on display  50  is moving across the screen. When the pointer reaches a selectable area on main menu  52 , such as the climate icon, the intensity of the vibration is raised to be a medium continuous vibration. The driver can select the icon by pinching his or her fingers. Computer/controller  106 , upon recognizing the gesture, will send a signal to select multiple short vibrations from the haptic effect table  108  and send a signal for such vibrations to a haptic actuator  110  associated with the driver. Simultaneously, a signal is sent to display  50  to highlight the climate icon and to display the climate sub-menu options on sub-menu  54 , as shown in  FIG. 5 . The haptic effect allows the user to know that the icon has been selected. In order to further avoid the need for the driver to look at display  50 , when the driver activates the system, display  50  may always start at a certain icon. This allows the user to become accustomed to the order in which the icons are selected. For example, if display  50  always starts with the radio icon, the driver knows that when the driver has felt the fourth medium continuous vibration, the pointer is on the climate icon. Many other variations are possible for allowing the driver to recognize which particular icon is selected. For example, and not by way of limitation, each icon can be designated with its own haptic effect, such as by the particular effect or the location the effect is felt by the driver. For example and not by way of limitation, when the radio icon is selected, the haptic effect may be delivered via a haptic actuator  110  in the head rest  12  of driver seat  10 , whereas when the climate icon is selected, the haptic effect may be delivered via a haptic actuator in the seat base  14  of driver seat  10 . Of course, depending on the number of systems controlled, other variations would likely be necessary. For example, and not by way of limitation, each icon associated with sound may be associated with a haptic effect delivered to haptic actuator  110  in head rest  12 , with each having its own haptic effect, such as one vibration for the radio, two for the CD player, and three for the phone. Similarly, selection of the climate icon may result in one vibration to the seat base  12 , and selection of the navigation icon may result in two vibrations to the seat base  14 . Similarly, if all haptic effects are delivered via a single haptic actuator, then variation in the haptic effect could be used to distinguish between the icons. 
         [0000]    Once the icon has been selected from main menu  52  and the sub-menu  54  for the selected system has appeared, as described above, the driver may make further gestures to control the selected system as displayed on sub-menu  54 . Thus, in the example provided in  FIG. 5  and Table 1, upon selection of the climate icon, the driver may move a finger to select items along the top bar of sub menu  54  in a similar fashion as described above with respect to main menu  52 , and the appropriate haptic effect is provided. For example, and not by way of limitation, upon selection of “Auto” in the top bar of sub-menu  54 , the driver may rotate his or her hand clockwise to increase the temperature and counter-clockwise to decrease the temperature, similar to a rotary dial or knob. When such a gesture is recognized by camera  60 , computer/controller  106  sends a signal to select the haptic effect of a continuous vibration with increasing magnitude from haptic effect table  108  and the signal for such an effect is sent to a haptic actuator  110  associated with the driver, who feels the effect. Simultaneously, a signal is sent to display  50  to highlight the up arrow in the temperature slide and to increase the temperature setting displayed. Also, a signal is sent to the vehicle climate control system to set the temperature to the selected temperature. 
         [0000]    
       
         
               
               
               
             
           
               
                 TABLE 1 
               
               
                   
               
               
                 GESTURE INPUT 
                 SYSTEM ACTION 
                 HAPTIC EFFECT EXAMPLE 
               
               
                   
               
             
             
               
                 Waving hand/finger 
                 Ready for input/wake up 
                 Short vibration 
               
               
                 Finger/hand tracking 
                 Pointer present on screen 
                 Light continuous vibration 
               
               
                 Finger/hand tracking 
                 Pointer on selectable area 
                 Medium continuous vibration 
               
               
                 Hand/finger movement from left 
                 Next menu, track, or other 
                 Short vibration 
               
               
                 to right 
                 option, accept, higher value 
               
               
                 Hand/finger movement from 
                 Previous menu, track, option, or 
                 Short vibration 
               
               
                 right to left 
                 home, reject, lower value 
               
               
                 Hand/finger movement 
                 Scroll down, more menu, lower 
                 Short vibration on value 
               
               
                 downward 
                 value 
                 change/scroll action 
               
               
                 Hand/finger movement upward 
                 Scroll up, more menu, higher 
                 Short vibration on value 
               
               
                   
                 value, top menu 
                 change/scroll action 
               
               
                 Pinch fingers/close hand 
                 Icon/menu selection, zoom 
                 Short vibration or multiple short 
               
               
                   
                 change, advance menu, back, 
                 vibrations 
               
               
                   
                 accept 
               
               
                 Open fingers/open hand 
                 Icon/menu selection, zoom 
                 Short vibration or multiple short 
               
               
                   
                 change, advance menu, back, 
                 vibrations 
               
               
                   
                 accept 
               
               
                 Waving finger/hand (in menu) 
                 Reject, back, home, clear 
                 Continuous vibration 
               
               
                 Finger/hand movement toward 
                 Accept, select, next, zoom 
                 Short or medium length vibration 
               
               
                 screen 
               
               
                 Rotate hand clockwise/Move 
                 Change virtual dial value, rotate 
                 Continuous vibration of increasing 
               
               
                 fingers in a clockwise arc 
                 menu/screen/icon 
                 magnitude or vibration on change 
               
               
                   
                   
                 of value/location 
               
               
                 Rotate hand 
                 Change virtual dial value, rotate 
                 Continuous vibration of 
               
               
                 counterclockwise/Move fingers 
                 menu/screen/icon 
                 decreasing magnitude or vibration 
               
               
                 in a counter clockwise arc 
                   
                 on change of value/location 
               
               
                   
               
             
          
         
       
     
         [0029]    Those skilled in the art would recognize that the description and Table 1 above provides only examples of the types of gestures and haptic effects that can be used. Similar hand gestures and haptic effects can be used to control the other vehicle systems. Further, different gestures and haptic effects may be used. The desired purpose of the gesture identification and haptic effect feedback system is to allow a simple method for the driver or passenger to control the vehicle systems without reaching towards or looking at a display that may distract the driver, and with sufficient haptic effect feedback such that the driver or passenger is comfortable that the desired action is taking place in response to the gesture command. Further, providing such haptic feedback can be used to enhance the experience of the driver and/or passenger(s). 
         [0030]    Further, although the embodiment described above relates to a gesture based input system with haptic effect feedback, those skilled in the art would recognize that detecting advanced gestures may be costly. Accordingly,  FIG. 6  and Table 2 below show an embodiment wherein gesture based input and audio input are combined, with haptic effect feedback used to confirm commands, as in the embodiment above. In particular,  FIG. 6  shows a block diagram of an embodiment of a gesture and audio based input and feedback system  200  and a flow chart for using the system  200 . 
         [0031]    In  FIG. 6 , gesture input block  202  represents a gesture by a user of the vehicle, such as the driver. It is contemplated that such gestures are hand and/or finger gestures by the user. Other gestures may also be used. As the gesture is being made by the user, camera of other gesture detector  60  detects the gesture by the user. As explained above, gesture detector  60  may be a single camera, multiple cameras, or other devices configured to detect location, orientation, and movements of the user. 
         [0032]    Similarly, voice/audio input block  214  represents a sound or voice command made by a user of the vehicle, such as the driver. It is contemplated that such voice commands will be simple voice commands, for example, the simple voice commands shown in Table 2 below. Other voice commands may also be used. An audio input detector or microphone  64  detects the audio/voice command. Microphone  64  may be located adjacent to camera  60 , as shown in  FIG. 1 , or elsewhere in vehicle V, as known to those skilled in the art. 
         [0033]    When the camera or gesture detector  60  detects a gesture, it sends a signal to a gesture input controller/translator  204 . Gesture input controller/translator  204  converts the camera signal into a gesture signal and transmits the signal to a computer/controller  206 . For example, and not by way of limitation, camera  60  may provide data in the form of location of the detected hand/finger, speed/direction of motion, and other data regarding position, orientation, and movement of a users hand/finger. Gesture input controller/translator  204  converts this data into a particular gesture from a table of potential gestures. For example, and not by way of limitation, possible gestures may include a hand wave in particular directions, finger movement left, right, up, or down, hand/finger rotation, finger pinch/unpinch, rapid waving, finger movement towards or away from the camera, and other gestures known to those skilled in the art. If desired, sophisticated gesture detection systems may detect individual fingers such that movement by the pointer finger may be distinguished by movement from movement by the pinkie finger, for example. However, the use of an interactive haptic feedback system, as described in more detail below, allows for a system which does not need to recognize or distinguish between minor variations in movements. Accordingly, a less costly gesture recognition system can be used in combination with the interactive haptic feedback system. 
         [0034]    Similarly, when microphone  64  detects a sound, it sends a signal to an audio input controller/translator  218 . Audio input controller/translator  218  converts the voice signal into a data signal representative of the voice command and transmits the signal to computer/controller  206 . 
         [0035]    After the gesture input controller/translator  204  and/or audio input controller/translator converts  218  the data, the signal is sent to a computer/controller  206 . Those skilled in the art would recognize that gesture input controller/translator  204 , audio input controller/translator  218 , and computer/controller  206  may be combined without departing from the present invention. In the embodiment shown in  FIG. 6 , when computer/controller  206  receives a gesture or audio signal, computer/controller  206  processes the data to provide signals to three different devices. In particular, computer/controller  206  matches the gesture or audio signal to a haptic effect that is selected from a haptic table  208 . For example, and not by way of limitation, if the haptic effect is generally a vibratory effect, a particular vibratory effect, in terms of degree, magnitude, frequency, and/or duration is selected. Further, if the gesture and audio based input system allows for input from multiple users, the computer/controller  206  selects to which user the haptic effect will be delivered. Further, in an embodiment, different haptic actuators  110  may be selected for an individual user. For example, and not by way of limitation, activation of a haptic actuator  110  in head rest  12  of driver seat  10  may have a different feedback meaning than activation of a haptic actuator  110  in seat base  16  of driver seat  10 . In essence, the computer/controller  206  selects to which haptic actuator  110  a signal will be sent. Thus, computer/controller  206  selects a particular haptic effect from haptic table  208  and a particular haptic actuator  110  to which the effect will be applied. A signal for the selected haptic effect is then sent to the selected haptic actuator  110 . 
         [0036]    Simultaneously, computer/controller  206  sends a signal to display  50  to show the action being taken. For example, and not by way of limitation, if a user selects an icon (e.g., radio, navigation, climate, etc.), computer/controller  206  sends a signal to display  50  for the selected icon to be highlighted. Further, any sub-menus associated with the selected icon will be displayed. For example, and not by way of limitation,  FIG. 5  shows an example display with a main menu  52  and a sub-menu  54 . If the climate control icon is selected on main menu  52 , such as by using a gesture or voice command, computer/controller  206  sends a signal to display  50  to highlight the climate icon, as shown in  FIG. 5 . With the climate icon selected, the sub-menu  54  associated with the climate control appears. Similarly, if any of the other icons on the main menu  52  are selected, a sub-menu associated with that main menu will appear. 
         [0037]    Further, if the gesture or audio command by the user is used to control a particular system, computer/controller  206  also sends a signal to the vehicle system  212  to perform the selected control. For example, and not by way of limitation, upon selecting the climate icon of main menu  52 , if a gesture or audio command is used to increase the driver side temperature is recognized by the camera  60 /microphone  64  and processed as described above, computer/controller  206  sends a signal to the climate control system of the vehicle to increase the temperature air blown through the driver side vents, for example. In another example, if the radio icon is selected from main menu  52  and a particular gesture or audio command is given for increasing the volume, computer/controller  206  sends a signal to the radio control system  212  to increase the volume. Such signals will be sent to other vehicle control system  212 , such as for a CD player, navigation system, phone, DVD player, gaming system, or other vehicle system or sub-system, or auxiliary system coupled to a vehicle system. Further, those skilled in the art will recognize that although display  50  has been identified separately from other vehicle systems, display  50  is one of the vehicle systems and need not be identified separately. It is identified separately in this description for convenience because some actions result only in action on the display, such as highlighting an icon, whereas other actions result in action either only on the other vehicle systems, or in both the other vehicle systems and the display. 
         [0038]    Accordingly, the haptic feedback described above can be used confirm or describe actions that are being taken based on the gesture based input. In one example, summarized in Table 2 below and described with respect to a system such as the system shown in  FIG. 5 , a driver of a vehicle V makes gestures that are monitored by camera  60  and gives voice commands that are received by microphone  64 . Although the example below is described with respect to a driver making gestures and giving voice commands, and particular haptic effects described below, those skilled in the art will recognize that similar gestures and voice commands may be made by passengers in the vehicle, that such gestures and voice commands may be detected by camera  60 /microphone  64  or other cameras/microphones, and that the haptic effect may be provided to the user making the gesture/giving the voice command. Of course, those skilled in the art will also recognize that in some embodiments, only the driver of the vehicle senses haptic feedback, while the passengers may receive other types of feedback, such as audio or visual, because the passengers do not need to keep their eyes on the road. However, haptic effects may be desirable for passengers to enhance their experience when interacting with entertainment systems in the vehicle, such as gaming systems or video systems. 
         [0039]    In the particular example of combining gesture-based input, audio-based input, and haptic effect feedback, Table 2 shows various hand gestures and voice commands to control various vehicle system, and haptic effects associated with such actions. Table 2 will be explained with respect to the exemplary display  50  show in  FIG. 5 . Accordingly, the driver may wave a hand or finger to activate the system, as described above with respect to Table 1. Accordingly, computer/controller  206  sends a signal to select the haptic effect of a short vibration from table  208  and sends it to a haptic actuator  110  associated with the driver, such as in driver seat  10 . Upon feeling the short vibration, the driver may begin moving a finger or hand to track across main menu  52 . As the driver is moving a finger/hand, a light continuous vibration alerts the drive when the drivers hand/finger is over an icon in main menu  52 , as shown in Table 2 under “Basic Navigation”. The driver can then select the icon by giving a voice command, such as “select” or “yes”, as shown in Table 2. Computer/controller  206 , upon recognizing the voice command, will send a signal to select a short vibration from the haptic effect table and send a signal for such a vibration to a haptic actuator  110  associated with the driver. Simultaneously, a signal is sent to display  50  to highlight the climate icon and to display the climate sub-menu options on sub-menu  54 , as shown in  FIG. 5 . The haptic effect allows the driver to know that the icon has been selected. As described above, several options for haptic feedback may be used to ensure that the driver is aware that he or she has selected the desired icon, such as different haptic effects associate with each vehicle system on main menu  52 . 
         [0040]    Once the icon has been selected from main menu  52  and the sub-menu  54  for the selected system has appeared, as described above, the driver may make further gestures to control the selected system as displayed on sub-menu  54 . Thus, in the example provided in  FIG. 5  and Table 2, upon selection of the climate icon, the driver may move a finger to select items along the top bar of sub-menu  54  in a similar fashion as described above with respect to main menu  52 , and the appropriate haptic effect is provided. For example, and not by way of limitation, as the driver moves a hand/finger over the icons along top bar of sub menu  54 , the “Basic Navigation” features of Table 2 are used. Thus, if the driver&#39;s hand/finger hovers over the “Auto” icon, a light continuous vibration is felt from haptic actuator  110 . Further, the driver may select the “Auto” icon by voice command of “select” or “yes”, as described above. Upon recognition of the voice command, computer/controller  206  sends a signal to haptic actuator  110  for a short vibration and a signal to display  50  to highlight the “Auto” icon. 
         [0041]    When the sub-menu is selected, the driver can then perform other activities in the sub menu. For example, the driver&#39;s fingers can be moved over the driver side temperature reading of 72 in  FIG. 5 . A haptic effect such as a light continuous vibration confirms to the driver that the temperature is selected. The driver can then change the value of the driver&#39;s side temperature by voice command, such as “74”, as shown in the “Change value, direct input, text input” row of Table 2. Accordingly, computer/controller  206  sends a signal to haptic actuator  110  for a short vibration, a signal to display  50  to change the displayed driver&#39;s side temperature setting from “72” to “74”, and a signal to the climate control system to have the vehicle HVAC system provide a 74 degree temperature to the driver&#39;s side. 
         [0042]    Table 2 shows how the gesture and voice inputs and haptic effect feedback may be used in combination to make selection and control of various vehicle functions relatively simple without the need for the driver to look at display  50 . While a particular sub-menu selection was described above, those skilled in the art would recognize that the other vehicle systems may be controlled as described in Table 2, such as by selecting the radio icon on main menu  52  and using a voice command to change the station or raise and lower the volume, with the corresponding haptic effects shown in Table 2 providing feedback that the command has been processed y computer/controller  206 . 
         [0000]    
       
         
               
             
           
               
                 TABLE 2 
               
               
                   
               
             
             
               
                 
                   
                             
                     
                         
                         
                     
                   
                 
               
               
                   
               
             
          
         
       
     
         [0043]    In another embodiment described with respect to Table 3 below, interactions between the front and rear passengers are incorporated into the haptic feedback system. The embodiments shown in  FIG. 4  or  FIG. 6  can be used to implement the responses shown in Table 3. 
         [0000]    
       
         
               
               
               
             
           
               
                 TABLE 3 
               
               
                   
               
               
                 FIRST ACTION 
                 SECOND ACTION 
                 HAPTIC EFFECT 
               
               
                   
               
             
             
               
                 Front passenger selects 
                 None 
                 Light vibration 
               
               
                 media/game for rear passenger 
               
               
                 Front passenger interrupts 
                 None 
                 Light vibration 
               
               
                 media/game for rear passenger 
               
               
                 Rear passenger interrupts 
                 None 
                 Light vibration 
               
               
                 media/game 
               
               
                 Rear passenger selects 
                 Front passenger 
                 Medium vibration 
               
               
                 media/game 
                 authorizes media/ 
               
               
                   
                 game playback 
               
               
                 One rear passenger interacts 
                 Other rear passenger 
                 Vibrations 
               
               
                 with media/game 
                 interacts with 
                 corresponding to 
               
               
                   
                 media/game 
                 media/game 
               
               
                 Rear passenger media/game 
                 None 
                 Medium vibration 
               
               
                 system has issues 
               
               
                 Rear seat belt unbuckled 
                 None 
                 Vibration which 
               
               
                   
                   
                 increases intensity 
               
               
                   
                   
                 with time 
               
               
                 Door open/opened 
                 None 
                 Continuous 
               
               
                   
                   
                 vibration 
               
               
                   
               
             
          
         
       
     
         [0044]    As described above, the gestures, commands, and specific haptic effects described with respect to Tables 1-3 are merely examples. Infinite variations of particular gestures, commands, and resulting haptic effects can be contemplated by those skilled in the art in keeping with the scope and content of the present invention. 
         [0045]    Accordingly, while various embodiments have been described above, it should be understood that they have been presented only as illustrations and examples of the present invention, and not by way of limitation. It will be apparent to persons skilled in the relevant art that various changes in form and detail can be made therein without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the appended claims and their equivalents. It will also be understood that each feature of each embodiment discussed herein, and of each reference cited herein, can be used in combination with the features of any other embodiment. All patents and publications discussed herein are incorporated by reference herein in their entirety.