Steering wheel hand-leaving detection method and device, storage medium, program product and vehicle

Abstract

The invention relates to a steering wheel hand-leaving detection method and device, a storage medium, a program product and a vehicle, and the method comprises the steps: determining whether a simulation device is connected to a steering wheel based on first perception data for the steering wheel of the vehicle and second perception data for a driver, so as to determine a hand-leaving detection result of the steering wheel, the emulation device is a device for coupling to the steering wheel to emulate a driver's grip and / or otherwise interact with the steering wheel. According to the method, steering wheel hand-leaving detection can be accurately carried out, and the detection accuracy and effect are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, storage medium, program product, and vehicle for detecting hands-off steering wheel. Background Art

[0002] When the vehicle's intelligent driving function is turned on, most ADAS (Advanced Driver Assistance System) are equipped with HOD (Hands off Detection) to monitor whether the driver is holding the steering wheel. The currently commonly used hands-off detection determines whether the driver is in a hands-off state based on the torque or capacitance of the steering wheel. However, this detection method is easily affected by external factors or other objects on the steering wheel, resulting in a high false alarm rate and low detection accuracy. Summary of the Invention

[0003] Embodiments of the present application provide a method, device, storage medium, program product, and vehicle for detecting hands-off steering wheel to solve the above-mentioned problems.

[0004] In order to achieve the above-mentioned object, according to a first aspect of the present application, a method for detecting hands-off steering wheel is provided, the method comprising:

[0005] determining, based on first perception data for a vehicle steering wheel and second perception data for a driver, whether a mimicking device is coupled to the steering wheel to determine a hands-off detection result for the steering wheel;

[0006] The mimicking device is a device for coupling to a steering wheel to simulate a driver gripping and / or otherwise interacting with the steering wheel.

[0007] Optionally, the determining whether there is an imitation device coupled to the steering wheel based on the first perception data for the vehicle steering wheel and the second perception data for the driver includes:

[0008] In a case where it is detected based on the driving information of the vehicle that the vehicle is in a driving state, it is determined based on the first perception data and the second perception data whether the imitation device is coupled to the steering wheel.

[0009] Optionally, the driving information includes at least one of the vehicle's driving speed, map information, and vehicle surrounding information.

[0010] Optionally, detecting that the vehicle is in a driving state based on driving information of the vehicle includes:

[0011] The vehicle is determined to be in a driving state when the driving speed of the vehicle is greater than a preset speed threshold, or the vehicle is on a driving road and the driving speed is greater than a preset speed threshold, or the vehicle is on a driving road and relative movement between the vehicle and a front obstacle is detected.

[0012] Optionally, the determining whether there is an imitation device coupled to the steering wheel based on the first perception data for the vehicle steering wheel and the second perception data for the driver includes:

[0013] determining whether the first perception data and the second perception data meet a preset condition,

[0014] When the first perception data and the second perception data satisfy the preset condition, it is determined that the imitation device is coupled to the steering wheel.

[0015] Optionally, the preset condition includes: the second perception data is less than or equal to a preset perception threshold, and the duration during which the change rate of the first perception data is less than or equal to the preset change rate threshold is greater than or equal to a preset time threshold.

[0016] Optionally, the preset change rate threshold is determined by:

[0017] Based on the driving information of the vehicle, a preset change rate threshold corresponding to the driving information is determined.

[0018] Optionally, determining whether the first perception data and the second perception data meet a preset condition includes:

[0019] When the change amount of the first perception data is greater than or equal to a preset change amount threshold, it is determined whether the first perception data and the second perception data meet a preset condition.

[0020] Optionally, the preset change threshold is determined by:

[0021] Determining a target detection sensitivity from a plurality of detection sensitivities, each of the plurality of detection sensitivities corresponding to a change threshold;

[0022] The change threshold corresponding to the target detection sensitivity is determined as the preset change threshold.

[0023] Optionally, the method further includes:

[0024] When the change in the first perception data is less than the preset change threshold, the steering wheel hand-off detection result is determined to be a hands-off state, and the vehicle is controlled to output a first prompt message.

[0025] Optionally, determining the hands-off detection result of the steering wheel includes:

[0026] When it is detected that the imitation device is not coupled to the steering wheel, the hands-off detection result of the steering wheel is determined to be in the hands-on state.

[0027] Optionally, determining the hands-off detection result of the steering wheel includes:

[0028] When it is detected that the imitation device is connected to the steering wheel, the steering wheel is determined to be in a hands-off state after the hands-off detection result is determined, and the vehicle is controlled to output a second prompt message.

[0029] Optionally, the first perception data includes: perception data collected by at least one first sensor.

[0030] Optionally, the at least one first sensor includes at least one of a capacitive sensor and a torque sensor configured on the steering wheel.

[0031] Optionally, the method further includes:

[0032] Based on the perception data of each type of the first sensor, a state detection result of each type of the first sensor is determined, so as to obtain the first perception data by collecting the first sensor whose state detection result is normal.

[0033] Optionally, the status detection result is obtained by:

[0034] If the sensing data is within a preset value range, determining that the status detection result is normal;

[0035] If the sensing data is not within a preset value range, it is determined that the status detection result is abnormal.

[0036] Optionally, the first sensor whose state detection result is normal includes multiple types, and the first sensing data collected based on the first sensor whose state detection result is normal includes:

[0037] The first sensing data is obtained by collecting the capacitive sensor based on the state detection result being normal.

[0038] Optionally, the number of the first sensors includes multiple, and the multiple first sensors are respectively arranged at multiple different first preset positions on the steering wheel.

[0039] Optionally, the second perception data includes: perception data collected by at least one second sensor.

[0040] Optionally, the at least one second sensor includes at least one of a blood pressure sensor, a pulse sensor, and a heart rate sensor.

[0041] Optionally, pressure sensors are provided at a plurality of second preset positions on the steering wheel, and the method further comprises:

[0042] In response to detecting pressure data of a pressure sensor at a target position, a target auxiliary device corresponding to the pressure sensor at the target position is determined from a plurality of auxiliary devices of the vehicle to control the operation of the corresponding target auxiliary device of the vehicle.

[0043] Optionally, the plurality of auxiliary devices include: at least one of a vehicle air-conditioning system, a vehicle audio and video system, vehicle windows, vehicle doors, and wipers.

[0044] According to a second aspect of the present application, an embodiment of the present application further provides an electronic device, including:

[0045] a memory having a computer program stored thereon;

[0046] A processor is used to execute the computer program in the memory to implement the steps of any one of the methods provided in the embodiments of the present application.

[0047] According to the third aspect of the present application, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods provided in the embodiments of the present application.

[0048] According to the fourth aspect of the present application, an embodiment of the present application further provides a computer program product, comprising a computer program or instructions, which, when executed by a processor, implements the steps of any one of the methods provided in the embodiments of the present application.

[0049] According to the fifth aspect of the present application, an embodiment of the present application further provides a vehicle, comprising the electronic device described above, or implementing the steps of any one of the methods provided in the embodiments of the present application.

[0050] Some embodiments of this specification include at least the following beneficial effects: based on the first perception data of the vehicle steering wheel and the second perception data of the driver, determining whether there is an imitation device connected to the steering wheel, thereby realizing hand-off detection of the steering wheel, which can improve the accuracy of hand-off detection.

[0051] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0053] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0054] Figure 1 This is a diagram of an application scenario of a method for detecting hands-off steering wheel according to some embodiments of this specification;

[0055] Figure 2 is an exemplary flow chart of a method for detecting hands-off steering wheel according to some embodiments of this specification;

[0056] Figure 3 is an exemplary schematic diagram of another method for detecting hands-off steering wheel according to some embodiments of this specification;

[0057] Figure 4 is an exemplary schematic diagram of an identification and imitation device according to some embodiments of this specification;

[0058] Figure 5 is a schematic structural diagram of an electronic device according to some embodiments of this specification;

[0059] Figure 6 is an exemplary schematic diagram of a vehicle according to some embodiments of the present specification. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0061] In order to facilitate understanding of the implementation scheme provided in the embodiments of the present application, the relevant application background of the steering wheel hand-off detection method provided in the embodiments of the present application is first explained.

[0062] Currently, in Advanced Driving Assistance Systems (ADAS), the driver's hands-off states are primarily classified as HandOn (hands on), HandOff (hands off), and HOD_INVALID (hands-off detection invalid). Hands-off detection is typically performed using pressure sensors, torque sensors, and impedance sensors. When a hands-off state is detected, an alert can be issued to the driver, improving driving safety. For example, a capacitive sensor creates a uniform capacitive field around the steering wheel. When the driver's hands approach or touch the steering wheel, the capacitive field changes. Capacitive sensors capture this change in the capacitive field by transmitting a sinusoidal wave and detecting the feedback current. Based on this change, the sensor can determine whether the driver is holding the steering wheel. Currently, some simulation devices have emerged that can simulate driver interaction with the steering wheel. However, attaching the simulation device to the steering wheel when the driver's hands are off the steering wheel can lead to false hands-off detection, potentially causing the assisted driving system to implement incorrect control strategies.

[0063] In view of this, some embodiments of this specification provide a method for detecting when the steering wheel is off-hand. When it is preliminarily determined that the hands are on the steering wheel based on the perception data of the capacitive sensor, it is calculated based on the vehicle's driving information, the first perception data and the second perception data to determine whether there are other objects on the steering wheel replacing the driver's hands, so as to accurately perform the steering wheel off-hand detection and improve the accuracy and effect of the detection.

[0064] Figure 1 This is an application scenario diagram of the steering wheel hands-off detection method shown in some embodiments of this specification.

[0065] like Figure 1 As shown, the vehicle includes an automobile. In certain embodiments, the vehicle can be any of many different types of automobiles, such as, for example, a sedan, a van, a truck, or a sport utility vehicle (SUV), and can be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD), and / or various other types of vehicles. In some embodiments, the vehicle can also include a motorcycle or other vehicle, such as an airplane, a spacecraft, a watercraft, etc., and / or one or more other types of mobile platforms (e.g., a robot and / or other mobile platforms).

[0066] In some embodiments, the application scenario may further include at least one sensor and a controller.

[0067] In some embodiments, sensor data collected by at least one sensor can be used to control the vehicle and detect when the driver takes the vehicle off the vehicle. Exemplarily, the at least one sensor includes one or more touch sensors, steering sensors, control sensors, and vehicle status sensors.

[0068] In some embodiments, the touch sensor includes one or more capacitive sensors that are part of, attached to, or otherwise coupled to the steering wheel and are configured to measure the amount of force applied thereto. Additionally, in some embodiments, a steering sensor is used to measure the driver's interaction with the vehicle's steering system, including, among other things, the amount of torque provided by the driver to the steering wheel and the angle at which the steering wheel is engaged. Additionally, in some embodiments, a control sensor measures control commands provided by the driver, for example, when engaging a steering wheel, a brake pedal, and / or a drive system (e.g., its accelerator pedal). Additionally, in some embodiments, a vehicle state sensor includes one or more sensors that measure the position and / or motion of the vehicle, including, for example, one or more speed sensors, accelerometers, heading sensors, detection sensors (such as radar, lidar, sonar, external cameras, etc.).

[0069] In L2 level assisted driving, the driver's hands cannot leave the steering wheel, so the vehicle needs to be equipped with a hands-off detection (HOD) function. The vehicle's hands-off detection of the steering wheel refers to detecting whether the driver is holding the steering wheel, or it can be understood as detecting whether the steering wheel is in a hands-off state. For example, the driver's hands are not on the steering wheel, that is, the driver is not holding the steering wheel, and the steering wheel is in a hands-off state. For another example, the driver's hands are on the steering wheel, that is, the driver is holding the steering wheel, and the steering wheel is in a hands-on state.

[0070] Currently, vehicles can determine whether the driver is holding the steering wheel, that is, whether the steering wheel is in a hands-off state, by the torque of the torque sensor in the steering wheel. Vehicles can also determine whether the steering wheel is in a hands-off state by the capacitance of the metal wire or conductive cloth in the steering wheel. Vehicles can also combine the torque and capacitance to detect whether the steering wheel is in a hands-off state. In this way, the vehicle detects that the steering wheel is in a hands-on state based on one of the torque and capacitance, and then determines that the steering wheel is in a hands-on state. Alternatively, the vehicle presets one of the torque sensor and the capacitance sensor with a higher priority, so that the detection result of the sensor with the higher priority is used to determine whether the steering wheel is in a hands-off state. For example, if the vehicle presets the capacitance sensor with a higher priority than the torque sensor, the vehicle determines whether the steering wheel is in a hands-off state based on the capacitance.

[0071] However, in the method of detecting the hands-off state of the steering wheel by combining torque and capacitance, the method of combining torque and capacitance is single and cannot identify the presence of other objects or simulation devices on the steering wheel.

[0072] The present application provides a method for detecting hands-off steering wheel, wherein a terminal device identifies a steering wheel as a mimicking device based on first and second sensing data, thereby obtaining a hands-off detection result, thereby improving detection accuracy.

[0073] It is worth noting that the application scenarios of the steering wheel hands-off detection method are provided for illustrative purposes only and are not intended to limit the scope of this specification. For those skilled in the art, various changes and modifications can be made based on the description of this specification. For example, the application scenarios may also include databases, information sources, etc. For another example, the application scenarios may be implemented on other devices to achieve similar or different functions. However, these changes and modifications do not deviate from the scope of this specification.

[0074] Figure 2 is an exemplary flow chart of a method for detecting a hand-off of the steering wheel according to some embodiments of this specification. In some embodiments, process 200 can be executed based on an electronic device. Figure 2 As shown, the process 200 includes the following steps.

[0075] Step 210 : Based on the first perception data of the vehicle steering wheel and the second perception data of the driver, it is determined whether there is a simulation device connected to the steering wheel to determine a hands-off detection result of the steering wheel.

[0076] The first perception data is various data related to the interaction status of the steering wheel. For example, a camera can collect image data of the steering wheel, and then process the image data to determine whether the driver is holding the steering wheel. Another example is a thermal image detected by an infrared sensor, and the temperature in the thermal image can be used to determine whether the driver's hands are holding the steering wheel.

[0077] In some embodiments, the first perception data may also be perception data (such as capacitance value, etc.) detected by a capacitive sensor installed on the steering wheel. The capacitance detected by the capacitive sensor is different depending on the area of ​​the hand contacting the steering wheel. Therefore, it is possible to determine whether the steering wheel is in a contacted state based on the capacitance value detected by the capacitive sensor. If the steering wheel is not in a contacted state, it may indicate that the user is not holding the steering wheel.

[0078] For example, a capacitive sensor is based on in-phase (I) and quadrature (Q) modulation technology, where the in-phase signal I measures resistance R, and the quadrature signal Q measures capacitance C. The capacitive sensor sends a sinusoidal current to the load, which consists of the capacitance changes caused by the steering wheel and the hands gripping the steering wheel. After detecting the load, the chip converts the current into a voltage. The voltage across the load is passed through an ADC and filtered, and finally a demodulator is used to obtain the resistance component I and the capacitance component Q. Electronic devices can read the I and Q data and calculate the capacitance value through vector calculation.

[0079] The second sensed data refers to various data related to the driver's physical condition. For example, the second sensed data includes the driver's heart rate, respiratory rate, body temperature, pressure distribution data, etc.

[0080] In some embodiments, the second sensory data can be acquired via various second sensors. For example, a heart rate sensor mounted on the steering wheel can detect the user's heart rate using optical or electrophysiological methods; a respiratory sensor mounted on the steering wheel can detect the user's respiratory rate. The second sensory data can be transmitted to the vehicle's electronic devices via wireless or wired means.

[0081] A mimicking device is a device that is connected to a steering wheel to simulate a driver's grip and / or other interaction with the steering wheel. This device can be a non-human object or structure that simulates a human hand gripping the steering wheel, thereby deceiving electronic device detection methods into misinterpreting the driver's grip on the steering wheel.

[0082] For example, the driver may use sandbags or other heavy objects to press on the steering wheel to simulate grip force; or use rubber or silicone bionic gloves to simulate the actual palm contact area; or even use conductive patches or small motors to slowly rotate the steering wheel to bypass capacitive sensing or angle change detection mechanisms.

[0083] The simulation device is not part of the vehicle's original factory configuration and is usually placed on the steering wheel by the driver. Since it does not have the physiological characteristics of the human body, it may become the main source of interference in the misjudgment of the steering wheel hand-off detection.

[0084] In some embodiments of this specification, the accuracy of steering wheel hand-off detection can be improved by detecting the first perception data of the steering wheel and the second perception data of the driver in real time, detecting the driver based on various perception data, and identifying whether there is an imitation device on the steering wheel.

[0085] In some embodiments, the first perception data includes: perception data collected by at least one first sensor.

[0086] The first sensor is a sensor device installed on the steering wheel or its surrounding structures to collect physical or physiological signals indicating the driver's interaction with the steering wheel. The first sensor can be used to detect key parameters such as grip force, directional torque, and contact area. Correspondingly, the first sensor may include, but is not limited to, pressure sensors, torque sensors, and capacitive sensors.

[0087] The pressure sensor can be embedded in the grip area of ​​the steering wheel, such as under the leather layer of the steering wheel outer ring or in the internal support structure. To improve detection accuracy, multiple pressure sensors can be set in multiple grip areas of the steering wheel (such as 3 o'clock and 9 o'clock) to form a distributed pressure sensing network. The pressure sensor senses the force applied by the driver's hand on the steering wheel and outputs a pressure signal proportional to the pressure. Exemplary pressure sensor types include piezoresistive, capacitive, and piezoelectric.

[0088] A torque sensor can be mounted on the shaft connecting the steering wheel and steering column, or integrated into the steering wheel's internal structure, to detect the rotational torque applied by the driver. Using strain gauges or the magnetoelectric effect, torque sensors measure axial or radial torsional forces and output an electrical signal proportional to the rotational torque.

[0089] Capacitive sensors, in the form of flexible capacitive films or electrodes, can be embedded in the steering wheel surface, covering the grip area. To achieve multi-point detection, multiple capacitive sensors can be placed at different locations on the steering wheel. Capacitive sensors determine contact area and location by detecting changes in capacitance between the hand and the sensor. When a human hand approaches or touches the sensor, the capacitance changes.

[0090] The second sensor can communicate with the electronic device via a communication bus to continuously, periodically, or intermittently send sensor data to the electronic device. The first sensor can be used alone or in combination according to actual application requirements to form multimodal perception data.

[0091] In some embodiments, the at least one first sensor includes at least one of a capacitive sensor and a torque sensor configured on a steering wheel.

[0092] In some embodiments of this specification, by configuring a capacitive sensor and / or a torque sensor on the steering wheel, accurate identification and dynamic monitoring of the driver's grip state can be achieved, the accuracy of hands-off detection can be improved, and the ability to cope with human interference and complex driving scenarios can be enhanced.

[0093] In some embodiments, the method further comprises:

[0094] Based on the perception data of each first sensor, a state detection result of each first sensor is determined, so as to obtain first perception data based on the first sensor that is normal based on the state detection result.

[0095] The state detection result refers to the result of determining whether the first sensor is currently in a normal working state based on the sensing data of each first sensor. For example, the state detection result may include normal, abnormal, etc.

[0096] In some embodiments, for each first sensor, a built-in preset algorithm (such as sliding window mean, variance analysis, threshold comparison, etc.) can be used to determine whether the perception data collected by the first sensor is abnormal to determine the first sensor status detection result.

[0097] In some embodiments of this specification, while a vehicle is driving, perception data is collected from multiple first sensors mounted on the steering wheel. These first sensors may include pressure sensors, capacitance sensors, torque sensors, etc., and are used to determine whether the driver is gripping the steering wheel. To ensure the reliability of the perception data, the perception data from each type of first sensor may be analyzed to determine whether the first sensor is operating normally.

[0098] In some embodiments, the status detection result is obtained by:

[0099] If the sensing data is within the preset value range, the status detection result is determined to be normal;

[0100] If the sensing data is not within the preset value range, the status detection result is determined to be abnormal.

[0101] The preset numerical range refers to the upper and lower thresholds set for each first sensor to determine whether its sensing data is within a reasonable range. Different first sensors correspond to different preset numerical ranges. Each preset numerical range can be a system default value, an empirical value, a manually preset value, or any combination thereof. It can be set according to actual needs and is not limited in this manual.

[0102] In some embodiments, the perception data of each first sensor can be compared with its preset numerical range to determine whether the working status of the first sensor is normal, and the final first perception data can be determined based on the perception data collected by the first sensor whose status detection result is normal.

[0103] In some embodiments of this specification, by real-time monitoring and recording of the sensing data of the first sensor, problems with the sensor can be discovered in a timely manner, misjudgment can be avoided, and it helps prevent imitation devices or human interference from affecting the accuracy of the hands-off detection results.

[0104] In some embodiments, the first sensor whose state detection result is normal includes multiple types, and the first perception data collected based on the first sensor whose state detection result is normal includes:

[0105] The first sensing data is collected based on the capacitive sensor that the state detection result is normal.

[0106] In some embodiments, when the first sensor includes a capacitive sensor, whether the capacitance value is abnormal can be determined based on a preset capacitance value range, a preset capacitance value signal-to-noise ratio, a preset capacitance value slope, and a preset capacitance value change. If the capacitance value at the current moment exceeds the preset capacitance value range, the capacitance value signal-to-noise ratio at the current moment is less than the preset capacitance value signal-to-noise ratio, the capacitance value slope at the current moment is greater than the preset capacitance value slope, the capacitance value change at the current moment exceeds the preset capacitance value change, etc., then the capacitance value is determined to be abnormal, and the capacitive sensor is reset. If the capacitance value after reset is normal, the perception data of the capacitive sensor is used as the first perception data. If the capacitance value after reset is still abnormal, then the capacitive sensor is determined to be faulty. If the working state of the torque sensor is normal at this time, the perception data of the torque sensor is used as the first perception data for steering wheel hand-off detection.

[0107] The current moment generally refers to the time point at which the processor collects data, processes data, and makes decisions. For example, the current moment may be the time point at which the processor last collected data, updated control instructions, or made a decision.

[0108] In some embodiments of this specification, a capacitive sensor with a normal state detection result can detect whether the hand is in contact with the steering wheel without relying on the grip strength, so that a high detection sensitivity can be maintained even when the driver lightly grips or briefly releases the hand.

[0109] In some embodiments, the number of the first sensors includes multiple, and the multiple first sensors are respectively arranged at multiple different first preset positions on the steering wheel.

[0110] The multiple first sensors may include multiple sensors of the same type, or the multiple first sensors may include multiple sensors of different types, which is not limited in this specification.

[0111] The first preset position is a position on the steering wheel where a plurality of first sensors are installed.

[0112] The first preset position can be set according to actual conditions such as ergonomics, driving habits, and distribution of gripping areas, to ensure that the area that the driver's hands may touch is covered.

[0113] In some embodiments, when the first sensor includes multiple capacitive sensors, the capacitive sensors are distributed across eight regions of the steering wheel: the outer upper left region, the outer lower left region, the outer upper right region, the outer lower right region, the inner upper left region, the inner lower left region, the inner upper right region, and the inner lower right region. Steering wheel hands-off detection is performed by detecting changes in capacitance values ​​in different regions. For example, when the change in capacitance values ​​in one or more regions is greater than or equal to a preset change threshold, a determination is made based on the vehicle's driving information, the first sensing data, and the second sensing data to determine whether a mimicking device is connected to the steering wheel, thereby obtaining a hands-off detection result. When the change in capacitance values ​​in one or more regions is less than the preset change threshold, the steering wheel hands-off detection result is determined to be a hands-off state.

[0114] In some embodiments, the sensing data collected by the capacitive sensor can be a capacitive detection signal, that is, the capacitance data collected by the capacitive sensor in the vehicle steering wheel is algorithmically processed to obtain an electrical signal. The capacitive sensor can be a metal wire or conductive cloth wrapped in the steering wheel.

[0115] In some embodiments of this specification, a multi-point layout is achieved through multiple different first preset positions, which can adapt to the gripping habits of different drivers and improve the versatility and adaptability of steering wheel hands-off detection.

[0116] In some embodiments, the second perception data includes: perception data collected by at least one second sensor.

[0117] The second perception data is used to monitor the driver's physical condition, behavioral movements, line of sight, etc., so as to assist in determining whether the driver is holding the steering wheel.

[0118] The second sensor may include but is not limited to: monitoring cameras, infrared radars, seat pressure sensors, etc. Among them, the monitoring camera can be installed near the dashboard, rearview mirror or A-pillar to capture images of the driver's face and upper body. The camera can be an RGB camera or an infrared camera, a depth camera (such as a TOF camera or a structured light camera), etc. The infrared radar can be configured on the roof lining, under the dashboard or around the steering wheel column to detect the driver's breathing rate, body displacement and other physiological characteristics to reflect the driver's physical condition. The seat pressure sensor can be embedded inside the driver's seat and distributed on the seat surface and backrest in the form of pressure sensing pads to monitor the driver's sitting pressure distribution.

[0119] In some embodiments, the at least one second sensor includes at least one of a blood pressure sensor, a pulse sensor, and a heart rate sensor.

[0120] The blood pressure sensor measures the driver's blood pressure and can be embedded in the steering wheel grip area. The pulse sensor measures the driver's pulse strength and can be embedded in the steering wheel surface or integrated into the seat back. The heart rate sensor measures the driver's heart rate and can be installed in the steering wheel grip area, such as embedded in the steering wheel surface or integrated into the seat back.

[0121] In some embodiments, the electronic device can be communicatively connected to at least one second sensor to obtain second perception data in real time and periodically.

[0122] In some embodiments, the second perception data includes a heart rate detection signal. The heart rate detection signal refers to the electrocardiogram data output by the vital sign detection chip on the steering wheel, and the heart rate value signal is obtained through algorithm processing. The vital sign detection chip is a sensor based on the photoelectric measurement principle. The heart rate value signal is measured by optical sensors and LED light reflection. The vital sign detection chip can be placed on the steering wheel. When the driver holds the steering wheel, the driver's electrocardiogram data can be detected, and the heart rate value signal is determined by electrocardiogram data processing and algorithm calculation.

[0123] In some embodiments of this specification, at least one second sensor can be used to detect the driver's physiological signals, and the driver's hands-off detection can be performed from multiple dimensions, which can effectively avoid the influence of other interferences on the hands-off detection, such as holding the steering wheel with one hand and the holding position does not meet the standard, or using other tools to deceive the hands-off detection, etc., thereby ensuring the driver's driving safety.

[0124] In some embodiments, the hands-off detection result may include a hands-on state, a hands-off state, and an unknown state. The hands-on state indicates that the driver's hands are holding the steering wheel; the hands-off state indicates that the driver's hands have transitioned from holding the steering wheel to leaving the steering wheel; and the unknown state indicates that it is not certain whether the driver's hands are holding the steering wheel or leaving the steering wheel.

[0125] In some embodiments, the presence of an imitation device coupled to the steering wheel can be determined based on the first and second perception data using various methods. For example, various data analysis algorithms, such as cluster analysis and machine learning models, can be used to analyze and process the first and second perception data to determine whether an imitation device is coupled to the steering wheel.

[0126] In some embodiments, the operation of determining whether the simulation device is coupled to the steering wheel may be performed only when the vehicle satisfies a preset driving condition, wherein the preset driving condition includes: the vehicle speed is within a preset speed range, and / or the vehicle is traveling on a road, etc.

[0127] In some embodiments, the capacitance value collected by the capacitance sensor for the vehicle steering wheel can be periodically obtained, and the capacitance value change can be determined based on the capacitance value and the predetermined capacitance reference value. The capacitance value change can be the difference between the collected capacitance value and the capacitance reference value. The capacitance reference value is pre-set by the designer based on experiments or experience. When the capacitance value change is greater than the predetermined capacitance value change threshold, or the working state of the capacitance sensor is abnormal, it means that the hand-off detection result cannot be directly determined based on the capacitance value collected by the capacitance sensor. There may be an imitation device connected to the steering wheel (for example, by placing a heavy object or other object on the steering wheel). At this time, the vehicle's driving information, the first perception data and the second perception data can be combined to determine the hand-off detection result.

[0128] In some embodiments, determining whether a mimicking device is coupled to the steering wheel based on first sensory data for the vehicle steering wheel and second sensory data for the driver includes:

[0129] In a case where it is detected based on the driving information of the vehicle that the vehicle is in a driving state, it is determined based on the first perception data and the second perception data whether there is an imitation device coupled to the steering wheel.

[0130] Driving information is a set of parameters that describe the current operating status of the vehicle. For example, the driving information may include at least one of the following: vehicle speed, longitudinal acceleration, yaw rate, and vehicle gear position.

[0131] In some embodiments, driving information includes driving state information and / or vehicle periphery information. Driving state information may include, but is not limited to, information related to dynamic parameters such as vehicle speed, longitudinal acceleration, lateral acceleration, and yaw rate. Vehicle periphery information may include, but is not limited to, road surface information (e.g., road friction coefficient, wetness, etc.), road type, etc. In some embodiments, driving information may also include driving intent, which may include, but is not limited to, accelerator pedal depth, brake pedal depth, steering wheel angle, and selected driving mode (e.g., economy mode, comfort mode, sport mode, etc.).

[0132] Yaw rate reflects the vehicle's current rotational speed around its longitudinal axis and can be expressed in degrees per second or radians per second. Vehicle speed indicates the vehicle's travel speed. Steering wheel angle reflects the current steering angle. Acceleration represents the rate of change of vehicle speed over time, i.e., the degree to which the speed increases or decreases per unit time. Acceleration can be linear acceleration (longitudinal acceleration, lateral acceleration, etc.).

[0133] In some embodiments, the driving information includes at least one of the vehicle's driving speed, map information, and vehicle surrounding information.

[0134] Map information is information related to the geographic area in which the vehicle is located, such as a representation of the road network, including, for example, the name of the geographic location, roads, intersections, traffic signals, lane regulations, etc. The scope and shape of the geographic area can be predetermined. In some embodiments, the map can be a three-dimensional map, a two-dimensional map, a four-dimensional map, a high-precision map, etc.

[0135] In some embodiments, the system can communicate with at least one sensor configured on the vehicle and actively (e.g., in real time, at intervals, or triggered under certain circumstances) obtain the vehicle's speed, map information, and vehicle surrounding information. The at least one sensor may be a vehicle speed sensor, an acceleration sensor, an image acquisition device, a radar sensor, etc.

[0136] In some embodiments, the road image can be captured by a camera on the vehicle, and the vehicle's surrounding information can be obtained through a visual recognition algorithm, or the vehicle's surrounding information can be determined through high-precision map matching.

[0137] The vehicle is in a driving state, which means that the vehicle is moving, including dynamic processes such as starting, accelerating, maintaining a constant speed, and decelerating.

[0138] In some embodiments, detecting that the vehicle is in a driving state based on driving information of the vehicle includes:

[0139] The vehicle is determined to be in a driving state when the vehicle's driving speed is greater than a preset speed threshold, or the vehicle is on a driving road and the driving speed is greater than a preset speed threshold, or the vehicle is on a driving road and relative movement between the vehicle and a front obstacle is detected.

[0140] The preset speed threshold is a pre-set reference speed value used to determine whether the vehicle has entered a moving state from a stationary state. If the driving speed exceeds the preset speed threshold, or the driving speed exceeds the preset speed threshold for a duration greater than a corresponding time threshold, the vehicle is determined to be in a moving state.

[0141] The driving road refers to the road environment where the vehicle is currently located and allows the vehicle to travel normally, including highways, urban roads, rural roads, etc.

[0142] Obstacles ahead are objects that may affect the vehicle's travel direction. For example, obstacles ahead can include other vehicles, pedestrians, and stationary obstacles (such as cones and roadblocks).

[0143] In some embodiments, the GNSS (Global Navigation Satellite System) can be used to obtain the latitude and longitude of the vehicle, the vehicle's inertial measurement unit (IMU) or steering wheel angle sensor can be used to obtain the vehicle's driving direction, the vehicle's current position and driving direction can be matched with the road network in a high-precision map, or a map matching algorithm can be used to determine whether the vehicle is on the driving road.

[0144] In some embodiments, a front camera can be used to identify lane lines and traffic signs, and a millimeter-wave radar or lidar can be used to detect vehicles and obstacles in front. If the camera detects lane lines, and the millimeter-wave radar or lidar detects that there is a vehicle in front and there is relative motion (such as relative speed > 5km / h), the vehicle is determined to be in a driving state.

[0145] In some embodiments of this specification, the accuracy and reliability of driving state judgment are improved by combining driving speed, map information, and surrounding information through multi-source data.

[0146] In some embodiments, determining whether a mimicking device is coupled to the steering wheel based on first sensory data for the vehicle steering wheel and second sensory data for the driver includes:

[0147] Determine whether the first perception data and the second perception data meet the preset conditions,

[0148] When the first perception data and the second perception data meet a preset condition, it is determined that there is an imitation device coupled to the steering wheel.

[0149] The preset condition refers to a set of judgment rules set in advance, which is used to judge whether there is a simulation device connected to the steering wheel.

[0150] In some embodiments, the preset conditions include: the second perception data is less than or equal to a preset perception threshold, and the duration during which the change rate of the first perception data is less than or equal to the preset change rate threshold is greater than or equal to a preset time threshold.

[0151] The preset perception threshold is a predetermined critical value of the second perception data, used to assist in determining whether there is a physiological signal of the driver on the steering wheel. For example, the preset perception threshold may be at least one of a preset heart rate threshold, a preset blood pressure threshold, and a preset pulse threshold.

[0152] In some embodiments, the second perception data may include the driver's heart rate value signal at the current moment. If the heart rate value signal at the current moment is less than or equal to a preset perception threshold, it indicates that the driver may not be holding the steering wheel.

[0153] The first sensed data may include, for example, a capacitance value or a torque value on a steering wheel. The rate of change of the first sensed data refers to the magnitude of change of the first sensed data per unit time. For example, if the first sensor includes a capacitive sensor, the rate of change of the first sensed data may include the rate of change of the capacitance value. The unit time may be set according to actual conditions.

[0154] The preset change rate threshold is a preset reference value of the change rate of the first perception data, which is used to determine whether the driver is holding the steering wheel.

[0155] Duration refers to the length of time that a specific state (such as the first perception data change rate is lower than the preset change rate threshold) continues to exist.

[0156] The preset time threshold may be a system default value, an experience value, a manually preset value, or any combination thereof, and may be set according to actual needs, and this specification does not impose any restrictions on this.

[0157] In some embodiments, the electronic device can determine whether the second perception data is less than or equal to a preset perception threshold, and whether the change rate of the first perception data is less than or equal to the preset change rate threshold. When the second perception data is less than or equal to the preset perception threshold, and the change rate of the first perception data is less than or equal to the preset change rate threshold, the electronic device can record the duration of the change rate of the first perception data being less than or equal to the preset change rate threshold. If the duration is greater than or equal to the preset time threshold, it is determined that there is an imitation device connected to the steering wheel; otherwise, it is determined that there is no imitation device connected to the steering wheel.

[0158] In some embodiments, the preset change rate threshold is determined by:

[0159] Based on the driving information of the vehicle, a preset change rate threshold corresponding to the driving information is determined.

[0160] In some embodiments, the vehicle's driving scenario is determined by obtaining driving information such as speed, road type, whether the vehicle is on a curve / ramp, and whether the vehicle is in a congested state. The vehicle's status is determined to indicate whether the vehicle is cruising on a highway, driving on a city road, waiting at an intersection, or on a curve or ramp. Based on the identified driving scenario, a suitable preset rate of change threshold is matched from a preset mapping relationship. The correspondence between the driving scenario and the preset rate of change threshold can be determined based on experimentation or experience.

[0161] In some embodiments, determining whether the first perception data and the second perception data meet a preset condition includes:

[0162] When the change amount of the first perception data is greater than or equal to a preset change amount threshold, it is determined whether the first perception data and the second perception data meet a preset condition.

[0163] In some embodiments, first sensory data is collected and analyzed to determine whether a change in the first sensory data is greater than or equal to a preset change threshold. If the change in the first sensory data is greater than or equal to the preset change threshold, a determination is made as to whether the vehicle is in a driving state. If the vehicle is in a driving state, the first sensory data and the second sensory data are further determined to determine whether a preset condition is met to determine whether a simulation device is connected to the steering wheel.

[0164] Exemplarily, data related to the steering wheel grip state (such as capacitance, pressure, torque, etc.) is obtained, a change in the first perception data (such as the first perception data at the current moment and the perception data at the previous moment) is determined, and whether the change in the first perception data is greater than or equal to a preset change threshold is determined:

[0165] If the change in the first sensory data is greater than or equal to a preset change threshold, it indicates that the steering wheel may be in the hand or there is a mimicking device on the steering wheel. When the vehicle is in motion, it is determined whether the mimicking device is connected to the steering wheel. At this time, the second sensory data (such as eye movement, facial state, heart rate, etc.) is collected to determine whether the first sensory data and the second sensory data meet the preset conditions to determine whether the mimicking device is connected to the steering wheel.

[0166] If the change in the first perception data is less than the preset change threshold, it indicates that the steering wheel is in a hands-off state.

[0167] In some embodiments of this specification, by comparing the first perception data on the steering wheel side (such as capacitance, torque, etc.) and the second perception data on the driver's side (such as camera, heart rate, electromyography), and checking whether the perception data meets the preset conditions (such as abnormal capacitance but abnormal heart rate), it is possible to accurately determine whether there is an imitation device connected to the steering wheel.

[0168] In some embodiments, the preset change threshold is determined by:

[0169] Determining a target detection sensitivity from a plurality of detection sensitivities, each of the plurality of detection sensitivities corresponding to a change threshold;

[0170] The change threshold corresponding to the target detection sensitivity is determined as the preset change threshold.

[0171] The multiple detection sensitivities may be pre-set sensitivity levels for hands-off detection, and are used to control the sensitivity to the change in the first perception data. Different detection sensitivities correspond to different change thresholds.

[0172] For example, the detection sensitivity can be set to high, medium, and low according to the driver's style, such as aggressive, normal, and soft. The detection sensitivity can also be divided into four levels: very high, high, medium, and low according to the driver's style, such as very aggressive, aggressive, normal, and soft.

[0173] In some embodiments, the detection sensitivity of the steering wheel may be determined based on the driver's preference data, or the detection sensitivity of the steering wheel may be determined based on the driver's operation instructions.

[0174] Exemplarily, the change thresholds include three values: change threshold A, change threshold B, and change threshold C, with the values ​​of change thresholds A, B, and C decreasing in order. When the preset change threshold is set to change threshold A, the detection sensitivity is high, and a hand-on state can be determined when the driver's one or two fingers are touching the steering wheel. When the preset change threshold is set to change threshold B, the detection sensitivity is medium, and a hand-on state can be determined when the driver's two to three fingers are touching the steering wheel. When the preset change threshold is set to change threshold C, the detection sensitivity is low, and a hand-on state can be determined when the driver's three to four fingers are touching the steering wheel. The vehicle is equipped with a HOD detection sensitivity setting, which the driver can set based on their driving habits. The electronic device can capture the driver's operating instructions and determine the target detection sensitivity.

[0175] In some embodiments, the detection sensitivity of the steering wheel may be determined based on the driver's hand strength.

[0176] When the driver's hand force is relatively light, the detection sensitivity corresponding to the hand force value and hand force change rate in the corresponding table stored in the electronic device is a first sensitivity with a higher value. When the driver's hand force is relatively strong, the detection sensitivity corresponding to the hand force value and hand force change rate in the corresponding table stored in the electronic device is a second sensitivity with a lower value to accommodate the differentiated needs of drivers with different hand forces.

[0177] In some embodiments of this specification, by dynamically adjusting the judgment sensitivity, the system's adaptability in different driving scenarios is improved; misjudgment or missed judgment caused by fixed thresholds is avoided; and whether the driver is holding the steering wheel can be more accurately identified to prevent being deceived by imitation devices.

[0178] In some embodiments, the method further comprises:

[0179] When the change in the first perception data is less than a preset change threshold, the steering wheel hand-off detection result is determined to be a hand-off state, and the vehicle is controlled to output a first prompt message.

[0180] The first prompt information is related prompt information for prompting the driver that he or she is not actually holding the steering wheel.

[0181] For example, the hands-off steering wheel detection method can be deployed on the vehicle's steering wheel to identify whether the steering wheel is in a hands-off state while the vehicle is driving. When the change in the first perception data is less than a preset change threshold, a first prompt message is output, allowing the vehicle to remind the driver to hold the steering wheel by displaying a reminder message ("Hold the steering wheel tightly!") on the central control screen or instrument panel or playing a prompt tone.

[0182] In some embodiments of this specification, by determining the relationship between the change in the first perception data and a preset change threshold, it can serve as a prerequisite for steering wheel hands-off detection, providing a basis for subsequent imitation device identification, etc. Imitation device identification is only performed when necessary, which helps to improve the efficiency of hands-off detection.

[0183] In some embodiments, determining a hands-off steering wheel detection result includes:

[0184] When it is detected that no imitation device is coupled to the steering wheel, the hands-off detection result of the steering wheel is determined to be in the hands-on state.

[0185] In some embodiments, determining a hands-off steering wheel detection result includes:

[0186] When it is detected that the imitation device is connected to the steering wheel, the steering wheel hand-off detection result is determined to be a hands-off state, and the vehicle is controlled to output a second prompt message.

[0187] The second prompt information is related prompt information for prompting that the imitation device is used to perform false grip.

[0188] When it is detected that a simulation device is connected to the steering wheel, a second prompt message is output so that the vehicle can remind the driver to remove the simulation device and hold the steering wheel by displaying a reminder message on the central control screen or instrument panel ("! Please remove the simulation device and hold the steering wheel!") or playing an external prompt sound.

[0189] In some embodiments of this specification, by combining the recognition results of the imitation device, it is possible to avoid misjudging non-human grip as hand grip; reduce unnecessary reminders or interventions when confirming that the driver is actually holding the device; prevent misjudgments caused by the imitation device, and improve the reliability of hand-off detection.

[0190] In some embodiments, pressure sensors are provided at a plurality of second preset positions on the steering wheel, and the method further comprises:

[0191] In response to pressure data of a pressure sensor at a target position being detected, a target auxiliary device corresponding to the pressure sensor at the target position is determined from a plurality of auxiliary devices of the vehicle to control the operation of the corresponding target auxiliary device of the vehicle.

[0192] A target location pressure sensor is a sensor installed at a specific location on the steering wheel to detect pressure at that location. The output data from the target location pressure sensor can be used to determine whether the user has touched or manipulated that area.

[0193] A vehicle's multiple auxiliary devices refer to various electronic or electromechanical devices used to enhance the vehicle's intelligence. These devices can be dynamically activated or controlled by electronic devices based on pressure data. For example, these devices may include, but are not limited to, steering wheel vibration feedback, seat vibration or heating, buzzer or voice prompt systems, autonomous driving takeover indicator lights, driver attention reminder systems, and automatic door locking devices.

[0194] In some embodiments, the plurality of auxiliary devices include: at least one of a vehicle air conditioning system, a vehicle audio and video system, vehicle windows, vehicle doors, and wipers.

[0195] Each auxiliary device can be connected to the electronic device through a CAN bus, a LIN bus or an Ethernet, and the electronic device can selectively control a certain auxiliary device according to the pressure data.

[0196] The target auxiliary device refers to a specific auxiliary device among multiple auxiliary devices that has a functional association with the target position sensor that currently senses pressure data.

[0197] In some embodiments, based on the ID or position of the target sensor corresponding to the pressure data, a target auxiliary device associated with it is determined from multiple auxiliary devices, and a control instruction is sent to the matching target auxiliary device to enable it to perform a specific function.

[0198] For example, the steering wheel is divided into 12 azimuth points according to the 12-hour scale of a clock, and a pressure sensor is installed in each point to form a ring-shaped pressure sensing array. Tapping the 12 points on the steering wheel activates the corresponding function. For example, tapping the steering wheel at 1 o'clock plays music; tapping the steering wheel at 2 o'clock opens the driver's window; tapping the steering wheel at 3 o'clock opens the trunk; tapping the steering wheel at 4 o'clock opens the trunk; tapping the steering wheel at 5 o'clock turns on the assisted driving function; tapping the steering wheel at 6 o'clock turns on the heating of the steering wheel; tapping the steering wheel at 7 o'clock turns on the hot air of the air conditioner; tapping the steering wheel at 8 o'clock turns on the cold air of the air conditioner; tapping the steering wheel at 9 o'clock turns on the high beam; tapping the steering wheel at 10 o'clock turns on the wipers; tapping the steering wheel at 11 o'clock turns on the navigation; tapping the steering wheel at 12 o'clock opens the passenger door.

[0199] In some embodiments of this specification, a ring-shaped pressure sensing array is used to enable multimedia, phone calls and other operations without taking hands off the steering wheel, thereby improving driving safety and reducing driver's visual distraction and attention.

[0200] It should be noted that the above description of the relevant processes is for illustration and purpose only and does not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to the processes under the guidance of this specification. However, such modifications and changes are still within the scope of this specification.

[0201] Figure 3 This is an exemplary schematic diagram of another method for detecting hands-off the steering wheel according to some embodiments of this specification.

[0202] In some embodiments, electronic devices on the vehicle (such as a vehicle controller, etc.) can obtain perception data from various sensors installed on the steering wheel, including but not limited to: capacitive sensors (used to detect the contact between the hand and the steering wheel surface), pressure sensors (used to measure the force distribution applied to the steering wheel), torque sensors (used to monitor the force applied by the driver to turn the steering wheel), bioelectric signal sensors (used to detect tiny current changes in the fingers or palms of the holder), etc. The obtained raw perception data usually contains noise and other interference factors. The obtained raw perception can be preprocessed to a certain extent, such as filtering to remove high-frequency noise, smoothing signals, etc., so as to facilitate more accurate subsequent analysis.

[0203] In some embodiments, the electronic device on the vehicle can sense the vehicle based on the first sensing data (e.g., Figure 3 The relationship between the change in the capacitance detection signal shown in the figure and the preset change threshold is used to determine the initial hands-off detection result: when the change in the first perception data is less than the preset perception threshold, the initial hands-off detection result is determined to be the hands-off state, and the vehicle is controlled to output a first prompt message; when the change in the first perception data is greater than or equal to the preset perception threshold, the initial hands-off detection result is determined to be the hands-on state. At this time, it is necessary to identify whether there is an imitation device connected to the steering wheel based on the vehicle's driving information, the first perception data (such as the capacitance value slope) and the second perception data (such as the heart rate detection result): when it is detected that there is no imitation device connected to the steering wheel, the steering wheel hands-off detection result is determined to be the hands-on state; when it is detected that there is an imitation device connected to the steering wheel, the steering wheel hands-off detection result is determined to be the hands-off state, and the vehicle is controlled to output a second prompt message.

[0204] In some embodiments, as Figure 4As shown, based on the vehicle's driving information, first sensory data, and second sensory data, identifying whether a simulation device is connected to the steering wheel includes: determining whether the vehicle is in a driving state based on the vehicle's driving speed, a high-precision map, and information about the vehicle's surroundings; and, if the vehicle is in a driving state, that is, the vehicle is traveling on a road, determining whether the first sensory data and the second sensory data meet preset conditions: determining that a simulation device is connected to the steering wheel when the first sensory data and the second sensory data meet the preset conditions. Exemplarily, the presence of a simulation device connected to the steering wheel is determined when the vehicle's heart rate detection result is less than a preset heart rate threshold and the absolute value of the slope of the capacitance value is less than a preset rate of change threshold over a continuous period of time.

[0205] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0206] Figure 5 This is a structural diagram of an electronic device according to some embodiments of this specification.

[0207] The embodiment of the present application further provides an electronic device 500, which may include one or more processors 501 of processing cores, one or more computer-readable storage media memories 502, a power supply 503, an input unit 504, and other components. Those skilled in the art will understand that Figure 5 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.

[0208] The processor 501 is the center of the hands-off steering wheel detection. It uses various interfaces and lines to connect the various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 502 and calling data stored in the memory 502, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. It is understood that the processor 501 transmits signals with the controller. Optionally, the processor 501 may include one or more processing cores; preferably, the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly handles wireless communications. It is understood that the above-mentioned modem processor may not be integrated into the processor 501.

[0209] The memory 502 can be used to store software programs and modules. The processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 502. The memory 502 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 502 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory 502 may also include a memory controller to provide the processor 501 with access to the memory 502.

[0210] In some embodiments of the present application, the steering wheel hands-off detection device can be implemented in the form of a computer program. The computer program can be used in Figure 5 The electronic device is operated on the electronic device shown. The memory of the electronic device may store the various program modules that constitute the steering wheel hands-off detection device. The computer program composed of the various program modules causes the processor to execute the steps of the steering wheel hands-off detection method of each embodiment of the present application described in this specification.

[0211] The electronic device includes a processor, memory, and a network interface connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with external electronic devices via a network connection. When the computer program is executed by the processor, a method for detecting hands-off steering wheel is implemented.

[0212] The electronic device also includes a power supply 503 for supplying power to various components. Preferably, the power supply 503 can be logically connected to the processor 501 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. The power supply 503 can also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0213] The electronic device may further include an input unit 504, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0214] Although not shown, the electronic device may further include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 501 in the electronic device loads the executable files corresponding to one or more application processes into the memory 502 according to computer instructions, and the processor 501 runs the application stored in the memory 502 to implement various functions, such as the steering wheel hands-off detection method of each embodiment of the present application described in this specification.

[0215] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0216] In specific implementation, the above units or structures can be implemented as independent entities, or can be arbitrarily combined to implement as the same or several entities. The specific implementation of the above units or structures can refer to the previous method embodiments and will not be repeated here.

[0217] It should be noted that Figure 5 This is only one implementation of the electronic device 500 provided in the embodiment of the present application. In actual applications, the electronic device 500 may also include more or fewer components, which is not limited here.

[0218] It should be understood that the various schemes of the embodiments of the present application can be reasonably combined and used, and the explanations or descriptions of the various terms appearing in the embodiments can be referenced or explained with each other in the various embodiments, without limitation to this.

[0219] It should also be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0220] Based on the above embodiments and the same concept, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a computer, the computer executes the method provided in the above embodiments.

[0221] Based on the above embodiments and the same concept, an embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program runs on a computer, it enables the computer to execute the method provided in the above embodiments.

[0222] Figure 6 is an exemplary schematic diagram of a vehicle according to some embodiments of the present specification.

[0223] like Figure 6 As shown, embodiments of the present application further provide a vehicle, comprising the device for detecting hands-off steering wheel as described in any embodiment; or comprising the electronic device as described in any embodiment. The vehicle may be a fuel-powered vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., and this specification does not specifically limit this.

[0224] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0225] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0226] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of each embodiment in the embodiments of the present application have different focuses, for parts that are not described in detail in a certain embodiment, please refer to the relevant embodiments of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for detecting hands-off steering wheel, characterized in that: The method comprises: determining, based on first perception data for a vehicle steering wheel and second perception data for a driver, whether a mimicking device is coupled to the steering wheel to determine a hands-off detection result for the steering wheel; The mimicking device is a device for coupling to a steering wheel to simulate a driver gripping and / or otherwise interacting with the steering wheel.

2. The method according to claim 1, characterized in that The determining whether a mimicking device is coupled to the steering wheel based on first perception data for the vehicle steering wheel and second perception data for the driver comprises: In a case where it is detected based on the driving information of the vehicle that the vehicle is in a driving state, it is determined based on the first perception data and the second perception data whether the imitation device is coupled to the steering wheel.

3. The method according to claim 2, characterized in that The driving information includes at least one of a driving speed of the vehicle, map information, and vehicle surrounding information.

4. The method according to claim 3, characterized in that The detecting that the vehicle is in a driving state based on the driving information of the vehicle includes: The vehicle is determined to be in a driving state when the driving speed of the vehicle is greater than a preset speed threshold, or the vehicle is on a driving road and the driving speed is greater than a preset speed threshold, or the vehicle is on a driving road and relative movement between the vehicle and a front obstacle is detected.

5. The method according to claim 1, wherein The determining whether a mimicking device is coupled to the steering wheel based on first perception data for the vehicle steering wheel and second perception data for the driver includes: determining whether the first perception data and the second perception data meet a preset condition, When the first perception data and the second perception data satisfy the preset condition, it is determined that the imitation device is coupled to the steering wheel.

6. The method according to claim 5, characterized in that The preset conditions include: the second perception data is less than or equal to a preset perception threshold, and the duration during which the change rate of the first perception data is less than or equal to the preset change rate threshold is greater than or equal to a preset time threshold.

7. The method according to claim 6, characterized in that The preset change rate threshold is determined by: Based on the driving information of the vehicle, a preset change rate threshold corresponding to the driving information is determined.

8. The method according to claim 5, characterized in that The determining whether the first perception data and the second perception data meet a preset condition includes: When the change amount of the first perception data is greater than or equal to a preset change amount threshold, it is determined whether the first perception data and the second perception data meet a preset condition.

9. The method according to claim 8, characterized in that The preset change threshold is determined by: Determining a target detection sensitivity from a plurality of detection sensitivities, each of the plurality of detection sensitivities corresponding to a change threshold; The change threshold corresponding to the target detection sensitivity is determined as the preset change threshold.

10. The method according to claim 8, characterized in that The method further comprises: When the change in the first perception data is less than the preset change threshold, the steering wheel hand-off detection result is determined to be a hands-off state, and the vehicle is controlled to output a first prompt message.

11. The method according to claim 1, wherein Determining the steering wheel hands-off detection result includes: When it is detected that the imitation device is not coupled to the steering wheel, the hands-off detection result of the steering wheel is determined to be in the hands-on state.

12. The method according to claim 1, characterized in that Determining the steering wheel hands-off detection result includes: When it is detected that the imitation device is connected to the steering wheel, the steering wheel is determined to be in a hands-off state after the hands-off detection result is determined, and the vehicle is controlled to output a second prompt message.

13. The method according to any one of claims 1 to 12, characterized in that: The first perception data includes: perception data collected by at least one first sensor.

14. The method according to claim 13, characterized in that The at least one first sensor includes at least one of a capacitive sensor and a torque sensor configured on the steering wheel.

15. The method according to claim 13, characterized in that The method further comprises: Based on the perception data of each type of the first sensor, a state detection result of each type of the first sensor is determined, so as to obtain the first perception data by collecting the first sensor whose state detection result is normal.

16. The method according to claim 15, characterized in that The status detection result is obtained by: If the sensing data is within a preset value range, determining that the status detection result is normal; If the sensing data is not within a preset value range, it is determined that the status detection result is abnormal.

17. The method according to claim 15, characterized in that The first sensor whose state detection result is normal includes multiple types, and the first perception data collected based on the first sensor whose state detection result is normal includes: The first sensing data is obtained by collecting the capacitive sensor based on the state detection result being normal.

18. The method according to claim 13, characterized in that The number of the first sensors includes multiple, and the multiple first sensors are respectively arranged at multiple different first preset positions on the steering wheel.

19. The method according to any one of claims 1 to 18, characterized in that The second perception data includes: perception data collected by at least one second sensor.

20. The method according to claim 19, characterized in that The at least one second sensor includes at least one of a blood pressure sensor, a pulse sensor, and a heart rate sensor.

21. The method according to any one of claims 1 to 19, characterized in that: Pressure sensors are provided at a plurality of second preset positions on the steering wheel, and the method further comprises: In response to detecting pressure data of a pressure sensor at a target position, a target auxiliary device corresponding to the pressure sensor at the target position is determined from a plurality of auxiliary devices of the vehicle to control the operation of the corresponding target auxiliary device of the vehicle.

22. The method according to claim 21, characterized in that The plurality of auxiliary devices include: at least one of a vehicle air conditioning system, a vehicle audio and video system, vehicle windows, vehicle doors, and wipers.

23. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 22.

24. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 22 are implemented.

25. A computer program product, characterized in that The method comprises a computer program or instructions, which implement the steps of the method according to any one of claims 1 to 22 when executed by a processor.

26. A vehicle, characterized in that: The electronic device according to claim 23 or the steps of implementing the method according to any one of claims 1 to 22.

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