GB2630268A

GB2630268A - Vehicle haptic system

Info

Publication number: GB2630268A
Application number: GB2307171.5A
Authority: GB
Inventors: Wiles Paul; Rooney Jordan; Shackcloth Sofie; Hameedi Jamal; Mitchell Mairi
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2023-05-15
Filing date: 2023-05-15
Publication date: 2024-11-27
Also published as: GB202307171D0; WO2024235644A1

Abstract

The present invention relates to a vehicle haptic system 100 with at least one vehicle seat 105 comprising; a backrest portion 110 for supporting an occupant 2000 (fig 2), a first set of at least one haptic transducer 305a for generating a vibration 425 (fig 7) according to a haptic signal 410 (fig 7), wherein the first set is disposed along a central, longitudinal, axis 115 (fig 3) of the backrest portion, and a second set of at least one haptic transducer 305b for generating a vibration according to a haptic signal, wherein the second set is disposed in a position laterally offset from the central, longitudinal, axis of the backrest portion. Both sets are configured to receive separate haptic signals. Optionally the system includes an audio speaker for converting an audio signal into sound waves.

Description

VEHICLE HAPTIC SYSTEM

TECHNICAL FIELD

The present disclosure relates to a vehicle haptic system. Aspects of the invention relate to a vehicle haptic system, and to a method of controlling a vehicle haptic system.

BACKGROUND

It is widely known that occupants of vehicles enjoy listening to music during a journey. Depending on the genre or tempo of the music being played, the music may generate a sensation or feeling within an occupant, for example, relaxation or excitation.

In order to propagate the music effectively within a vehicle, a vehicle stereo system, which emits the music, is typically embedded within the internal space of a vehicle, for example, within the door panelling. Stereo systems, however, typically contribute a significant amount of weight to a vehicle and may take up lame amounts of the internal space available within a vehicle. To reduce the mass of a vehicle and/or manufacturing cost, vehicle manufacturers across the industry have looked to reduce the size of the vehicle stereo systems. Reducing the size of vehicle stereo systems, however, typically has the consequence of reducing the quality of sound emitted from the stereo system. In particular, bass frequencies of the sound may be significantly impaired. This reduction in sound quality may in turn, adversely affect the sensation or feeling that is evoked by the music emitted by the stereo system.

This industry trend is unfortunate for occupants of premium vehicles who demand features that contribute to the entertainment of being within a vehicle, such as premium stereo systems, regardless of the cost or weight contributed to the vehicle. Similarly, this industry trend is unfortunate for those who rely on bass frequencies to listen to music emitted from stereo systems effectively, for example, those who are hard of hearing.

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

prior art.

SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide a vehicle haptic system, and a method of controlling a vehicle haptic system as claimed in the appended claims.

According to an aspect of the present invention there is provided a vehicle haptic system, the vehicle haptic system comprising: at least one vehicle seat comprising a backrest portion for supporting an occupant of the at least one vehicle seat; a first set of at least one haptic transducer for generating a vibration according to a haptic signal, wherein the at least one haptic transducer of the first set is disposed along a central, longitudinal, axis of the backrest portion; and a second set of at least one haptic transducer for generating a vibration according to a haptic signal, wherein the at least one haptic transducer of the second set is disposed in a position laterally offset from the central, longitudinal, axis of the backrest portion, wherein the at least one haptic transducer of the first set is configured to receive a first haptic signal, and the at least one haptic transducer of the second set is configured to receive a second haptic signal, separate from the first haptic signal.

According to another aspect of the present invention there is provided a method of controlling a vehicle haptic system, the method comprising: actuating at least one haptic transducer of a first set to vibrate according to a first haptic signal, wherein the at least one haptic transducer of the first set is disposed along a central, longitudinal, axis of a backrest portion of at least one vehicle seat; and actuating at least one haptic transducer of a second set to vibrate according to a second haptic signal, wherein the at least one haptic transducer of the second set is disposed in a position laterally offset from the central, longitudinal, axis of the backrest portion of the at least one vehicle seat.

Advantageously, the haptic transducers are spaced apart so as to target different areas of the back (e.g., a spine, kidneys) of an occupant of the at least one vehicle seat. Further, each haptic transducer may receive a different haptic signal, thereby providing a different massage sensation to different areas of the back of an occupant of the at least one vehicle seat.

In an embodiment, the at least one haptic transducer of the first set is positioned so as to vibrate a spinal region of an occupant of the at least one vehicle seat in use.

In an embodiment, the at least one haptic transducer of the second set is disposed in a position between a base of the backrest portion and a transverse axis that bisects the backrest portion.

In an embodiment, the at least one haptic transducer of the second set is positioned so to vibrate a kidney region of an occupant of the at least one vehicle seat in use.

In an embodiment, the second set of at least one haptic transducer comprises: a first haptic transducer laterally offset from the central, longitudinal, axis of the backrest portion in a first direction; and a second haptic transducer laterally offset from the central, longitudinal, axis of the backrest portion in a second direction opposite to the first direction.

In an embodiment, the second haptic signal comprises a left channel signal and a right channel signal, such that one of the first haptic transducer and the second haptic transducer receives the left channel signal and the other of the first haptic transducer and the second haptic transducer receives the right channel signal. Advantageously, separate vibrations, and thereby massage sensations, can be transmitted to the first and second kidneys of an occupant of the at least one vehicle seat. This allows for targeted vibrations to be sent to each kidney, for example so as to achieve spatial haptic effects, where a vibration or vibration pattern 'moves' from one kidney to another.

In an embodiment, the backrest portion comprises a vibro-tactile membrane, wherein the at least one haptic transducer of the first set and the at least one haptic transducer of the second set are affixed to the vibro-tactile membrane. Advantageously, the vibro-tactile membrane spreads the vibrations emitted from the at least one transducer over the at least one vehicle seat, enabling occupants of a wide-range of different sizes to use the vehicle haptic system effectively.

In an embodiment, the vehicle haptic system comprises a control system coupled to the at least one haptic transducer of the first set and the at least one haptic transducer of the second set, wherein the control system is configured to independently control the at least one haptic transducer of the first set and the at least one haptic transducer of the second set. In an embodiment the control system is configured to carry out the method of controlling a vehicle haptic system.

In an embodiment, the vehicle haptic system comprises at least one audio speaker for converting an audio signal to sound waves, wherein the control system is coupled to the at least one audio speaker, and wherein following receipt of an audio signal from an audio source the control system is configured to cause the at least one audio speaker to convert the audio signal to sound waves, and actuate the at least one haptic transducer of the first set to vibrate according to the first haptic signal, and actuate the at least one haptic transducer of the second set to vibrate according to the second haptic signal.

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

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

In an embodiment, the control system is configured to actuate the at least one haptic transducer of the second set to vibrate at a frequency of from 25 to 70 Hz according to the second haptic signal. Advantageously, the kidneys of an occupant have been found to be particularly receptive to vibrations in the frequency range of from 25 to 70 Hz, maximising the massage sensation.

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

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

In an embodiment, the vehicle haptic system comprises at least one pressure sensor disposed on the at least one vehicle seat, wherein the at least one pressure sensor is configured to measure pressure applied to the at least one vehicle seat and generate a pressure signal, and wherein the control system is configured to receive the pressure signal from the at least one pressure sensor.

In an embodiment, on receiving a pressure signal indicating that the pressure applied to the at least one vehicle seat is above a lower limit, the control system is configured to actuate the at least one haptic transducer of the first set and the at least one haptic transducer of the second set. Advantageously, where no occupant is actively engaging with the vehicle haptic system (e.g., there is no occupant in a given vehicle seat), the at least one haptic transducer is not actuated and, as such, vehicle power is conserved.

In an embodiment, the at least one vehicle seat comprises a first vehicle seat and a second vehicle seat, wherein the control system is configured to actuate the at least one haptic transducer of the first set disposed in the first vehicle seat to vibrate according to a first haptic signal, and actuate the at least one haptic transducer of the second set disposed in the first vehicle seat to vibrate according to a second haptic signal, and wherein the control system is configured to actuate the at least one haptic transducer of the first set disposed in the second vehicle seat to vibrate according to a first haptic signal, and actuate the at least one haptic transducer of the second set disposed in the second vehicle seat to vibrate according to a second haptic signal. Advantageously, a first occupant of a first vehicle seat may receive vibrations of the first haptic signal and the second occupant of a second vehicle seat may receive vibrations of the second haptic signal, wherein the vibrations of the first signal and/or may be different.

In an embodiment, the at least one audio speaker comprises a first audio speaker and a second audio speaker, wherein following receipt of a first audio signal from an audio source the control system is configured to cause the first audio speaker to convert the first audio signal to sound waves, and wherein following receipt of a second audio signal from an audio source the control system is configured to cause the second audio speaker to convert the second audio signal to sound waves. Advantageously, a first occupant may listen to sound waves of the first audio signal and a second occupant may listen to sound waves of the second audio signal, where the sound waves of the first audio signal and/or second audio signal may be different.

In an embodiment, at least one of the first audio speaker and second audio speaker comprises headphones or earphones. Advantageously, a first occupant may listen to sound waves of the first audio signal privately and/or a second occupant may listen to sound waves of the second audio signal privately.

In an embodiment, the vehicle comprises a vehicle haptic system according to any of the preceding claims.

In an embodiment, the method comprises generating the first haptic signal and the second haptic signal based on an audio signal.

In an embodiment, computer readable instructions which, when executed by a computer, are arranged to perform the method.

In an embodiment, a non-transitory, computer-readable storage medium storing instructions thereon that, when executed by one or more electronic processors, causes the one or more electronic processors to carry out the method.

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

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 shows a vehicle in accordance with an embodiment of the invention; Figure 2 shows an illustration of a vehicle seat in accordance with an embodiment of the invention and a seated occupant; Figure 3 shows a further illustration of the vehicle seat of Figure 2 in accordance with an embodiment of the invention; Figure 4 shows an exploded view of the vehicle seat of Figure 2 in accordance with an embodiment of the invention; Figure 5 shows a further illustration of the vehicle seat of Figure 2 in accordance with an embodiment of the invention and a seated occupant; Figure 6 shows a schematic representation of a vehicle haptic system; Figure 7 shows a further schematic representation of a vehicle haptic system; and Figure 8 shows an example control system for use in a vehicle haptic system.

DETAILED DESCRIPTION

A vehicle haptic system 100 in accordance with an embodiment of the present invention is described herein with reference to accompanying Figures 1 to 8.

As shown in Figure 1, a vehicle haptic system 100 is installed in a vehicle 1000. The vehicle haptic system 100 comprises at least one vehicle seat 105. Two vehicle seats 105a, 105b are evident in Figure 1 but the vehicle haptic system 100 may include any number of vehicle seats 105, for example one, two, three, or more vehicle seats 105. The vehicle 1000 in the present embodiment is an automobile, such as a wheeled vehicle, but it will be understood that the vehicle haptic system 100 may be used in other types of vehicle.

Referring to Figures 2 and 3, the vehicle seat 105 includes a backrest portion 110 for supporting an occupant 2000 of the vehicle seat 105, and more specifically for supporting the back of an occupant 2000. The occupant 2000 may be a driver of the vehicle 1000, or a passenger of the vehicle 1000. The vehicle seat 105 includes a base portion 120 for further supporting the buttocks and legs of the occupant 2000. The base portion 120 is joined to the backrest portion 110 at approximately a 90-degree angle, however, this angle may be configurable by the occupant 2000.

Referring to Figures 3, 4 and 5, the vehicle haptic system 100 includes a plurality of haptic transducers 305a, 305b that are disposed on, or disposed within, the backrest portion 110 of the vehicle seat 105. The plurality of haptic transducers 305a, 305b may include, for example, vibrators or shakers, which are configured to generate a vibration in response to a haptic signal. As used herein, a haptic signal is a signal generated for the purpose of actuating a haptic transducer. That is, a haptic signal is used to drive a haptic transducer. The plurality of haptic transducers 305a, 305b are configured to produce vibrations of low, or bass, frequencies, typically in the range of 20 Hz to 200 Hz. The vibrations produced by the plurality of haptic transducers 305a, 305b in response to a haptic signal may otherwise be referred to as haptic vibrations or tactile vibrations. As will be explained further below, the vehicle haptic system 100 is configured so that the vibrations produced by the plurality of haptic transducers 305a, 305b provide haptic or tactile feedback to the occupant 2000.

The plurality of haptic transducers 305a, 305b includes at least two sets of haptic transducers -a first set of at least one haptic transducer 305a and a second set of at least one haptic transducer 305b. In the illustrated examples, each of the first set and the second set includes two haptic transducers.

However, in other examples the first set and the second set of haptic transducers 305a, 305b may include one, three or more haptic transducers.

The backrest portion 110 includes a central, longitudinal, axis 115, which splits or bisects the backrest portion 110 into two substantially equal longitudinal sections -a first section and a second section. The first section may be laterally offset from the central, longitudinal, axis 115 in a first direction, and the second section may be laterally offset from the central, longitudinal, axis 115 in a second direction, opposite to the first direction.

The haptic transducers 305a of the first set are disposed along the central, longitudinal, axis 115 of the backrest 110. The haptic transducers 305a may be disposed in any location along the central, longitudinal, axis 115 of the backrest portion 110. For example, the first set may include a first haptic transducer 305a disposed in an upper section of the backrest portion 110 and a second haptic transducer 305a disposed in a lower section of the backrest portion 110, with both haptic transducers 305a being disposed along the central, longitudinal, axis 115. Aptly, the first haptic transducer 305a and the second haptic transducer 305a of the first set may be longitudinally offset along the central, longitudinal, axis 115 of the backrest portion 110 by a distance in the range of 100 to 200 mm, aptly to 140 mm.

As shown in Figure 2, when an occupant 2000 is sat in the vehicle seat 105, the central, longitudinal, axis 115 of the backrest portion 110 aligns with a spinal region 205 of the occupant 2000. As used herein, the spinal region 205 of an occupant 2000 refers to a region disposed along a central, longitudinal, axis of the back of the occupant 2000. As such, when actuated, the haptic transducers 305a of the first set are positioned to vibrate at least the spinal region 205 of the occupant 2000 of the vehicle seat 105, in use. In doing so, the vibrations emitted by the haptic transducers 305a of the first set provide the spinal region 205 of an occupant 2000 with tactile feedback, or a massage sensation. Positioning haptic transducers 305a in this way is advantageous, in that the spinal region 205 of an occupant 2000 is particularly sensitive to vibrations. As such, the occupant's perception of bass frequencies emitted by the haptic transducers 305a of the first set is maximised.

The haptic transducers 305b of the second set are each disposed in a position laterally offset from the central, longitudinal, axis 115 of the backrest portion 110. As used herein, a position laterally offset of the central, longitudinal, axis 115 of the backrest portion 110 refers to position offset in a direction substantially left or right of the central, longitudinal, axis 115. That is, the haptic transducers 305b of the second set are positioned in the first or second section of the backrest portion 110, as described above. In the illustrated example, the haptic transducers 305b of the second set are disposed on either side (i.e., left and right) of the central, longitudinal, axis 115. That is, the second set includes a first haptic transducer 305b laterally offset from the central, longitudinal, axis 115 of the backrest portion 110 in a first direction, and a second haptic transducer 305b laterally offset from the central, longitudinal, axis of the backrest portion in a second direction, opposite to the first direction. The haptic transducers 305b of the second set are disposed at the same height along the central, longitudinal, axis 115 of the backrest portion 110, such that the haptic transducers 305b are mirrored in location when viewed in relation to the central, longitudinal, axis 115 of the backrest portion 110. Further, the haptic transducers 305b of the second set may be disposed an equal distance away from the central, longitudinal, axis 115 in the first and second directions respectively. Aptly, the first haptic transducer 305b and the second haptic transducer 305b of the second set may be laterally offset from the central, longitudinal, axis 115 of the backrest portion 110 by a distance in the range of 80 to 100 mm in the first and second directions respectively. The backrest portion 110 further includes a base 125, and a transverse axis 130. The base 125 of the backrest portion 110 is located at the point of intersection between the backrest portion 110 and the base portion 120. The transverse axis 130 bisects the backrest portion 110, such that the transverse axis 130 splits the backrest portion 110 into an upper section and a lower section. In this example, the haptic transducers 305b of the second set are disposed in a position between the base of the backrest portion 110, and the transverse axis 130 that bisects the backrest portion 110, i.e., in the lower section of the backrest portion 110. Wth this position, the at least one haptic transducers 305b of the second set are positioned so to vibrate a kidney region 210 of an occupant 2000 of the at least one vehicle seat 105 in use. That is, when an occupant 2000 is sat in the at least one vehicle seat 105, the haptic transducers 305b of the second set are generally aligned with, or proximal to, a corresponding kidney region 210 of the occupant 2000 of the at least vehicle seat 105. As used herein, the kidney regions 210 of an occupant 2000 refer to regions being disposed in the lower back area of the occupant 2000, more specifically side portions of the lower back area. Thereby, the haptic transducers 305b of the second set are disposed in positions to vibrate the kidney regions 210 of the occupant 2000 of the at least vehicle seat 105 in use. The vibrations emitted by the haptic transducers 305b of the second set are configured to provide the kidney regions 210 of an occupant 2000 with tactile feedback, or a massage sensation. Positioning haptic transducers 305b in this way is advantageous in that the kidney regions 210 of an occupant 2000 are particularly sensitive to vibrations. As such, the occupant's 2000 perception of bass frequencies emitted by the haptic transducers 305b of the second set is maximised.

Aptly, the haptic transducers 305b of the second set may be disposed at a distance in the range of 20 to 40 mm above the base 125 of the backrest portion 110. Further, aptly, the second haptic transducer 305a of the first set may be disposed at a distance in the range of 100 to 140 mm above the base 125 of the backrest portion 110.

Figures 3, 4 and 5 illustrate an example assembly including the backrest portion 110, the first set of haptic transducers 305a and the second set of haptic transducers 305b. In Figure 4 a frame structure of the backrest portion 110 is shown. The backrest portion 110 includes a mounting frame 340, positioned within the frame structure of the backrest portion 110. The haptic transducers 305a of the first set and the haptic transducers 305b of the second set are mounted on the mounting frame 340.

The haptic transducers 305a, 305b may be mounted on the mounting frame 340 in any suitable manner.

In this example, the mounting frame 340 includes recesses for receiving each haptic transducer 305a, 305b. Further components of the vehicle haptic system 100 described herein, for example an amplifier 320 or an audio speaker 310 (both further described below with reference to Figure 7), may also be mounted to the mounting frame 340. The mounting frame 340 may in turn by securely attached to the frame structure of the backrest portion 110 by way of screws, or other fixing components. Advantageously, the mounting frame 340 provides a single point of attachment for multiple components to the backrest portion 110, for example the haptic transducers 305a of the first set and the haptic transducers 305b of the second set, thereby improving the efficiency of the assembling the vehicle haptic system 100.

The vehicle haptic system 100 is arranged so that the haptic transducers 305a of the first set are configured to, or arranged to, receive a first haptic signal and the haptic transducers 305b of the second set are configured to, or arranged to, receive a second haptic signal, separate from the first haptic signal. The first haptic signal and second haptic signal may be differentiated by frequency range, characteristic amplitudes (for example the maximum amplitude or the average amplitude), tempo or any further waveform properties known in the art.

By providing different haptic signals to each of the first and second set of haptic transducers, the spinal region 205 and kidney region 210 can be activated differently by the haptic transducers. That is, haptic signals can be sent to the first set of haptic transducers 305a so that the spinal region 205 is vibrated at a frequency, amplitude or tempo to which it is particularly sensitive. Similarly, the kidney region 210 can be vibrated at a frequency, amplitude or temp to which it is particularly sensitive. For example, the first haptic signal may produce vibrations having a waveform that is substantially sharper or more transient than the second signal. The first haptic signal may include frequencies in the range of 60 to 200 Hz, aptly the first haptic signal may include frequencies in the range of 60 to 150 Hz. The second haptic signal may include frequencies in the range of 20 to 70 Hz, aptly 25 to 70 Hz.

Advantageously, the at least one vehicle seat 105 may spread vibrations produced by the haptic transducers of the second set 305b from the backrest portion 110 to the base portion 120. Thereby, the at least one haptic transducer of the second 305b set vibrate buttocks and legs of an occupant 2000 of the at least one vehicle seat 105 in use, in addition to the kidney regions 210 of the occupant 2000. As such, the vehicle haptic system 100 therefore does not require additional haptic transducers to vibrate the buttocks and legs of an occupant 2000. Advantageously, the frequencies to which the kidney region 210 are particularly sensitive are also likely to spread to the base portion 120.

A common haptic signal may be sent to the haptic transducers in the first set and similarly a common haptic signal may be sent to the haptic transducers in the second set. However, separate haptic signals may also be sent to each haptic transducer within each set. For example, the second haptic signal may include a left channel signal and right channel signal, such that one of the first haptic transducer and the second haptic transducer of the second set receives the left channel signal and the other of the first haptic transducer and the second haptic transducer receives the right channel signal. The left channel signal may be separate from the right channel signal, such that the left channel signal and right channel signal may be differentiated by channel, frequency, amplitude, tempo, or any further audio properties known in the art. Advantageously, emitting different vibrations from the haptic transducers within each set can provide an occupant 2000 with a more transient, spatially dependent, experience. When used in combination with an audio output (as described later) this effect may be used to complement or replace a surround sound experience.

The backrest portion 110 of the vehicle seat 105 includes a spreader plate, for example a vibro-tactile membrane 300. The haptic transducers 305a of the first set and the haptic transducers 305b of the second set are affixed to the vibro-tactile membrane 300. That is, the haptic transducers 305a of the first set and the haptic transducers 305b of the second set are in direct contact with the vibro-tactile membrane 300. The vibro-tactile membrane 300 covers the haptic transducers 305a of the first set and the haptic transducers 305b of the second set. The vibro-tactile membrane 300 extends beyond the locations of each of the haptic transducers 305a, 305b so as to provide a surface for spreading the vibrations emitted from the haptic transducers 305a, 305b over the backrest portion 110, and in turn, to the occupant 2000. The vehicle seat 105 includes a front face 135, facing an occupant 2000 of the at least one vehicle seat 105, when in use, and a rear face 140, facing away from the occupant 2000, when in use. The vibro-tactile membrane 300 is positioned substantially towards the front face 135 of the vehicle seat 105, with the haptic transducers 305a of the first set and the haptic transducers 305b of the second set being affixed to the back of the vibro-tactile membrane 300, i.e., facing the rear face of the vehicle seat 105. The vibro-tactile membrane 300 is then affixed to the mounting frame 340 by way of screws, or other fixing components.

The vibro-tactile membrane 300 may be manufactured from a polymer material, for example, a polyurethane (PU) foam. The polyurethane (PU) foam may be a high density closed-cell polyurethane (PU) foam, for example having a density of approximately 320 kgm-3. The vibro-tactile membrane 300 may have a thickness of approximately 3 mm.

Advantageously, spreading the vibrations produced by the haptic transducers 305a, 305b over the backrest portion 110 ensures the vehicle haptic system 100 is suitable for occupants 2000 of different physical sizes. That is, the spinal region 205 and kidney 210 regions can still be activated even in situations where the transducers 305a, 305b do not exactly align with these regions 205, 210. In addition, the vibro-tactile membrane 300 acts to spread (to some extent) the localised vibrations felt in the regions 205, 210 to provide the occupant 2000 with a more homogenised feeling.

The at least one vehicle seat 105 may include one or more insulating members disposed around at least one of the haptic transducers 305a, 305b. The insulating member may be disposed around substantially all faces of the haptic transducers 305a, 305b, apart from that which faces the back of the occupant 2000. The insulating member may include an insulating layer covering the face of each haptic transducer 305a, 305b that points to the rear face 140 of the vehicle seat 105. In an example, separate insulating layers are included for the haptic transducers of the first set 305a and the second set 305b.

Advantageously, the insulating member may prevent vibration losses by directing vibrations emitted from the haptic transducers 305a, 305b towards the back of an occupant 2000, when in use. This increases efficiency and prevents damage to other components that may not be suitable for receiving such vibrations.

The insulating member may include recesses for receiving each haptic transducer 305a, 305b. The insulating member may be manufactured from a polymer material, for example polyurethane (PU) foam, or any insulating material known in the art. Preferably, the polyurethane (PU) foam is low density (approximately 49 kgm-3) closed cell polyurethane (PU) foam. Where in contact with one of the haptic transducers 305a, 305b, the insulating member is at least 10 mm in thickness, and where not in contact with one of the haptic transducers 305a, 305b, the insulating member is 5 mm in thickness. The insulating member may be affixed to the vibro-tactile membrane 300 by way of adhesive strips, screws or other means known in the art.

The backrest portion 110 includes a material covering or upholstery, disposed between the vibro-tactile membrane 300 and the occupant 2000, such that the haptic transducers 305a of the first set and the haptic transducers 305b of the second set indirectly contact the occupant 2000 by way of the material covering or upholstery.

The material covering may include a cushioning material, provided for comfort, and a cover or liner, providing the exterior of the backrest portion 110. The cushioning material may be a foam. The thickness of the foam may be from 40 mm to 80 mm, aptly from 50 mm to 70 mm, aptly from 55 mm to mm. Providing foam of this thickness, which is much greater than the thicknesses used in conventional vehicle sets (typically between 20 mm and 25 mm) ensures the haptic transducers 305a, 305b do not impact on the comfort of the occupant 2000. It would be understood that the thickness of the foam may not be homogenous across the backrest portion 110. Instead, the thickness of the foam may be greater in the areas covering the haptic transducers 305a, 305b.

The vehicle seat 105 may include one or more pressure sensors. The at least one pressure sensor may be disposed on the backrest portion 110, and/or the base portion 120, of the vehicle seat 105. The at least one pressure sensor is configured to measure pressure applied to the vehicle seat 105 and generate a pressure signal. The pressure applied to the at least one vehicle seat 105 is generated by the occupant 2000 seated on the base portion 120 and/or supported by the backrest portion 110, when in use.

The vehicle haptic system 100 may be configured so that the haptic transducers 305a, 305b cannot be actuated, or actuation is stopped, when the pressure signal is below a lower limit value. A pressure signal below a limit value may indicate that the occupant 2000 is no longer sat on the base portion 120 or has leaned forward from the backrest portion 110 so that they would no longer benefit from actuation of the haptic transducers 305a, 305b. The lower limit may be equal to the lowest weight of occupant 2000 expected to be sat in, or supported by, the at least one vehicle seat 105, as such, when there is no occupant 2000 in the at least one vehicle seat 105, the at least one haptic transducer 305a of the first set and the at least one haptic transducer 305b of the second set are not actuated. In this manner, the vehicle haptic system 100 may, advantageously, conserve power when an occupant 2000 is not seated in, or supported by, the at least one vehicle seat 105, thereby improving the efficiency of operating the vehicle haptic system 100. In addition, the experience of other vehicle occupants 2000 may be improved with the removal of background 'noise' from the haptic transducers 305a, 305b when not required.

Alternatively, the vehicle haptic system 100 may be configured so that the haptic transducers 305a, 305b cannot be actuated, or actuation is stopped, when other sensing means detect that the occupant 2000 is not seated on the base portion 120 and/or supported by the backrest portion 110 of the at least one vehicle seat 105. Other sensing means may include the use of camera, a motion sensor, or other means known in the art.

Figure 6 illustrates an example implementation of the vehicle haptic system 100 described above. In this example the vehicle haptic system 100 includes a control system 315. The control system 315 may be located proximate to a centre console, dashboard, media player, or navigation system, of the vehicle 1000. Alternatively, the control system 315 may be located within the at least one vehicle seat 105.

The control system 315 is coupled, either directly or indirectly, to the haptic transducers 305a of the first set (only one haptic transducer 305a is shown for clarity) and the haptic transducers 305b of the second set (similarly, only one haptic transducer 305b is shown for clarity). The control system 315 may be coupled to the haptic transducers 305a of the first set and the haptic transducers 305b of the second set via any of the means described above, or known in the art, either directly or indirectly. The control system 315 is configured to pass haptic signals 410 to the haptic transducers 305a, 305b so as to actuate the haptic transducers 305a, 305b to produce vibrations 425. More specifically the control system 315 is configured to pass a first haptic signal 410a to the haptic transducers 305a of the first set and a second haptic signal 410b to the haptic transducers 305b of the second set. Thereby, the control system 315 is configured to independently control the haptic transducers 305a of the first set and the haptic transducers 305b of the second set, via the first haptic signal 410a and the second haptic signal 410b respectively. Further, the control system 315 may be configured to pass separate haptic signals haptic transducers within each set.

The first haptic signal 410a and the second haptic signal 410b may be stored within a memory (e.g., internal storage, external storage devices) of the control system 315. Alternatively, the first haptic signal 410a and the second haptic signal 410b may be streamed to the control system 315 from an external source (e.g., cloud storage), via an internet connection, or other means known in the art.

Figure 7 illustrates a further example implementation of the vehicle haptic system 100 described above.

In comparison to the implementation of Figure 6, the vehicle haptic system 100 of Figure 7 further includes an audio source 330. The control system 315 is coupled, either directly or indirectly, to the audio source 330, via a wired connection, a wireless connection, or by any means known in the art. The audio source 330 may be an internal source within the vehicle 1000, for example a radio system, or an external source, for example a MP3 player or a mobile phone. The audio source 330 generates the audio signal 405, suitable to be received by the control system 315. The audio signal 405 may include, for example, a music track, a podcast, or the audio channel of a visual medium (e.g., a film, television programme). The audio signal 405 may be stored within a memory of the audio source 330 or generated therefrom, for example a streamed signal.

The vehicle haptic system 100 of Figure 7 further includes at least one audio speaker 310 for converting an audio signal 405 to sound waves 415. The at least audio speaker 310 may include a loudspeaker, headphones, earphones, or other types of audio speaker known in the art. The audio speaker 310 may be disposed within door panelling or within a vehicle seat 105, for example. When disposed on a vehicle seat 105, the audio speaker 310 may be affixed to the mounting frame 340. Where the at least one audio speaker 310 comprises headphones or earphones, the control system 315 may be configured to detect different types of headphones or earphones and adjust any latency in the audio signal 405 accordingly.

The control system 315 is coupled to the at least one audio speaker 310. The control system 315 may be coupled to the at least one audio speaker 310 by any means described above or known in the art, either directly or indirectly. The control system 315 may be coupled to the at least one audio speaker 310 via an audio amplifier for amplifying audio signals 405. Following the receipt of an audio signal 405 from an audio source 330 the control system 315 is configured to cause the at least one audio speaker 310 to convert the audio signal 405 to sound waves 415 so as to be audible to one or more occupants 2000 of the vehicle 1000. Where, the audio speaker 310 is, for example, headphones, the sound waves 415 may only be audible to one occupant 2000 of the vehicle 1000. Advantageously, an occupant 2000 may be able to listen to audio signal 405 privately. In contrast, where the audio speaker 310 is, for example, a loudspeaker, the sound waves may be audible to more than one occupant 2000 of the vehicle 1000.

Advantageously, the vibrations 425 emitted from the haptic transducers 305a, 305b may be complimentary to the sound waves 415 emitted from the at least one audio speaker 310. That is, the haptic signal(s) 410 may be based on the audio signal 405 in terms of frequency, amplitude, tempo, or any further audio properties known in the art. In this manner the entertainment value of listening to an audio signal 405 using the vehicle haptic system 100 is enhanced with complementary tactile sensations. For example, the complementary tactile sensations emphasise the bass frequencies of the audio signal 405, such that occupants 2000 who demand a premium audio experience with enhanced bass response, whilst avoiding distracting other occupants of the vehicle, and those who are hard of hearing, are satisfied. This reduces the required specification of the at least one audio speaker 310 with regards to bass output. The control system 315 may be configured to generate the haptic signal(s) 410 based on the audio signal 405 received from the audio source 330. That is, the control system 315 may receive the audio signal 405 and may generate, using one or more processors implementing computer-readable instructions, corresponding haptic signals 410.

The vehicle haptic system 100 further includes input means 325 for receiving an input from an occupant 2000 of the at least one vehicle seat 105. The input means 325 may include a user-interface suitable for an occupant 2000 inputting instructions, such that the instructions form an input signal 420. The control system 315 is configured to adjust the first haptic signal 410a and/or the second haptic signal 410b in response to the input signal 420. The first haptic signal 410a and/or the second haptic signal 410b may be adjusted in frequency, amplitude, tempo, or any further audio properties known in the art. Further, the first haptic signal 410a and/or the second haptic signal 410b may be paused, muted, or stopped. The control system 315 is configured to adjust the audio signal 405 in response to the input signal 420. The audio signal 405 may be adjusted in frequency, amplitude, tempo, or any further audio properties known in the art. Further, the audio signal 405 may be paused, muted, or stopped. The user-interface of the input means 325 may alert the occupant 2000 of the at least one vehicle seat 105 that an adjustment has been made to the haptics signals 410 and/or the audio signal 305.

The control system 315 may further store the instructions of how the haptic signals 410 and/or the audio signals 405 have been adjusted for each vehicle seat 105 in a memory, such that adjustments made to the haptic signals 410 and/or audio signals 405 are retained between ignition cycles of the vehicle 1000. Where the vehicle haptic system 100 is being used for the first time, the haptic signals 410 and/or the audio signal 405 may be adjusted to a predetermined factory setting of any given frequency, amplitude, tempo, or any further audio properties known in the art.

Advantageously, the haptic signals 410 and/or the audio signals 405 may be adjusted to suit the preference of the occupant 2000 of the at least one vehicle seat 105. The first haptic signal 410a and/or second haptic signal 410b and/or audio signal 405 may be adjusted such that the respective waveform properties of the first haptic signal 410a and/or second haptic signal 410b and/or audio signal 405 are adjusted together. For example, the tempo of both the first haptic signal 410a and/or second haptic signal 410b and/or audio signal 405 are adjusted. Alternatively, the first haptic signal 410a and/or second haptic signal 410b and audio signal 405 may be adjusted such that only one of the waveform properties of the first haptic signal 410a and/or second haptic signal 410b and/or audio signal 405 is adjusted. For example, only the intensity of the first haptic signal 410a is adjusted.

The vehicle haptic system 100 further includes an amplifier 320 for amplifying haptic signals 410. The control system 315 is coupled to haptic transducers 305a of the first set and the haptic transducers 305b of the second set via amplifier 320, by any means described above or known in the art. The amplifier 320 may be disposed on the at least one vehicle seat 105, or in another location within the vehicle 1000, for example, a centre console of the vehicle 1000. The amplifier 320 may amplify the haptic signals 410 such that at least the amplitude of the haptic signals 410 is increased.

Advantageously, the haptic signals 410 are adjusted such that the haptic signal 410 are suitable to be received by the at least one haptic transducer 305a of the first set and the at least one haptic transducer 305b of the second set.

The vehicle haptic system 100 shown in Figure 7 further includes at least one pressure sensor 335. As described above, the at least one pressure sensor 335 is configured to measure pressure applied to the vehicle seat 105 and generate a pressure signal 420.

In Figure 7, the system 100 is shown with a first vehicle seat 105a and a second vehicle seat 105b. The first vehicle seat 105a includes at least one haptic transducer 305a of the first set and at least one haptic transducer 305b of the second set, and the second vehicle seat 105b includes at least one haptic transducer 305a of the first set and at least one haptic transducer 305b of the second set. The haptic signals sent to each vehicle seat 105a, 105b may differ. Similarly, the haptic signals sent to each vehicle seat 105a, 105b may be controlled independently by the respective occupant 2000 of each vehicle seat 105a, 105b. Alternatively, the haptic signals 410 sent to both vehicle seats 105a, 105b may be controlled by an occupant 2000 of a first vehicle seat 105a only. As such, the occupants 2000 of the first vehicle seat 105a and the second vehicle seat 105b may receive different vibrations 425. Further, the vehicle haptic system 100 may be configured to disable a vehicle seat 105, such that the haptic transducers 305a, 305b in that vehicle seat 105 are prevented from generating vibrations 425. In other embodiments, the vehicle haptic system 100 may be further configured to correspond the haptic signals 410 sent to the second vehicle seat 105b to the haptic signals 410 sent to the first vehicle seat 105a.

In addition, in the example shown in Figure 7, the at least one audio speaker 310 includes a first audio speaker 310a and a second audio speaker 310b. The first audio speaker 310a corresponds to the first vehicle seat 105a, and the second audio speaker 310b corresponds to the second vehicle seat 105b.

As such, the occupants 2000 of the first vehicle seat 105a and the second vehicle seat may, advantageously, listen to soundwaves generated from separate audio signals 405a, 405b. The separate audio signals 405 may be generated by a single audio source 330 or by first and further audio sources, for example an external source (e.g., an MP3 player).

Where the audio signal 405 comprises a spoken word track (e.g., an audiobook, a podcast), as opposed to a musical track (e.g., a song), the control system 315 is configured to detect that the audio signal 405 comprises a spoken word track and adjust the haptic signals 410 accordingly. The first haptic signal 410a and/or the second haptic signal 410b may be adjusted in frequency, amplitude, tempo, or any further audio properties known in the art. Where the control system 315 detects a fault in the vehicle haptic system 100, the control system 315 is configured to cause the haptic transducers 305a, 305b to prevent the generation of vibrations 425. A fault may include, but is not limited to, loss of connectivity to an audio source 330, or detection of damage to a haptic transducer 305a, 305b.

Where an occupant 2000 of the at least one vehicle seat 105 receives a phone call, the control system 315 is configured to detect the phone call and cause the haptic transducers 305a, 305b to stop the generation of vibrations 425. On termination of the phone call, the control system 315 is further configured to cause the haptic transducers 305a, 305b to resume the generation of vibrations 425.

The vehicle 1000 may comprise a "low power" mode, wherein, when activated, the vehicle haptic system 100 is disabled. When disabled, the haptic transducers 305a, 305b of the vehicle haptic system 100 are prevented from generating vibrations 425. Similarly, the vehicle 1000 may comprise a "eco power' mode, wherein, when activated, the vehicle haptic system 100 is adjusted. When adjusted, the first haptic signal 410a and/or the second haptic signal 410b may be adjusted in frequency, amplitude, tempo, or any further audio properties known in the art, such that power to the vehicle 1000 is conserved.

Figure 8 illustrates an example control system, for example control system 315 as described above. In this example the control system 315 comprises one controller 3151, although it will be appreciated that this is merely illustrative. The controller 3151 comprises processing means 3152 and memory means 3153. The processing means 3152 may be one or more electronic processing device 3152 which operably executes computer-readable instructions. The memory means 3153 may be one or more memory device 3153. The memory means 3153 is electrically coupled to the processing means 3152. The memory means 3153 is configured to store instructions. The memory means 3153 may also store one or more audio signals, haptic signals or means for generating haptic signals from, or corresponding to, audio signals in the manner described above. The processing means 3152 is configured to access the memory means 3153 and execute the instructions stored thereon. The controller 3151 comprises an input means 3154 and an output means 3155. The input means 3154 may comprise an electrical input 3154 of the controller 3151. The output means 3155 may comprise an electrical output 3155 of the controller 3151. The input 3154 is arranged to receive any of an audio signal 405, an input signal 420, or a pressure signal 430, as described above. The output 3155 is arranged to output any of an audio signal 405, or a haptic signal 410, as described above.

A method of controlling the vehicle haptic system 100 in any of ways described above may be performed by the control system 315 illustrated in Figure 8. In particular, the memory 3153 may comprise computer-readable instructions which, when executed by the processor 3152, perform the method according to an embodiment of the invention. For example, a method may include the steps of actuating at least one haptic transducer 305a of a first set to vibrate according to a first haptic signal 410a, wherein the at least one haptic transducer 305a of the first set is disposed along a central, longitudinal, axis 115 of a backrest portion 110 of at least one vehicle seat 105. The method may further include the step of actuating at least one haptic transducer 305b of a second set to vibrate according to a second haptic signal 410b, wherein the at least one haptic transducer 305b of the second set is disposed in a position laterally offset from the central, longitudinal, axis 115 of the backrest portion 110 of the at least one vehicle seat 105. The method may further include the step of actuating at least one audio speaker 310 of the vehicle haptic system 100 to produce sound waves 415 according to an audio signal 405. It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application. For example, it would be understood that the vehicle haptic system 100 would be operable without the vibro-tactile membrane 300.

Further, aspects of the vehicle haptic system 100 described in Figure 7 may be omitted -for example the input means 325, the pressure sensor 335, the amplifier 320, or the audio speaker 310, a vehicle seat, an audio speaker.

In some examples, the at least one haptic transducer may be located in the base portion 120 of the vehicle 105. In some examples. The at least one haptic transducer may be located in, or be part of, a foot haptic module in a footrest or floor portion of a vehicle.

For example, the at least one haptic transducer may include a first set of at least one haptic transducer for vibrating a first foot of the user of the vehicle haptic system; and a second set of at least one haptic transducer for vibrating a second foot of the user of the vehicle haptic system. The foot haptic module may have a profile having a length and a width, wherein the first set of at least one haptic transducer is offset from the second set of at least one haptic transducer along the length and/or the width of the profile of the at least one foot haptic module.

In some examples, the at least one haptic transducer may include haptic transducers in one or more of the backrest portion 110, the base portion 120 and the foot haptic module.

Claims

CLAIMSA vehicle haptic system, the vehicle haptic system comprising: at least one vehicle seat comprising a backrest portion for supporting an occupant of the at least one vehicle seat; a first set of at least one haptic transducer for generating a vibration according to a haptic signal, wherein the at least one haptic transducer of the first set is disposed along a central, longitudinal, axis of the backrest portion; and a second set of at least one haptic transducer for generating a vibration according to a haptic signal, wherein the at least one haptic transducer of the second set is disposed in a position laterally offset from the central, longitudinal, axis of the backrest portion, wherein the at least one haptic transducer of the first set is configured to receive a first haptic signal, and the at least one haptic transducer of the second set is configured to receive a second haptic signal, separate from the first haptic signal.
2. A vehicle haptic system according to claim 1, wherein the at least one haptic transducer of the first set is positioned so as to vibrate a spinal region of an occupant of the at least one vehicle seat in use.
3. A vehicle haptic system according to any of the preceding claims, wherein the at least one haptic transducer of the second set is disposed in a position between a base of the backrest portion and a transverse axis that bisects the backrest portion.
4. A vehicle haptic system according to claim 3, wherein the at least one haptic transducer of the second set is positioned so to vibrate a kidney region of an occupant of the at least one vehicle seat in use.
5. A vehicle haptic system according to any of the preceding claims, wherein the second set of at least one haptic transducer comprises: a first haptic transducer laterally offset from the central, longitudinal, axis of the backrest portion in a first direction; and a second haptic transducer laterally offset from the central, longitudinal, axis of the backrest portion in a second direction opposite to the first direction.
6. A vehicle haptic system according to claim 5, wherein the second haptic signal comprises a left channel signal and a right channel signal, such that one of the first haptic transducer and the second haptic transducer receives the left channel signal and the other of the first haptic transducer and the second haptic transducer receives the right channel signal.
7. A vehicle haptic system according to any of the preceding claims, wherein the backrest portion comprises a vibro-tactile membrane, wherein the at least one haptic transducer of the first set and the at least one haptic transducer of the second set are affixed to the vibro-tactile membrane.
8. A vehicle haptic system according to any of the preceding claims, comprising a control system coupled to the at least one haptic transducer of the first set and the at least one haptic transducer of the second set, wherein the control system is configured to independently control the at least one haptic transducer of the first set and the at least one haptic transducer of the second set.
9. A vehicle haptic system according to claim 8, comprising at least one audio speaker for converting an audio signal to sound waves, wherein the control system is coupled to the at least one audio speaker, and wherein following receipt of an audio signal from an audio source the control system is configured to cause the at least one audio speaker to convert the audio signal to sound waves, and actuate the at least one haptic transducer of the first set to vibrate according to the first haptic signal, and actuate the at least one haptic transducer of the second set to vibrate according to the second haptic signal.
10. A vehicle haptic system according to claim 9, wherein the control system is configured to generate the first haptic signal and the second haptic signal based on the audio signal.
11. A vehicle haptic system according to any of claims 8 to 10, wherein the control system is configured to actuate the at least one haptic transducer of the first set to vibrate at a frequency of from 60 to 150 Hz according to the first haptic signal.
12. A vehicle haptic system according to any of claims 8 to 11, wherein the control system is configured to actuate the at least one haptic transducer of the second set to vibrate at a frequency of from 25 to 70 Hz according to the second haptic signal.
13. A vehicle haptic system according to any of claims 8 to 12, wherein the vehicle haptic system comprises input means for receiving an input from an occupant of the at least one vehicle seat, wherein on receiving an input from the occupant of the at least one vehicle seat, the input means is configured to send an input signal to the control system and wherein the control system is configured to adjust the first haptic signal and/or the second haptic signal in response to the input signal.
14. A vehicle haptic system according to any of claims 8 to 13, wherein the vehicle haptic system comprises an amplifier for amplifying haptic signals, wherein the control system is coupled to the at least one haptic transducer of the first set and the at least one haptic transducer of the second set via the amplifier.
15. A vehicle haptic system according to any of claim 8 to 14, comprising at least one pressure sensor disposed on the at least one vehicle seat, wherein the at least one pressure sensor is configured to measure pressure applied to the at least one vehicle seat and generate a pressure signal, and wherein the control system is configured to receive the pressure signal from the at least one pressure sensor.
16. A vehicle haptic system according to claim 15, wherein on receiving a pressure signal indicating that the pressure applied to the at least one vehicle seat is above a lower limit, the control system is configured to actuate the at least one haptic transducer of the first set and the at least one haptic transducer of the second set.
17. A vehicle haptic system according to any of claims 8 to 16, wherein the at least one vehicle seat comprises a first vehicle seat and a second vehicle seat, wherein the control system is configured to actuate the at least one haptic transducer of the first set disposed in the first vehicle seat to vibrate according to a first haptic signal, and actuate the at least one haptic transducer of the second set disposed in the first vehicle seat to vibrate according to a second haptic signal, and wherein the control system is configured to actuate the at least one haptic transducer of the first set disposed in the second vehicle seat to vibrate according to a first haptic signal, and actuate the at least one haptic transducer of the second set disposed in the second vehicle seat to vibrate according to a second haptic signal.
18. A vehicle haptic system according to claim 9, wherein the at least one audio speaker comprises a first audio speaker and a second audio speaker, wherein following receipt of a first audio signal from an audio source the control system is configured to cause the first audio speaker to convert the first audio signal to sound waves, and wherein following receipt of a second audio signal from an audio source the control system is configured to cause the second audio speaker to convert the second audio signal to sound waves.
19. A vehicle haptic system according to claim 18, wherein at least one of the first audio speaker and second audio speaker comprises headphones or earphones.
20. A vehicle comprising a vehicle haptic system according to any of the preceding claims.
21. A method of controlling a vehicle haptic system, the method comprising: actuating at least one haptic transducer of a first set to vibrate according to a first haptic signal, wherein the at least one haptic transducer of the first set is disposed along a central, longitudinal, axis of a backrest portion of at least one vehicle seat; and actuating at least one haptic transducer of a second set to vibrate according to a second haptic signal, wherein the at least one haptic transducer of the second set is disposed in a position laterally offset from the central, longitudinal, axis of the backrest portion of the at least one vehicle seat.
22. A method of controlling a vehicle haptic system according to claim 21, the method comprising generating the first haptic signal and the second haptic signal based on an audio signal.
23. Computer readable instructions which, when executed by a computer, are arranged to perform a method according to any of claims 21 to 22.
24. A non-transitory, computer-readable storage medium storing instructions thereon that, when executed by one or more electronic processors, causes the one or more electronic processors to carry out a method according to any of claims 21 to 22.