A method, device, vehicle and medium for detecting a driver's hands-off state of steering wheel

Abstract

The present invention relates to a method, device, vehicle and medium for detecting the driver's steering wheel hands-off state. The method comprises: collecting actual hands-off torque according to different vehicle models in advance, and setting the hands-off torque detection threshold range of the vehicle model; real-time monitoring and receiving torque signals fed back from the vehicle steering wheel torque sensor; judging whether the received torque signals fed back by the steering wheel torque sensor are valid, and performing first-order filtering on the valid torque signals; judging the hands-off state of the filtered torque signals in combination with the set hands-off torque detection threshold range. Compared with the prior art, the present invention has the advantages of weakening torque jump and improving the accuracy of hands-off detection.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile driving safety, and in particular to a method, device, vehicle and medium for detecting a driver's hands-off state of a steering wheel. Background Art

[0002] In the development of intelligent driving, hands-off state detection is an important indicator to characterize whether the driver is involved in system control. The accuracy of hands-off state detection is related to the functional safety and driving experience of autonomous driving, while false detection will affect driving safety and the driver's experience.

[0003] In the prior art, the driver's hands-off state detection is generally performed by collecting torque through the steering wheel torque sensor, and the hands-off detection state is determined by comparing the "torque feedback from the sensor" with the "set hands-off detection torque threshold". However, due to the existence and influence of factors such as road excitation and the friction of the steering system itself, the torque fluctuation detected by the sensor after the driver's hands are actually off the steering wheel is usually large, resulting in poor hands-off detection accuracy. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a method, device, vehicle and medium for detecting the driver's steering wheel hands-off state.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A method for detecting a driver's hands-off state of a steering wheel, comprising:

[0007] The actual hands-off torque is collected in advance according to the actual vehicles of different models, and the hands-off torque detection threshold range of the vehicle model is set;

[0008] Real-time monitoring and receiving of torque signals fed back from the vehicle steering wheel torque sensor;

[0009] Determine whether the torque signal fed back by the steering wheel torque sensor is valid, and filter the valid torque signal;

[0010] The filtered torque signal is combined with the set hands-off torque detection threshold range to determine the hands-off state.

[0011] Furthermore, the present invention performs first-order filtering on the effective torque signal.

[0012] The hands-off state judgment is performed in combination with the set hands-off torque detection threshold range, including the pre-hands-off state setting judgment and the hands-off judgment during the timing period. The specific steps include:

[0013] First, the filtered torque signal is compared with the minimum hands-off torque detection threshold. When the filtered torque signal is less than the minimum hands-off torque detection threshold, the pre-hands-off state inside the vehicle control unit is set, and the hands-off detection time starts counting. The next step of hands-off judgment is performed on the torque signal during the timing period; if the filtered torque signal is greater than or equal to the minimum hands-off torque detection threshold, it is determined that the driver has not let go of the car and the pre-hands-off state is not set.

[0014] The specific contents of the next step of the release judgment for the torque signal during the timing period are as follows:

[0015] Determine whether the torque signal during the timing period is greater than or equal to the maximum hands-off torque detection threshold, and the duration of the timing exceeds the set threshold, then it is determined that the driver has not taken the hands off the car, and the pre-hands-off state setting is cancelled; if one of the two is not satisfied, the pre-hands-off state continues to be timed;

[0016] If the torque signal during the judgment timing period is less than the maximum hands-off torque detection threshold and the continuous timing time exceeds the set threshold, it is determined that the driver has let go of the car.

[0017] The present invention also provides a device for detecting a driver's hands-off state of a steering wheel, which is applied to a vehicle-mounted terminal, and the device comprises:

[0018] Steering wheel torque sensor, used to collect vehicle steering wheel torque signal;

[0019] A processing module, used for receiving the torque signal fed back from the steering wheel torque sensor and performing first-order filter function processing;

[0020] The detection module is used to obtain the torque signal after being processed by the first-order filter function, and perform hands-off detection on it according to the hands-off torque detection threshold range corresponding to the vehicle model.

[0021] Furthermore, the driver's steering wheel hands-off state detection device further includes:

[0022] The display module is used to display information for detecting the driver's hands-off state on a display screen of the vehicle terminal in response to a user's interactive instruction to the vehicle terminal.

[0023] Furthermore, the detection module includes:

[0024] A pre-hands-off state detection unit, used to set or not set the pre-hands-off state inside the vehicle control unit according to the relationship between the filtered torque signal and the hands-off torque detection threshold corresponding to the vehicle model;

[0025] The timing detection unit is used to start timing when it is determined that the filtered torque signal is less than the minimum hands-off torque detection threshold, and during the timing period, determine the relationship between the torque signal after timing and the maximum hands-off torque detection threshold, as well as the relationship between the timing time and the set threshold, and then output whether the driver has let go of the hands.

[0026] On the other hand, the present invention also provides a vehicle, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the method for detecting the driver's steering wheel hands-off state as described above.

[0027] Another aspect of the present invention provides a computer-readable storage medium storing a computer program, which implements the steps of the method for detecting a driver's hands-off steering wheel state when executed by a processor.

[0028] The method, device, vehicle and medium for detecting a driver's hands-off state of the steering wheel provided by the present invention have at least the following beneficial effects compared with the prior art:

[0029] 1) The present invention adds filtering processing to the collected torque signal. By adding a first-order filter function to the torque collected by the current sensor for filtering, the influence of the torque jump can be significantly weakened.

[0030] 2) By setting the hands-off torque detection threshold, interference can be reduced compared to the judgment of a single threshold. The set threshold is formulated based on the data analysis collected from the actual vehicle and is the torque value from the same source, which is conducive to further reducing the impact of a single torque jump.

[0031] 3) A pre-release state is introduced during release torque detection, and the accuracy of release detection is further improved by continuously timing the pre-release and performing a pre-release judgment time calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the steps of the method for detecting the driver's hands-off state of the steering wheel in the embodiment;

[0033] Figure 2 Schematic diagram of the detection process of the method for detecting the driver's hands-off state of the steering wheel in the embodiment;

[0034] Figure 3 Schematic diagram of the structure of the driver's steering wheel hands-off state detection device in the embodiment;

[0035] Figure 3 As shown in the bid number:

[0036] 201. Steering wheel torque sensor, 202. Processing module, 203. Detection module, 204. Display module. DETAILED DESCRIPTION

[0037] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should belong to the scope of protection of the present invention.

[0038] Example

[0039] The current method for detecting the hands-off state of a vehicle's steering wheel is to detect the driver's hand torque acting on the steering wheel, compare the driver's hand torque with a set hand torque threshold, and determine the driver's hands-off state based on the comparison result. However, due to the existence and influence of road excitation and the friction of the steering system itself, the torque fluctuation detected by the sensor is usually large when the driver's hands are actually off the steering wheel, resulting in poor hands-off detection accuracy.

[0040] A method for detecting a driver's hands-off state of a steering wheel provided in an embodiment of the present invention can reduce the impact of torque jump and improve the accuracy of hands-off detection. The method of the present invention can be applied to a vehicle-mounted terminal. The method collects actual hands-off torque according to different vehicle models in advance, and formulates a hands-off torque detection threshold range Tmin and Tmax suitable for the vehicle model. The value is used as the detection threshold for whether the hands are off, and the detection of the pre-hands-off state is added during the detection. The process is as follows: Figure 1 As shown, it mainly includes:

[0041] Step 1: Collect actual release torque based on different vehicle models in advance.

[0042] Step 2: Establish the hands-off torque detection threshold range Tmin and Tmax suitable for the vehicle model.

[0043] Step 3: Monitor in real time and receive the torque signal fed back from the vehicle steering wheel torque sensor.

[0044] Step 4: Determine whether the torque signal fed back by the steering wheel torque sensor is valid.

[0045] Step 5: Perform first-order filtering on the effective torque signal to weaken the torque jump.

[0046] Step 6: Based on the filtered torque signal and the hands-off torque detection threshold, determine the hands-off state.

[0047] Reference Figure 2 , the detection steps of the method may specifically include:

[0048] S1, real-time monitoring, receiving the torque signal T0n fed back from the vehicle steering wheel torque sensor.

[0049] S2. Monitor the validity of the torque signal. If the torque signal is judged to be invalid, end the operation. If the signal is valid, proceed to the next step.

[0050] S3, the collected effective torque signal is processed by a first-order filter function to obtain a filtered torque value T1n. The expression of the first-order filter function is:

[0051] newoutput=T / (T+dT)*oldoutput+dT / (T+dT)*newinput

[0052] Wherein, newoutput is the output signal after being processed by the first-order filter function; newinput is the effective input torque signal, oldoutput is the output value of the last filter; T = xs, dT = ys, both can be calibrated.

[0053] S4, the filtered torque value T1n obtained in S3 is detected in combination with the hands-off torque detection threshold range Tmin, Tmax. The specific contents are:

[0054] First, T1n is compared with Tmin: when T1n<Tmin, the vehicle control unit sets the internal pre-handsoff state and starts the hands-off detection time; if T1n≥Tmin, it is considered that the driver has not released his hands and pre-hands off will not be set.

[0055] During the pre-hands off continuous timing: determine the relationship between T1n+k and Tmax (k is the increased timing time) and whether the pre-hands off timing time exceeds a threshold.

[0056] If T1n+k≥Tmax and the duration exceeds the predetermined threshold, it is considered that the driver has not taken his hands off and the pre-hands off setting is canceled; otherwise, the pre-hands off continues to time;

[0057] If T1n+k<Tmax and the continuous timing time is greater than the set threshold, it is considered that the driver has taken the hands off the car.

[0058] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0059] Reference Figure 3 , shows a structural block diagram of a driver's steering wheel hands-off state detection device provided by an embodiment of the present invention, which is applied to a vehicle-mounted terminal and may specifically include the following modules:

[0060] A steering wheel torque sensor 201 collects a vehicle steering wheel torque signal;

[0061] The processing module 202 receives the torque signal fed back from the steering wheel torque sensor and performs first-order filter function processing;

[0062] The detection module 203 obtains the torque signal after being processed by the first-order filter function, and performs hands-off detection on the torque signal according to the hands-off torque detection threshold range corresponding to the vehicle model;

[0063] The display module 204 is used to display information for detecting the driver's hands-off state on the display screen of the vehicle terminal in response to the user's interactive instruction to the vehicle terminal.

[0064] In this embodiment of the present invention, the detection module 203 includes:

[0065] A pre-hands-off state detection unit, which sets or does not set the pre-hands-off state in the vehicle control unit according to the relationship between the filtered torque signal and the hands-off torque detection threshold corresponding to the vehicle model;

[0066] The timing detection unit starts timing when it is determined that the filtered torque signal is less than the minimum hands-off torque detection threshold, and during the timing period, determines the relationship between the torque signal after timing and the maximum hands-off torque detection threshold, as well as the relationship between the timing time and the set threshold to further output whether the driver has let go of the hands.

[0067] Specifically: determine whether the torque signal value during the timing period is greater than or equal to the maximum hands-off torque detection threshold, and the duration of the timing exceeds a predetermined threshold. If so, output the driver's hands-on result and cancel the pre-hands-off setting. If neither of the two is satisfied, the pre-hands-off state continues to time. If the torque signal value during the timing period is less than the maximum hands-off torque detection threshold, and the continuous timing time is greater than the set threshold, output the driver's hands-off result.

[0068] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0069] An embodiment of the present invention also provides a vehicle, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned embodiment of the method for detecting a driver's steering wheel hands-off state are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0070] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned driver's steering wheel hands-off state detection method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0071] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0072] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0073] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0074] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0075] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0076] Finally, it should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0077] The above describes in detail a method for detecting a driver's steering wheel hands-off state, a device for detecting a driver's steering wheel hands-off state, a vehicle and a computer-readable storage medium provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for detecting a driver's hands-off state of a steering wheel, characterized in that: include: The actual hands-off torque is collected in advance according to the actual vehicles of different models, and the hands-off torque detection threshold range of the vehicle model is set; Real-time monitoring and receiving of torque signals fed back from the vehicle steering wheel torque sensor; Determine whether the torque signal fed back by the steering wheel torque sensor is valid, and filter the valid torque signal; The filtered torque signal is combined with the set release torque detection threshold range to determine the release state, including: pre-release state setting determination and release determination during timing; The specific steps of determining the pre-release state position include: First, the filtered torque signal is compared with the minimum hands-off torque detection threshold. When the filtered torque signal is less than the minimum hands-off torque detection threshold, the pre-hands-off state in the vehicle control unit is set, and the hands-off detection time starts to be counted, and the hands-off judgment during the timing period is performed on the torque signal during the timing period; if the filtered torque signal is greater than or equal to the minimum hands-off torque detection threshold, it is determined that the driver has not released the hands, and the pre-hands-off state is not set; The specific contents of the judgment of releasing the hands during the timing period are as follows: Determine whether the torque signal during the timing period is greater than or equal to the maximum hands-off torque detection threshold, and the duration of the timing exceeds the set threshold, then it is determined that the driver has not taken the hands off the car, and the pre-hands-off state setting is cancelled; if one of the two is not satisfied, the pre-hands-off state continues to be timed; If the torque signal during the judgment timing period is less than the maximum hands-off torque detection threshold and the continuous timing time exceeds the set threshold, it is determined that the driver has let go of the car.

2. The method for detecting a driver's hands-off state of the steering wheel according to claim 1, characterized in that: The validity of the torque signal fed back by the steering wheel torque sensor is judged, and the first-order filtering process is performed on the valid torque signal.

3. A driver's steering wheel hands-off state detection device, characterized in that: Applied to a vehicle-mounted terminal, the device comprises: Steering wheel torque sensor, used to collect vehicle steering wheel torque signal; A processing module, used for receiving the torque signal fed back from the steering wheel torque sensor and performing first-order filter function processing; A detection module is used to obtain the torque signal after being processed by the first-order filter function, and perform hands-off detection on it according to the hands-off torque detection threshold range corresponding to the vehicle model; The detection module comprises: A pre-hands-off state detection unit, used to set or not set the pre-hands-off state inside the vehicle control unit according to the relationship between the filtered torque signal and the hands-off torque detection threshold corresponding to the vehicle model; The pre-hands-off state detection unit is specifically used for: firstly comparing the filtered torque signal with the minimum hands-off torque detection threshold; when the filtered torque signal is less than the minimum hands-off torque detection threshold, setting the pre-hands-off state in the vehicle control unit, and starting the hands-off detection time at the same time, and performing the hands-off judgment during the timing period on the torque signal during the timing period; if the filtered torque signal is greater than or equal to the minimum hands-off torque detection threshold, it is determined that the driver has not released the hands, and the pre-hands-off state is not set; a timing detection unit, for starting timing when it is determined that the filtered torque signal is less than a minimum hands-off torque detection threshold, and during the timing period, determining the relationship between the torque signal after timing and the maximum hands-off torque detection threshold, and the relationship between the timing time and a set threshold, and then outputting whether the driver has taken the hands off the vehicle; The timing detection unit is specifically used to: determine whether the torque signal value during the timing period is greater than or equal to the maximum hands-off torque detection threshold, and the duration of the timing exceeds a predetermined threshold; if so, output a result that the driver has not let go of the car, and cancel the pre-hands-off setting; if neither of the two is satisfied, the pre-hands-off state continues to be timed; if the torque signal value during the timing period is less than the maximum hands-off torque detection threshold, and the continuous timing time is greater than the set threshold, output a result that the driver has let go of the car.

4. The driver's steering wheel hands-off state detection device according to claim 3, characterized in that: The device also includes: The display module is used to display information for detecting the driver's hands-off state on a display screen of the vehicle terminal in response to a user's interactive instruction to the vehicle terminal.

5. A vehicle, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the method for detecting a driver's steering wheel hands-off state as described in any one of claims 1-2 are implemented.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for detecting a driver's hands-off steering wheel state as described in any one of claims 1-2 are implemented.

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