Patent Description:
Riding, driving or operating a vehicle, can be hazardous. Potential hazards include other road users and any obstacles in a driving path of the vehicle. Such hazards may be present in large numbers in busy urban environments. Another hazardous situation is one in which a user is not aware of how close the vehicle is to its operating limits.

There is a desire to communicate information regarding external environmental situations and/or vehicle operational parameters to a user of the vehicle. It is an object of embodiments of the invention to at least partially address this.

Aspects and embodiments of the invention provide a method, a controller, a vehicle, apparel, a system and computer software, as claimed in the appended claims.

According to an aspect of the invention, there is provided a method of providing a haptic stimulus to a user during operation of a vehicle, the method comprising:.

The operational information comprises at least one of:.

In some embodiments, said apparel is vehicle apparel. In some embodiments, said vehicle apparel is motorcycle apparel. In some embodiments, said apparel is a garment. In some embodiments, said apparel is a helmet.

In this way, the method provides a user with a haptic stimulus, by means of the oscillatory feedback configuration, during operation of the vehicle, to inform the user of one or both of environmental and vehicle operational information. Advantageously, a haptic stimulus is less distracting than conventional methods of notifying a vehicle user of environmental and/or operational information and allows the user to maximise their attention to driving or otherwise operating the vehicle. This advantageously increases safety for both the driver and other road users.

Optionally, said operational information comprises information relating to one or more sensor such as an accelerometer or gyroscope of the vehicle. Optionally, the information relating to ABS, TCS, accelerometers or gyroscopes may be used to determine a general ABS, TCS, accelerometer or gyroscope factor during said determining. This advantageously means that the user can be provided with operational information pertaining to subsystems and sensors of or on the vehicle, enabling the user to make informed decisions as to adapting their operation of the vehicle to maximise safety.

In some embodiments, said determining comprises comparing said operational information to at least one corresponding threshold value. Optionally, the method comprises inhibiting said outputting, when the operation information is below said threshold value. In this way, instances of providing a haptic stimulus to the user are limited to situations where it is deemed most relevant. This advantageously maximises the attention the user can give to driving or otherwise operating the vehicle, increasing safety for both the driver and for any nearby road users.

In some embodiments, said determining comprises:.

Optionally, when the severity factor value is below the threshold overall severity factor value, the method comprises inhibiting said outputting. In this way, a number of parameters contributing to said at least one electrical signal is attributed a different degree of relevance, or weighting, to account for relationships between parameters that may be intrinsically linked, and/or to account for the fact that some parameters may be more critical to vehicle performance than others. This advantageously provides the user with an overall indication as to vehicle operation.

In some embodiments, the method comprises receiving at least one electrical signal representative of environmental information. Said environmental information may comprise information indicative of a detected driving hazard. Optionally, said information indicative of a detected driving hazard may be acquired from sensing means, such as one or both of a camera and a radar on the vehicle. This advantageously enables information relating to safety critical events, such as a driving hazard, to be communicated to the user. Optionally, said determining comprises determining a distance between the vehicle and the detected driving hazard. Optionally, wherein said determining comprises determining a severity factor in dependence on one or more characteristics of said detected driving hazard. The one or more characteristics may comprise one or more of: a size of the detected hazard, whether or not the detected hazard is stationary or moving and a location of the detected hazard relative to the vehicle. This enables information relating to safety critical events, such as potential for a collision, to be communicated to the user, advantageously enabling the user to make an informed decision about their operation of the vehicle to avoid a safety critical event.

In some embodiments, said detected driving hazard is an obstacle in a driving path of the vehicle. In some embodiments, said detected driving hazard is an object in a blind spot of the user. The blind spot of the user may be any area proximal to the vehicle which is not normally visible to the user, but is viewable by the user by the user modifying their posture or gaze. In this sense, "normally visible to the user" means visible to the user either directly or in a rear view or side mirror, when the user adopts a normal driving posture. Modifying the user's driving posture or gaze may comprise the user rotating their head or torso slightly and looking over their shoulder.

In some embodiments, said driving hazard comprises a departure of the vehicle from a lane in which the vehicle is travelling. Said sensing means may be arranged to sense a signal indicative of the vehicle departing from its lane. Advantageously, this improves safety during vehicle operation.

In some embodiments, the sensing means may additionally or alternatively comprise a torque sensor for sensing a signal indicative of a steering torque. Optionally, the torque sensor may be arranged on a steering assembly of the vehicle.

In some embodiments, said processing means, which may comprise a processor, determines whether the lane departure is unintentional or whether the sensed signal is indicative of an intentional vehicle manoeuvre initiated by a user. Optionally, said determining comprises determining whether a steering torque exceeds a pre-determined threshold value of steering torque. When it is determined that the steering torque exceeds the pre-determined threshold value of steering torque, said outputting a signal to cause the haptic output device to output the determined oscillatory feedback configuration to the user may be inhibited. Advantageously, this avoids, or at least minimises, distraction of the user during an intentional vehicle manoeuvre.

In some embodiments, said at least one electrical signal indicative of one or both of environmental information and vehicle operational information comprises a user initiated signal. The user may initiate the signal when they wish to initiate, impart or amplify an emotional response of the user. In some embodiments, the user initiated signal may be initiated by the user depressing a button.

In some embodiments, the method comprises outputting at least one of:.

In some embodiments, the user display comprises a head up display on an eye shield of a helmet. In some embodiments, the sound system may comprise a speaker within a helmet. According to another aspect of the invention, there is provided computer software which, when executed by a computer, is arranged to perform a method according to the aspects as above described. In some embodiments, said computer software is stored on a non-transient computer readable medium.

According to yet another aspect of the invention, there is provided a controller for providing haptic stimulus to a user during operation of a vehicle, the controller comprising:.

In this way, the controller can be used to provide a user with a haptic stimulus, by means of the oscillatory feedback configuration, during operation of the vehicle, to inform the user of one or both of environmental and vehicle operational information. Advantageously, a haptic stimulus is less distracting than conventional methods of notifying a vehicle user of environmental and/or operational information and allows the user to maximise their attention to driving or otherwise operating the vehicle. This advantageously increases safety for both the driver other road users.

In some embodiments, said processing means is a processor.

In some embodiments, said haptic output means is a haptic output device. The haptic output device optionally comprises one or more haptic spots. The haptic spots may each comprise a speaker. In some embodiments, the haptic spots are mounted on a frame. The haptic spots may optionally be distributed throughout said apparel, may be vehicle apparel, such as motorcycle apparel. This advantageously allows for the oscillatory feedback configuration to include a spatial pattern. Optionally, the frame comprises a flexible material. The flexible material may be rubber.

In some embodiments, said operational information comprises information relating to one or more sensors such as accelerometers or gyroscopes of the vehicle.

In some embodiments, said one or more signals indicative of operational information comprises at least one of:.

Optionally, through inhibiting said outputting when the severity factor value is below the threshold overall severity factor value, a number of parameters contributing to the at least one electrical signal is attributed a different degree of relevance, or weighting, to account for relationships between parameters that may be intrinsically linked, and/or to account for the fact that some parameters may be more critical to vehicle performance than others. This advantageously provides the user with an overall indication as to vehicle operation.

In some embodiments, the controller comprises input means for receiving at least one electrical signal (<NUM>) indicative of environmental information. Said environmental information may comprise presence of a driving hazard. Optionally, said processing means is arranged to determine a distance between said driving hazard and the vehicle. Optionally, said processing means is arranged to determine a severity factor in dependence on one or more characteristics of said driving hazard. The one or more characteristics may comprise one or more of: a size of the detected hazard, whether or not the detected hazard is stationary or moving and a location of the detected hazard relative to the vehicle. This enables information relating to safety critical events, such as potential for a collision, to be communicated to the user, advantageously enabling the user to make an informed decision about their operation of the vehicle to avoid or otherwise manage a safety critical event.

According to another aspect of the invention, there is provided a vehicle comprising the controller as above described.

According to still another aspect of the invention, there is provided apparel comprising:.

In this way, the apparel can be used to provide a user with a haptic stimulus, by means of the oscillatory feedback configuration, to inform the user of one or both of environmental and vehicle operational information. Advantageously, a haptic stimulus is less distracting than conventional methods of notifying a vehicle user of environmental and/or operational information and allows the user to maximise their attention to driving or otherwise operating the vehicle. This advantageously increases safety for both the driver and other road users.

In some embodiments, said apparel is vehicle apparel. In some embodiments, said vehicle apparel is motorcycle apparel. In some embodiments, the apparel may be a garment, an accessory or a protective clothing. The apparel may be a suit, a jacket, trousers, armour, a back protector, footwear, or any combination thereof. A vehicle user, such as a motorcycle user is likely to wear apparel, which may include protective clothing, regardless of the situation. By incorporating haptic output means and signal receiving means into protective clothing that would normally be worn by the user, this advantageously minimises any additional equipment required.

In some embodiments, the haptic output means may comprise one or more haptic spots. The haptic spots may each comprise a speaker. In some embodiments, the haptic spots are mounted on a frame. The haptic spots may optionally be distributed throughout said apparel, which advantageously allows for the oscillatory feedback configuration to include a spatial pattern. Optionally, the frame is flexible. In an example, the frame is rubber.

According to another aspect of the invention, there is provided a haptic feedback system for a vehicle, the haptic feedback system comprising:.

In this way, the haptic feedback system provides a user with a haptic stimulus, by means of the oscillatory feedback configuration, during operation of the vehicle, to inform the user of one or both of environmental and vehicle operational information. Advantageously, a haptic stimulus is less distracting than conventional methods of notifying a vehicle user of environmental and/or operational information and allows the user to maximise their attention to driving or otherwise operating the vehicle. This advantageously increases safety for both the driver and other road users.

In some embodiments, said apparel is vehicle apparel. In some embodiments, said vehicle apparel is motorcycle apparel. In some embodiments, said apparel is a garment.

Optionally, the haptic feedback system comprises means for providing wireless communication between the controller and the haptic output means of the apparel. Said means may be Bluetooth®, although any other wireless protocol may be used.

In some embodiments, the haptic feedback system comprises a head up display. Optionally, the head up display is provided on an eye shield or visor of a safety helmet. Advantageously, this allows for information, such as environmental and/or vehicle operational information to be communicated to the user in a plurality of sensory ways, namely, through touch and sight. This advantageously helps to ensure that the user is well aware of the information.

In some embodiments, the haptic feedback system comprises a sound system. The sound system may be provided in a safety helmet. Advantageously, this allows for information, such as environmental and/or vehicle operational information to be communicated to the user in a plurality of sensory ways, namely, through touch and hearing. This advantageously helps to ensure that the user is well aware of the information.

In some embodiments, the haptic feedback system comprises both a head up display as above described and a sound system as above described. Advantageously, this allows for information, such as environmental and/or vehicle operational information to be communicated to the user in a plurality of sensory ways, namely, through touch, sight and hearing. This advantageously helps to ensure that the user is well aware of the information.

According to still another aspect of the invention, there is provided a haptic feedback system comprising:.

Optionally, the haptic feedback system comprises means for providing wireless communication between the controller and haptic output means of the apparel. Said means may be Bluetooth®, although any other wireless protocol may be used.

Within the scope of this invention 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 within the scope of the claims. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination within the scope of the claims, unless such features are incompatible.

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

A method of providing a haptic stimulus to a user during vehicle use comprises receiving at least one electrical signal representative of one or both of environmental information and operational information. The electrical signal may comprise a signal obtained from sensing means, such as a system comprising one or both of a camera and a radar. In some embodiments, sensing means additionally or alternatively comprises a sensor such as an accelerometer or gyroscope on the vehicle. In some embodiments, the vehicle is provided with an inertial movement unit or IMU (not shown) which may comprise a six-axis sensor. The six-axis sensor comprises three gyroscopes for determining respectively, pitch, roll and yaw angle and angular rate of the vehicle and three accelerometers for determining respectively, longitudinal, lateral and vertical acceleration for the vehicle. Other sensors are useful. In dependence on the sensed signal, an oscillatory feedback configuration is determined. Determining the oscillatory feedback configuration may be achieved by means of a processing means. The processing means may be a processor. A memory means, such as a non-transient computer readable medium may store one or more algorithms for use in determining the oscillatory feedback configuration. In some embodiments, the oscillatory feedback configuration is an oscillatory feedback pattern. The oscillatory feedback pattern may be a temporal distribution of feedback, a spatial distribution of feedback or a combination of both temporal and spatial distribution of feedback. In dependence on the determined oscillatory feedback configuration, a signal is output, to cause haptic output means, such as a haptic device, to output the determined oscillatory feedback configuration to a user of the vehicle. The haptic output means is part of, integral with, or otherwise associated with apparel for wearing by the user. The apparel may comprise vehicle apparel, such as a racing suit, a safety helmet, footwear or motorcycle apparel. In this way, the method is suitable for providing the user with a haptic stimulus, by means of the oscillatory feedback configuration, during operation of the vehicle, to inform the user of one or both of environmental and vehicle operational information.

An oscillatory feedback system comprises a vehicle and controlling means, such as a controller. In some embodiments, the system may further include apparel comprising haptic output means, such as a haptic device. The apparel may comprise vehicle apparel, such as a racing suit, a safety helmet, footwear or motorcycle apparel. The controlling means is arranged to control provision of oscillatory feedback to a user, via the haptic output means, during operation of the vehicle.

In some embodiments, when the controlling means is a controller, the controller comprises input means for receiving one or more signals indicative of one or both of environmental and vehicle operational information, processing means for determining an oscillatory feedback configuration in dependence on the one or more signals and output means to provide a signal to instruct the haptic output means to output the determined oscillatory feedback configuration to the user. The processing means may be a processor. In some embodiments, the controller comprises a memory means, such as a non-transient computer readable medium, which memory means may store one or more algorithms for use in determining the oscillatory feedback configuration. In some embodiments, the oscillatory feedback configuration is an oscillatory feedback pattern, such as a temporal distribution of feedback, a spatial distribution of feedback or a combination of both temporal and spatial distribution of feedback. The haptic output means is part of, integral with, or otherwise associated with apparel for wearing by a user so that in use, the oscillatory feedback system provides the user with a haptic stimulus, by means of the oscillatory feedback configuration, to inform the user of environmental and/or vehicle operational information. The apparel may comprise vehicle apparel, such as a racing suit, a safety helmet, footwear or motorcycle apparel.

With reference to <FIG>, the haptic output means is a haptic device <NUM>. The haptic device <NUM> comprises a plurality of, such as four, arms <NUM> extending from a spine <NUM> to the left of the spine and a plurality of, such as four, arms <NUM> extending from the spine <NUM> to the right of the spine <NUM>, as illustrated. A haptic spot <NUM> is provided at an end of each arm <NUM>, distal from the spine. The spine <NUM> and arms <NUM> together define a frame for supporting the haptic spots <NUM>. Some or all of the arms <NUM> and/or the spine <NUM> may be formed of rubber, plastic, or another flexible material. Although eight arms <NUM> in a symmetrical distribution are described and shown in <FIG>, it is to be appreciated that any number of arms may be provided in any distribution, symmetrical or asymmetric and indeed any number of haptic spots <NUM> may be provided along or at the end of each arm <NUM>. A suitable device may be obtained from Somato Inc. , although other devices may be used. In other embodiments, the haptic device <NUM> need not include a frame defined by spine <NUM> and arms <NUM>, but may simply comprise one or more haptic spots <NUM>, communicable with the controller. In use, the haptic feedback device <NUM> is worn by a user, on or proximal to the user's skin. Proximal in this sense means close enough to the user's skin that the user can still sense oscillatory feedback outputted from the haptic device <NUM>.

The haptic spots <NUM> each comprise an oscillatory feedback means which may be in the form of an audio speaker, for outputting oscillatory feedback. The haptic feedback device <NUM> comprises an actuator (not shown) in communication with the haptic spots <NUM>. The actuator is operable so as to generate, in a speaker, a vibration of a predetermined frequency. Each of the at least one haptic spots <NUM> are individually operable, resulting in a large number of configurations of single or multiple haptic spots <NUM> that can be individually, successively, or simultaneously driven to provide a user with many different oscillatory feedback configurations, thereby conveying environmental and/or vehicle operational information by a haptic stimulus.

The haptic device <NUM> is wirelessly communicable with a vehicle to be used in combination with the haptic device <NUM>. In some embodiments, the haptic device <NUM> is wirelessly communicable with one or more sensing means, (such as one or more of a sensor, a radar camera system, an electronic sub system) on the vehicle. The haptic device <NUM> may be in communication with said one or more sensing means either directly, or indirectly, by communicating with an electronic control unit (ECU) of the vehicle. One suitable wireless communication means that may be used is Bluetooth®, although other wireless communication protocols may be used. The haptic device <NUM> includes a power source (not shown), such as one or more rechargeable batteries.

In some embodiments, the haptic feedback device <NUM> is incorporated in apparel for wearing by a user. The haptic feedback device <NUM> may be incorporate in a (or part of a) protective apparel or garment, such as a protective pad, or a vehicle suit, such as a motorcycle suit or a racing suit, a safety helmet such as a motorcycle helmet or cycling helmet, or footwear. Racing suits and motorcycle apparel may be made substantially from leather, abrasion resilient fabric, or a fireproof fabric. With reference to <FIG>, the haptic device (not visible in <FIG>) is integrated in a back protector <NUM>. The back protector <NUM> comprises a plurality of segments <NUM>, each defining a pocket of padding to provide the user with protection whilst riding a vehicle. Each of the one or more haptic spots <NUM> is housed within a respective pocket of a segment <NUM> and replaces some or all of the padding therein. Surprisingly, little to no compromise on protection conferred by the back protector <NUM> to the user is observed. The integration of haptic device <NUM> within the back protector <NUM> is such that wireless communication between the haptic device <NUM> and vehicle is still enabled.

<FIG> shows a base "armour" layer <NUM> of a multilayer protective vehicle suit, comprising the back protector <NUM> of <FIG>, integrated therein. The haptic device <NUM> is typically arranged so as to be proximal to the user's skin, such as directly in contact with the user's skin or under garments, or separated therefrom only by a relatively thin layer or layers of material. The layer or layers of material should be thin enough that the user can still sense oscillatory feedback output from the haptic device <NUM>. In some embodiments, if the multilayer protective vehicle suit is a motorcycle suit, it additionally comprises a mid-layer (not shown) worn on top of the base layer <NUM>, to provide thermal protection to the user and an abrasion resistant outer skin (not shown) to protect the under layers and the user from weather and to provide the suit with an aesthetically pleasing appearance.

When the vehicle is a motorcycle or a racing car, in some embodiments, the haptic feedback system comprises a helmet, wirelessly communicable with the motorcycle or racing car. The helmet is wirelessly communicable with one or more sensing means, (such as one or more of a sensor, a radar camera system, an electronic sub system) on the vehicle. The helmet may be in communication with said one or more sensing means either directly, or indirectly, by communicating with an electronic control unit (ECU) of the vehicle. Bluetooth® is one suitable means for providing a wireless communication between the motorcycle or racing car and the helmet, although other wireless communication protocols may be used. In some embodiments, the helmet comprises at least one of a head up display in an eye shield of the helmet and an audio system arranged to provide audio feedback to a user wearing the helmet. In some embodiments, the audio system comprises a speaker within the helmet. The head up display is arranged to provide visual feedback about one or both of the user's external environment and vehicle operational information superimposed over the user's normal field of view. <FIG> shows a head up display <NUM> of one embodiment. Superimposed information is provided at <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM>. In this way, oscillatory feedback configurations may be accompanied by one or both of a visible notification on a user display and an audible notification via the audio system within the helmet.

The haptic feedback system is operable so as to function in a number of different modes. The modes include at least one of a safety mode, a sport mode and a euphoric mode. In some embodiments, each mode is initially disabled or switched off in a default configuration of the haptic feedback system. The modes can then be enabled by a user pressing a button on a vehicle or on apparel. Depression of the button may send a signal to the haptic feedback system to enable one or more modes. Alternatively, or additionally, one or more of the modes may be enabled automatically, in response to one or more sensing means on any one of or combination of the vehicle, apparel and a helmet worn by the user, detecting a particular environment or situation. A single mode may be enabled or multiple modes may simultaneously be enabled.

Embodiments of safety mode, sport mode and euphoric mode will now be described, with reference to use with a compatible motorcycle. Although the embodiments described hereinafter are with reference to a motorcycle, it will be appreciated that embodiments of the invention may instead comprise any one of a variety of other vehicles, such as a racing car, a quad bike or all terrain vehicle (ATV), a tricycle or a bicycle. Although the embodiments described hereinafter are with reference to motorcycle apparel, it will be appreciated that embodiments of the invention may instead comprise any one of a variety of other apparel. The apparel may be an item of clothing, which clothing may, in some embodiments, be wearable under a vehicle suit. Other apparel may, in some embodiments, comprise protective apparel, such as a racing suit.

Motorcycle operation can be hazardous for a user, particularly in built up, busy, urban environments. In busy settings, motorcycle drivers (and indeed drivers of any vehicle type), can sometimes miss hazards that are in plain sight, due to an overload of information in a scene in front of them. Hazards in front of a motorcycle, "front hazards", such as a pedestrian crossing the road or a car pulling out ahead, can easily be missed when a user takes even just a few moments to perform another task, such as changing a radio channel, or looking at a speedometer of the vehicle. So called "cognitive blindness" may also be a problem, if a driver is more focused on a task at hand or an internal thought than the road ahead, causing the driver to miss front hazards.

Hazards behind a motorcycle, "rear hazards" are also a concern of motorcycle users. Conventionally, motorcycle users are advised to repeatedly check over their shoulder for rear hazards. When making a right turn at a junction, drivers are required to give way. In that scenario, an impatient driver of another vehicle, such as a car or van, approaching a motorcycle from behind, may attempt to undertake the motorcycle. This can take a user of the motorcycle by surprise and, if timed badly, may result in the other vehicle knocking the motorcycle user off the motorcycle. Safety helmets such as motorcycle helmets, provide a key piece of safety equipment, but repeatedly performing an over the shoulder check may lead to the motorcycle user developing a strained neck, which may become tiresome. In some situations, a motorcycle driver may miss potential hazards, or might simply forget to perform the check before making a turn.

"Safety mode" advantageously provides a user with notification based haptic feedback about potential hazards in the user's environment by providing a haptic stimulus. The haptic stimulus may be provided by means of a corresponding oscillatory feedback configuration. With reference to <FIG>, motorcycle <NUM> comprises sensing means <NUM>, <NUM> for sensing one or more signals indicative of environmental information, such as presence of a hazard. In some embodiments, sensing means <NUM>, <NUM> comprise a forward facing system <NUM> comprising one or both of a camera and a radar and a rear facing system <NUM>, comprising one or both of a cape camera and a radar. The front and rear systems <NUM>, <NUM> are suitable for sensing one or more signals <NUM> indicative of the presence of a hazard. Processing means, which, in some embodiments comprises a processor <NUM>, receives the one or more signals <NUM>. In response to the one or more sensed signals <NUM>, the processing means <NUM> determines whether a hazard is indeed present and the processing means <NUM> computes a position and distance of the hazard relative to the motorcycle <NUM>. The processing means <NUM> determines an oscillatory feedback configuration <NUM> in dependence on the computed position and distance of the hazard. In response thereto, a signal output means, which in some embodiments comprises an electronic control unit (ECU) <NUM>, outputs a signal <NUM> to cause the actuator (not shown) to operate the haptic output means <NUM> by driving one or more of the haptic spots <NUM>, so as to provide the motorcycle user <NUM> with the determined oscillatory feedback configuration <NUM>. The oscillatory feedback configuration <NUM> therefore provides the user <NUM> with a haptic stimulus indicative of the detected hazard.

It will be appreciated that a variety of oscillatory feedback configurations <NUM> indicative of a detected hazard may be used. In some embodiments, either left or right haptic spot(s) <NUM> are driven, depending on whether a hazard is to the left or to the right of the motorcycle <NUM>. In some embodiments, the oscillatory feedback configuration <NUM> increases or decreases in intensity and/or frequency as the hazard becomes respectively closer to or further from the motorcycle <NUM>.

With reference to the embodiment shown in <FIG>, proximity of a detected hazard <NUM> to the motorcycle <NUM> is communicated to the user <NUM> by providing an oscillatory feedback configuration <NUM> that mimics a tap-like gesture. The tap-like gesture is provided by driving a haptic spot <NUM> in a corresponding vertical position on the haptic output means <NUM> multiple times, in quick succession. When the haptic output means <NUM> is provided as part of a back protector, or on a back of a protective vehicle suit, or other apparel to be worn over the back of the user, this results in the tap-like gesture being received on the user's back. In some embodiments, the tap-like gesture may start at, say, one tap per second. The frequency of taps per second may increase with increasing proximity of the detected hazard <NUM>. In some embodiments, proximity of the detected hazard <NUM> may additionally or alternatively be communicated to the user <NUM> by means of driving different haptic spots <NUM> up the user's back. That is, the tap-like gesture may additionally or alternatively move up the user's back by first driving a lowermost haptic spot 106a, then, as the detected hazard <NUM> becomes closer to the motorcycle <NUM>, a lower medial haptic spot 106b may instead be driven. As the detected hazard <NUM> becomes yet closer to the motorcycle <NUM>, the tap like gesture is instead provided by driving an upper medial haptic spot 106c. Finally, as the detected hazard <NUM> reaches a critical proximity to the motorcycle <NUM>, an uppermost haptic spot 106a instead provides the tap like gesture.

In addition to or alternatively, in some embodiments, a relative position of the detected hazard <NUM> may be communicated to the user <NUM>. When a rear <NUM> hazard <NUM> is detected to the right <NUM> of the motorcycle <NUM>, relatively distal from the user <NUM>, the determined oscillatory feedback configuration <NUM> is provided by actuation of the lowermost right haptic spot 106a. The user <NUM> will understand that this gesture indicates that a distal rear <NUM> hazard <NUM> to the right <NUM> of the user <NUM> is present (as shown in <FIG>). As the distance between hazard <NUM> and motorcycle <NUM> decreases, the lower middle right haptic spot 106b and the upper middle right haptic spot 106c are successively driven, as shown in <FIG>, indicating to the user that the distance between the hazard <NUM> and the vehicle <NUM> is decreasing. Turning to <FIG>, as the rear <NUM> right <NUM> hazard <NUM> approaches a critical proximal point, the uppermost right haptic spot 106d is driven. The user <NUM> will understand that the rear right hazard is proximal to the rear of the motorcycle <NUM> and action may need to be taken to avoid an accident. It will therefore be appreciated that, as the rear <NUM> hazard <NUM> approaches the user <NUM> (or indeed vice versa), single haptic spots <NUM> are successively individually driven from a lower vertical position to an upper vertical position on the haptic output means <NUM>. In other words, the tap-like gesture moves up the haptic output means <NUM> and therefore correspondingly up a back of the user <NUM> wearing motorcycle apparel, associated with the haptic output means <NUM>, on their back. An increasing speed of movement of the tap-like gesture up the user's back is associated with and may be proportional to a speed at which the detected hazard <NUM> is approaching the motorcycle <NUM>. In this way, the haptic feedback system may provide blind spot monitoring.

When a front <NUM> hazard is detected, the motorcycle user <NUM> is provided with an oscillatory feedback configuration <NUM> indicative thereof, the configuration <NUM> being clearly distinguishable from any configuration <NUM> indicative of a rear <NUM> hazard. Turning now to <FIG>, all left haptic spots 106e, 106f, <NUM>, <NUM> are driven simultaneously to provide an oscillatory feedback configuration <NUM> in response to a front <NUM> hazard <NUM> that is detected to the left <NUM> of the motorcycle <NUM>. As the hazard <NUM> becomes closer to the motorcycle <NUM>, i.e. as the distance between the front hazard <NUM> and the motorcycle <NUM> decreases, the intensity of the oscillatory feedback configuration <NUM> indicative of a front <NUM> hazard <NUM> correspondingly increases, as shown in <FIG>.

When the haptic feedback system comprises a motorcycle helmet, in some embodiments, the user is simultaneously provided with audio and/or visual feedback in addition to the haptic stimulus provided by oscillatory feedback configurations, hereinbefore described. In some embodiments, the audio signal simply comprises an audible alarm or a noise that the user associates with the presence of a hazard. In other embodiments, the audio signal comprises a verbal signal specifying the location and proximity of the detected hazard, using phrases such as "rear left hazard detected", "front right hazard approaching", or simply "rear hazard". The audio signal may comprise a more specific verbal warning, such as "front left hazard detected approximately N feet ahead", where N feet is the distance between the detected hazard and the motorcycle. A verbal warning may be accompanied by an audible alarm or noise. The visual feedback comprises information displayed on a head up display on an eye shield of the helmet, such that the displayed information is superimposed over a user's normal field of view. With reference to <FIG>, in some embodiments, the visual signal for a rear hazard comprises a symbol <NUM> on the head up display <NUM>, positioned to be superimposed on the right or left of the user's field of view. The visual symbol <NUM> might be a hazard symbol or a motif. In some embodiments, a detected front hazard <NUM>, such as a pedestrian, may be highlighted in the user's view by a box <NUM> around the detected hazard. The box may flash as distance between the hazard and the motorcycle decreases. In some embodiments, the box <NUM> is a colour associated with severity, such as red or orange. This visual warning <NUM> may be accompanied by warning text <NUM>. The head up display <NUM> may also provide a user with a variety of other environmental and/or operational information, such as a speed indication <NUM> and indications <NUM>, <NUM>, as to which modes, if any, are enabled.

In some embodiments, safety mode advantageously provides a user with a lane departure notification comprising a haptic stimulus. The haptic stimulus may be provided by means of a corresponding oscillatory feedback configuration. The lane departure notification may warn the user <NUM> of that the vehicle <NUM> is departing from a lane in which the vehicle <NUM> is travelling.

Said sensing means <NUM>, <NUM> may be arranged to sense a signal <NUM>, which signal <NUM> is indicative of the vehicle <NUM> departing from its lane. In some embodiments, sensing means comprises a forward facing system <NUM> comprising one or both of a camera and a radar. The sensing means may additionally or alternatively comprise a rear facing system <NUM>, comprising one or both of a cape camera and a radar. In some embodiments, the front and rear systems <NUM>, <NUM> are arranged for sensing a signal <NUM> indicative of a road marking, which road marking may indicate a boundary of a lane. In some embodiments, the sensing means may additionally or alternatively comprise a torque sensor (not shown) for sensing a signal <NUM> indicative of a steering torque. The torque sensor may be arranged on a steering assembly of the vehicle <NUM>.

Processing means, which, in some embodiments comprises a processor <NUM>, receives the one or more signals <NUM>. In response to the one or more sensed signals <NUM>, the processing means <NUM> determines whether the vehicle <NUM> is departing from its lane. The processing means <NUM> determines an oscillatory feedback configuration <NUM> in dependence on the determined lane departure. In response thereto, a signal output means, which in some embodiments comprises an electronic control unit (ECU) <NUM>, outputs a signal <NUM> to cause the actuator (not shown) to operate the haptic output means <NUM> by driving one or more of the haptic spots <NUM>, so as to provide the user <NUM> with the determined oscillatory feedback configuration <NUM>. The oscillatory feedback configuration <NUM> therefore provides the user <NUM> with a haptic stimulus indicative of lane departure of the vehicle <NUM>.

The processing means <NUM> may additionally be arranged to determine whether the lane departure is unintentional or whether in fact, the signal <NUM> is indicative of an intentional vehicle manoeuvre initiated by the user <NUM>. In some embodiments, said determining comprises determining whether a steering torque exceeds a pre-determined threshold value of steering torque. The haptic stimulus may be inhibited when it is determined that the steering torque exceeds the pre-determined threshold value of steering torque. This may avoid distracting the user <NUM> during intentional vehicle manoeuvres.

Safety mode as hereinbefore described may be activated by a user and/or may be activated automatically, upon the haptic feedback system detecting one or more predetermined condition parameters. In some embodiments, a user may activate safety mode by pressing a button on the motorcycle, on the motorcycle apparel or on the helmet, which button causes a signal to be sent to the ECU to enable safety mode and initiate wireless communication between the vehicle and the haptic feedback device <NUM>. Alternatively, or additionally, the user may enable safety mode by means of a verbal command detected by a microphone on the helmet in communication with the haptic feedback system. In other embodiments, the motorcycle apparel may comprise sensing means, such as pressure sensors, accelerometers and/or gyroscopes, in communication with the haptic feedback system and the user may enable safety mode by means of a physical gesture.

In some embodiments, the ECU <NUM> and processing means <NUM> may continually monitor signals <NUM> and safety mode may be enabled automatically when the processing means <NUM> determines that the motorcycle is in a particular setting, such as, an urban scene. An urban scene may be detected by means of one or more sensing means <NUM>, <NUM> on the motorcycle detecting numerous hazards as described above. In these embodiments, in use, the ECU <NUM> refrains from providing any haptic stimulus until a threshold quantity of hazards (indicative of the presence of an urban scene) within a predefined time period are detected. Other factors indicative of an urban scene, detectable by the one or more sensing means on the motorcycle include noise levels, quantity of other proximal vehicles and speed of other proximal vehicles. Predefined threshold values for those quantities can be defined and stored in a memory means in communication with the processing means <NUM>.

In embodiments wherein safety mode is automatically enabled, the user may choose to override it and disable the mode.

When operating conventional, non-electric motorcycles, users rely on perceptible feedback, particularly from the motorcycle's engine, to ascertain how the motorcycle is handling and whether modification to operation thereof (such as a speed reduction or a decrease in lean angle) is required. A user can gauge a motorcycle's performance based on engine noise, how quickly the motorcycle is changing gear, how the steering feels, etc. However, the amount of perceptible vehicle performance feedback available to a user of an electric motorcycle is significantly reduced (compared to that of non-electric, conventional motorcycles). Electric motorcycles comprise a single gear and the engine is particularly quiet. Consequently, a user is less aware of how an electric motorcycle is handling and how close the electric motorcycle is to its operating limits. This usually results in a rider "playing it safe", which may negatively impact on the user's riding experience.

With reference to <FIG>, a haptic feedback system <NUM> operating in "sport mode" advantageously provides a user <NUM> with information indicative of a motorcycle's <NUM> handling and proximity to its limits by transmitting an oscillatory feedback configuration <NUM> via the haptic output means, which, in this embodiment, comprises a haptic device <NUM>. In sport mode <NUM>, parameters relating to the handling of the motorcycle <NUM> are monitored to determine whether the motorcycle <NUM> is approaching its operative limits. Motorcycle <NUM> comprises processing means, which in this embodiment comprises a processor <NUM>. Motorcycle <NUM> also comprises an electronic control unit (ECU) <NUM> communicable with one or more electronic subsystems <NUM>, 602a, 602b and/or one or more sensing means <NUM>, <NUM>, <NUM>, 606a, 606b, 606c of the motorcycle <NUM>. The processor <NUM> comprises input means arranged to receive one or more signals indicative of vehicle operational information from the sensing means and/or electronic subsystems. Different parameters are attributed a different importance weighting, to account for some parameters being more critical to motorcycle <NUM> failure than other parameters.

In some embodiments, ECU <NUM> monitors at least an anti-lock braking electronic subsystem (ABS) 602a and a traction control electronic subsystem (TCS) 602b of the motorcycle <NUM>. ABS 602a is monitored to assess, amongst other things, how hard the motorcycle <NUM> is braking and whether the brakes are beginning to lock. TCS 602b is monitored to determine, amongst other things, whether the motorcycle is losing traction or whether one or both of the wheels might experience a wheel slip event. The ECU <NUM> may additionally monitors information pertaining to one or more sensors such as accelerometers or gyroscopes 606a on the motorcycle <NUM>, to determine whether the motorcycle <NUM> is exceeding a predetermined critical G force, and/or whether the motorcycle <NUM> is exceeding a predetermined critical lean angle. With reference to <FIG>, each parameter is attributed a different degree of relevance, or weighting, to account for the fact that some parameters may be more critical to motorcycle <NUM> failure than other parameters. <FIG> shows a plot <NUM> of intensity <NUM> of an oscillatory feedback configuration in dependence on magnitude <NUM> of monitored factors. As is clear by reference to key <NUM>, line <NUM> shows the relationship between ABS and intensity of oscillatory feedback configuration, line <NUM> shows the relationship between TCS and intensity of oscillatory feedback configuration and line <NUM> shows the relationship between gyroscopic factors and intensity of oscillatory feedback configuration. In this embodiment, ABS 602a is considered the most important factor, followed by gyroscopic information 606a and then TCS 602b. <FIG> also shows a threshold magnitude value (indicated by line <NUM>) at or above which, in some embodiments, an oscillatory feedback configuration is provided. Below the threshold magnitude value <NUM>, transmission of an oscillatory feedback configuration is inhibited.

It will be appreciated that the parameters monitored or sensed by electronic systems <NUM> and sensing means <NUM> may be intrinsically linked. Amongst other relationships, it is noted that the larger a lean angle of the vehicle (relative to vertical), the smaller a contact area between a driving surface, such as a road, and a tyre of the motorcycle <NUM>, resulting in reduced traction. Consequently, the processing means <NUM> is arranged to employ a balancing algorithm to account for linked parameters and parameter weighting, to determine an overall numerical severity factor. With reference to <FIG>, line <NUM> on plot <NUM>, shows a relationship between magnitude <NUM> of an overall severity factor and intensity <NUM> of an oscillatory feedback configuration. In some embodiments, an oscillatory feedback configuration is not initiated until the magnitude of the severity factor <NUM> reaches or exceeds a predetermined threshold value, indicated by line <NUM>. Below the predetermined threshold value <NUM>, transmission of an oscillatory feedback configuration is inhibited.

With reference again to <FIG>, when the processing means <NUM> determines, using information monitored by the ECU <NUM>, that the severity factor reaches or exceeds a predetermined threshold value <NUM>, a signal <NUM> is generated, to cause the actuator (not shown) to operate the haptic output means <NUM> by driving one or more of the haptic spots <NUM>, so as to provide the motorcycle user <NUM> with an oscillatory feedback configuration <NUM>. The oscillatory feedback configuration <NUM> therefore provides the user <NUM> with a haptic stimulus indicating that the motorcycle <NUM> is approaching its limits. In some embodiments, the oscillatory feedback configuration <NUM> comprises a resonating vibration in all of the haptic spots <NUM>, as shown in <FIG>. The resonating vibrations increase or decrease in intensity, the closer or further the motorcycle is to its limits, respectively.

When the haptic feedback system comprises a motorcycle helmet, in some embodiments, the user <NUM> is simultaneously provided with audio and/or visual feedback in addition to the haptic stimulus provided by oscillatory feedback configurations, hereinbefore described. In some embodiments, the audio signal simply comprises an audible alarm or a noise that the user associates with the motorcycle approaching its operational limits. In other embodiments, the audio signal comprises a verbal signal, indicating that the vehicle is approaching its operational limits. In some embodiments, the verbal signal specifies a specific parameter or parameters that is approaching a safe limit. A verbal signal may be accompanied by an audible alarm or noise. The visual feedback comprises information displayed on a head up display on an eye shield of the helmet, such that the displayed information is superimposed over a user's normal field of view. With reference to <FIG>, in some embodiments, the visual signal may comprise a symbol <NUM> on the head up display <NUM>, positioned to be superimposed on the user's field of view. The symbol <NUM> may be indicative of a specific parameter, such as lean angle, that is approaching a safe limit. In some embodiments, the visual feedback may be accompanied by warning text <NUM>. The head up display <NUM> may also provide a user with a variety of other environmental and/or operational information, such as a speed indication <NUM> and indications <NUM>, <NUM>, as to which modes, if any, are enabled.

Sport mode as hereinbefore described may be activated by a user and/or may be activated automatically, upon the haptic feedback system detecting one or more predetermined condition parameters. In some embodiments, a user may activate sport mode by pressing a button on the motorcycle, on the motorcycle apparel or on the helmet, which button causes a signal to be sent to the ECU <NUM> to enable sport mode and initiate wireless communication between the vehicle and the haptic output means <NUM>. Alternatively, or additionally, the user may enable sport mode by means of a verbal command detected by a microphone on the helmet in communication with the haptic feedback system. In other embodiments, the motorcycle apparel may comprise sensing means, such as pressure sensors, accelerometers and/or gyroscopes, in communication with the haptic feedback system <NUM> and the user may enable sport mode by means of a physical gesture.

In some embodiments, the ECU <NUM> and processing means <NUM> may continually monitor signals from sensing means <NUM>, <NUM>, <NUM>, 606a, 606b, 606c and/or electronic subsystems <NUM>, 602a, 602b and sport mode may be enabled automatically when the processing means <NUM> determines that the motorcycle is operating in a particular way. Said particular way may be detected by means of one or more sensing means <NUM>, <NUM>, <NUM>, 606a, 606b, 606c and/or electronic subsystems <NUM>, 602a, 602b on the motorcycle sensing that the motorcycle <NUM> is travelling at a particular speed, or sensing unusual lean angles. In these embodiments, in use, the ECU <NUM> refrains from providing any haptic stimulus until it is determined that the motorcycle is operating in said particular way. Predefined rules as to what defines said particular way may be stored in a memory means in communication with the processing means <NUM>.

In embodiments wherein sport mode is automatically enabled, the user may choose to override it and disable the mode.

The oscillatory feedback configuration <NUM>, visible signal and audible signals are clearly distinguishable from the oscillatory feedback configuration <NUM> and visible and audible signals associated with safety mode. In some embodiments, sport mode is not used in combination with one or both of a head up display <NUM> and an audio system. In such embodiments, the oscillatory feedback configuration <NUM> is nevertheless distinguishable from any oscillatory feedback configurations <NUM> associated with safety mode.

Driving, riding or operating a motorcycle, can invoke an emotional response in a user. This is especially typical, although not exclusively, when the motorcycle is moving through an area of natural beauty, or on roads that are clear as far as the eye can see. Indeed, many motorcycle users choose to drive a motorcycle due to the sense of freedom and euphoria that they feel whilst driving. The present invention provides an oscillatory feedback configuration to initiate, impart or amplify an emotional response in a motorcycle driver, to enhance this sense of freedom and euphoria.

Euphoric mode comprises providing the user <NUM> with a haptic stimulus in the form of an oscillatory feedback configuration, in response to a signal indicating that the mode should be enabled. Specifically, depression of a button on the motorcycle <NUM>, on the motorcycle apparel associated with the haptic output means or on the helmet may send an electrical signal to the ECU <NUM> prompting the ECU <NUM> to send a signal to the actuation means to drive one or more of the haptic spots <NUM> of the haptic output means <NUM>. Alternatively, euphoric mode may be initiated by means of a voice command detected by a microphone in the helmet. In some embodiments, euphoric mode may be enabled automatically, upon the haptic feedback system detecting that the user is in a predetermined type of environment, such as a vastly open space, an environment near a relatively large body of water or an area or an area heavily populated by plants and greenery. Briefly, sensing means on the motorcycle, such as a front system <NUM> comprising one or both of a camera and a radar and a rear system <NUM> comprising one or both of a camera and a radar, and/or sensing means, such as cameras, on the helmet or protective vehicle suit, monitor the environment in which the user is driving. If the cameras or other sensing means detect a predetermined amount of light of wavelengths in the green to blue ranges of visible light, euphoric mode may be automatically initiated. In some embodiments, the haptic feedback system may be able to differentiate between types of scenery, by means of a memory means pre-programmed with information about expected light signals in different types of environment.

In some embodiments, euphoric mode is automatically enabled in dependence on sensed biometrics of the user, such as heart rate, perspiration rate or core temperature.

The oscillatory feedback configuration employed by the haptic feedback system in euphoric mode may comprise operating one or more of the haptic spots <NUM> output a frequency pattern. The frequency may comprise an audio frequency. The frequency output may be optimised to a frequency more noticeable to the user. The output frequency may comprise a harmonic configuration. The output frequency pattern may be provided by playing a song or playlist of songs through the one or more haptic spots' respective speakers. In some embodiments, the haptic feedback system may play different music genres, in dependence on the type of environment that the user is in. Classical music may be played when it is detected that the user is near a large body of water, or rock music may be played when it is detected that the user is descending down a steep gradient. In some embodiments, a user can pre-program the system to play their own chosen genres of music, or their own chosen songs or playlists of songs, in response to different scenery. In some embodiments, a frequency output.

In some embodiments, additional haptic spots <NUM> are provided in additional locations, such as down a user's arms and/or legs. In those embodiments, euphoric mode may additionally or alternatively comprise driving haptic spots that are in contact with or proximal to the user's arms and/or legs, respectively so as to simulate the feeling of wind or air blowing up the user's arms and/or legs.

It will be appreciated that safety, sport and euphoric modes each have distinct applications and are best suited to different environments. Sport mode is particularly useful in a track environment, whilst safety mode is particularly suited to busy urban environments - environments in which sport mode is not likely to be necessary. Nevertheless, safety mode can be useful in a variety of environments and it is to be appreciated that both safety mode and sport mode can be simultaneously activated. Indeed any number of different modes may be complementary to one another and it is to be appreciated the modes hereinbefore described may be used alone or in combination with one or more other modes.

It will be appreciated that embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as claimed in any preceding claim and a machine readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.

Claim 1:
A method of providing haptic stimulus to a user during operation of a vehicle (<NUM>), the method comprising:
receiving at least one electrical signal (<NUM>) representative of operational information;
determining an oscillatory feedback configuration in dependence on said at least one electrical signal (<NUM>); and
outputting a signal (<NUM>, <NUM>) to cause a haptic output means (<NUM>) to output the determined oscillatory feedback configuration (<NUM>, <NUM>) to a user (<NUM>),
wherein said haptic output means (<NUM>) is associated with apparel (<NUM>, <NUM>) for wearing by the user (<NUM>),
characterised in that said operational information comprises at least one of:
information relating to an anti-lock braking system (<NUM>); and
information relating to a traction control system (<NUM>).