receiving a touch signal, and judging a touch position of a user on the haptics panel according to the touch signal;

judging a characteristic frequency area to which the touch position belongs, wherein the characteristic frequency area is one of a variety of characteristic frequency areas into which a base substrate of the haptics panel is divided according to a size of the base substrate of the haptics panel, the base substrate corresponding to a same characteristic frequency area has a same characteristic frequency, and the base substrate corresponding to different characteristic frequency areas has different characteristic frequencies;

determining characteristic mode displacement field distribution of the base substrate according to the characteristic frequency area to which the touch position belongs, wherein the characteristic mode displacement field distribution contains vibration displacement phase information at each position of the base substrate;

determining a plurality of piezoelectric devices arranged in an array and contained in the haptics panel to be in at least one vibration area according to the vibration displacement phase information of the characteristic mode displacement field distribution; and

loading voltage signals on at least part of the piezoelectric devices in the vibration area, wherein frequencies of the voltage signals loaded in all vibration areas are the same as the characteristic frequency of the base substrate corresponding to the characteristic frequency area to which the touch position belongs, phases of voltage signals loaded in the same vibration area are the same, and phases of voltage signals loaded in every two adjacent vibration areas are different.