Methods and vehicles are provided for providing haptic feedback to a vehicle occupant. In one embodiment, the method includes determining at least one of interior conditions and exterior conditions of a vehicle. The vehicle includes a plurality of haptic actuators disposed in a seat. The method further includes calculating at least one of a pulse width modulation (PWM) pattern and an on/off compensation pattern based on the determined interior conditions and exterior conditions. The method further includes generating a signal with active periods that include at least one of the calculated patterns to command the plurality of haptic actuators to produce haptic pulses.