Hand-off detection method and apparatus

Abstract

The application relates to a hand-off detection method and device. The method comprises the following steps: acquiring a torque signal generated by a steering wheel within a first preset time length; performing filtering processing on the torque signal to obtain a target torque signal; determining change rate information of the target torque signal; and if the change rate information meets a preset condition, determining that a driver has taken off the steering wheel within the first preset time length. The scheme provided in the application can avoid zero point drift and interference of a road environment, and improve the accuracy of detection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, and in particular to a hand-off detection method and device. BACKGROUND

[0002] When an automatic driving assistance function is turned on, the vehicle can control the steering wheel by itself to perform lateral control, but the driver needs to keep holding the steering wheel to ensure that the driver can take over the vehicle immediately in an emergency. When the driver releases the steering wheel, the system will remind or exit the assisted driving function, so it is necessary to identify whether the driver is holding the steering wheel.

[0003] In some solutions, the system compares the absolute value of the electric power steering system torque with a threshold value, and considers that the driver releases the steering wheel when the absolute value of the torque is less than the threshold value.

[0004] However, the electric power steering system torque sensor may have an unequal fixed zero point offset, and the zero point offset may drift due to different environmental factors, usage time and driving habits. On the other hand, the road surface environment in which the vehicle travels will cause different degrees of vibration to the wheels, and the torque fluctuation caused by the wheel vibration will be transmitted from the wheel to the steering wheel via the torque assist system, affecting the electric power steering system torque. Therefore, judging whether to release the hand according to the absolute value of the torque will be affected by the zero point drift and the road surface environment, and the detection accuracy is low. SUMMARY

[0005] To solve or partially solve the problems in the related art, the present application provides a hand-off detection method and device, which can avoid the interference of zero point drift and road surface environment and improve the detection accuracy.

[0006] The first aspect of the present application provides a hand-off detection method, comprising:

[0007] obtaining a torque signal generated by the steering wheel within a first preset time length;

[0008] filtering the torque signal to obtain a target torque signal, and determining the rate of change information of the target torque signal;

[0009] if the rate of change information meets a preset condition, determining that the driver releases the steering wheel within the first preset time length.

[0010] In some implementations, the rate of change information includes a first-order variance.

[0011] After determining the rate of change information of the target torque signal, the method further comprises:

[0012] If absolute values of the first-order variances are all less than a first threshold value within a second preset time length, which is equal to or less than the first preset time length, it is determined that the change rate information satisfies a preset condition.

[0013] In some implementations, the change rate information includes a mean square error;

[0014] After the change rate information of the target torque signal is determined, the method further includes:

[0015] If the mean square error is all less than a second threshold value within a second preset time length, which is equal to or less than the first preset time length, it is determined that the change rate information satisfies a preset condition.

[0016] In some implementations, the change rate information includes a high-frequency component in a frequency spectrum;

[0017] After the change rate information of the target torque signal is determined, the method further includes:

[0018] If a proportion of the high-frequency component is less than a third threshold value, it is determined that the change rate information satisfies a preset condition.

[0019] In some implementations, the filtering processing on the torque signal to obtain a target torque signal includes:

[0020] The mean filtering processing on the torque signal to obtain a target torque signal.

[0021] The second aspect of the present application provides a hands-off detection device, comprising:

[0022] An acquisition module is configured to acquire a torque signal generated by a steering wheel within a first preset time length;

[0023] A filtering module is configured to perform filtering processing on the torque signal to obtain a target torque signal;

[0024] A first determination module is configured to determine change rate information of the target torque signal;

[0025] A second determination module is configured to determine that a driver is hands-off the steering wheel within the first preset time length when the change rate information satisfies a preset condition.

[0026] In some implementations, the change rate information includes a first-order variance;

[0027] The device further includes:

[0028] The third determining module is configured to determine that the change rate information satisfies the preset condition when absolute values of the first-order variances are all less than a first threshold in a second preset time length, and the second preset time length is equal to or less than the first preset time length.

[0029] In some implementations, the change rate information includes a mean square error.

[0030] The apparatus further includes:

[0031] The fourth determining module is configured to determine that the change rate information satisfies the preset condition when the mean square errors are all less than a second threshold in a second preset time length, and the second preset time length is equal to or less than the first preset time length.

[0032] In some implementations, the change rate information includes a high-frequency component in a frequency spectrum.

[0033] The apparatus further includes:

[0034] The fifth determining module is configured to determine that the change rate information satisfies the preset condition when a proportion of the high-frequency component is less than a third threshold.

[0035] In some implementations, the filtering module includes:

[0036] The filtering unit is configured to perform mean filtering on the torque signal to obtain a target torque signal.

[0037] The third aspect of the present application provides an electronic device, including:

[0038] a processor; and

[0039] a memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method described above.

[0040] The fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method described above.

[0041] The technical scheme of the present application obtains a torque signal generated by the steering wheel in a first preset time length, performs mean filtering processing on the torque signal to obtain a target torque signal, and then determines the rate of change of the target torque signal. When the rate of change meets a preset condition, it is determined that the driver has taken his hands off the steering wheel in the first preset time length. That is, the technical scheme will first preprocess the torque signal to avoid the interference of the road environment on the torque, and then judge the driver's hand-off based on the rate of change of the preprocessed torque signal. The rate of change of the torque is only related to the speed of change of the torque and is not affected by the zero point bias. Therefore, the technical scheme can avoid the interference of zero point drift and road environment, and improve the accuracy of detection.

[0042] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0043] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the figures, and wherein:

[0044] Figure 1 is a waveform diagram corresponding to the torque signal shown in the embodiment of the present application;

[0045] Figure 2 is a flowchart of the hand-off detection method shown in the embodiment of the present application;

[0046] Figure 3 is a waveform diagram of the target torque signal shown in the embodiment of the present application;

[0047] Figure 4 is another waveform diagram of the target torque signal shown in the embodiment of the present application

[0048] Figure 5 is a waveform diagram corresponding to the first-order difference of the target torque signal shown in the embodiment of the present application;

[0049] Figure 6 is a structural schematic diagram of the hand-off detection device shown in the embodiment of the present application;

[0050] Figure 7 is another structural schematic diagram of the hand-off detection device shown in the embodiment of the present application;

[0051] Figure 8 is a structural schematic diagram of the electronic device shown in the embodiment of the present application. DETAILED DESCRIPTION

[0052] Embodiments of the present application will be described in more detail with reference to the drawings. Although the embodiments of the present application are shown in the drawings, it is understood that the present application can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and fully convey the scope of the application to those skilled in the art.

[0053] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the description of the application and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0054] It should be understood that although the terms "first", "second", "third", etc. can be employed in this application to describe various information, such information should not be limited by these terms. These terms are only used to distinguish one piece of information from another piece of information. For example, a first information can also be referred to as a second information, and similarly, a second information can also be referred to as a first information, without departing from the scope of the present application. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0055] For the convenience of understanding, the following introduces the glossary in the embodiments of the present application.

[0056] Torque: A special moment of force that causes an object to rotate.

[0057] Electric Power Steering (EPS): A power steering system that relies directly on an electric motor to provide assistive torque, mainly composed of torque sensor, vehicle speed sensor, electric motor, reduction mechanism and electronic control unit (ECU) etc.

[0058] First-order variance: First-order difference is the difference between two consecutive items in a discrete function.

[0059] Mean square error: Also known as standard deviation, it is the arithmetic square root of the arithmetic mean of the square of the deviation from the mean (i.e. variance), which can reflect the degree of dispersion of a data set.

[0060] High frequency component: A signal with a relatively high frequency in the frequency spectrum.

[0061] Mean filter: mean filter is a typical linear filtering algorithm, which refers to a template on the image for the target pixel, which includes the surrounding pixels, and the average value of all pixels in the template is used to replace the original pixel value.

[0062] For ease of understanding, the scene to which the embodiments of the present application are adapted is introduced below.

[0063] The vehicle drives on the potholed road, and the driver releases the steering wheel, but the vehicle driving on the potholed road will produce strong vibration, the vibration is transmitted to the steering wheel through the steering assist system, and is collected by the torque sensor, the collected torque signal is as shown in Figure 1 The torque sensor steering wheel torque has a fixed zero offset of about 0.25 Nm (Nm), and the torque has a large amplitude increase in a short time due to the bumpy road. The hand release detection device compares the absolute value of the collected torque with the preset threshold value, and obtains that the absolute value of the torque in the T1 time period is greater than the preset threshold value, and it is determined that the driver has not released the steering wheel.

[0064] In the above scenario, the driver has released the steering wheel in the T1 time period, but the torque signal strength collected by the torque sensor will be relatively large due to the strong vibration of the bumpy road, and the absolute value of the torque will be greater than the preset threshold value due to the fixed zero offset of the steering wheel, resulting in misjudgment.

[0065] To solve the above problems, the hand release detection method provided in the embodiments of the present application can avoid the interference of zero drift and road environment, and improve the detection accuracy.

[0066] It should be understood that the above scenario is only an example, and the hand release detection method in the embodiments of the present application can also be applied to other scenarios requiring hand release detection, and the specific embodiments are not limited.

[0067] The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0068] Figure 2 is a flowchart of the hand release detection method shown in the embodiments of the present application.

[0069] 201, the hand release detection device acquires the torque signal generated by the steering wheel in a first preset time length;

[0070] After the vehicle starts, the torque sensor collects the torque signal generated by the steering wheel, and the hand release detection device acquires the torque signal generated by the steering wheel in a first preset time length from the torque sensor.

[0071] Specifically, the torque signal in this embodiment can be generated by the steering wheel when the driver turns the steering wheel; it can also be generated by vehicle vibration, which is transmitted from the wheels to the steering wheel through the power steering system; or it can be generated by other factors, which are not limited to this embodiment. The specific process of how the steering wheel generates a torque signal and is collected by the torque sensor is well known to those skilled in the art and will not be detailed here.

[0072] It should be understood that in some embodiments, the first preset time length is positively correlated with the acquisition period of the torque sensor, and can be specifically set based on the duration of vehicle bumpy interference. For example, if the torque sensor acquisition period is 20 milliseconds, and the duration of vehicle bumpy interference is generally within 200 milliseconds, the first preset time length can be set to 10 acquisition periods. In this way, the influence of road bumps can be filtered out by filtering the torque signal collected within the first preset time length.

[0073] 202. The hands-off detection device filters the acquired torque signal to obtain a target torque signal;

[0074] After acquiring the torque signal generated by the steering wheel within a first preset time length, the hands-off detection device performs filtering processing on the acquired torque signal to obtain a target torque signal.

[0075] In some embodiments, the vibration signal generated by a bumpy road surface is short-lived, periodic, and rapidly decaying. Therefore, a mean filtering method can be employed to address the characteristics of the bumpy road interference. Specifically, the filtering process in this embodiment includes mean filtering, whereby the hands-off detection device performs mean filtering on the torque signal generated by the steering wheel over a first predetermined time period to obtain a target torque signal.

[0076] For example, the torque signal collected by the torque sensor in the first time period is as follows: Figure 1 As shown, the hands-off detection device filters the torque signal to obtain the target torque signal, as shown in Figure 3 As shown, the interference caused by the vibration signal is eliminated, avoiding the interference of the road environment on the detection.

[0077] It should be understood that the filtering process in this embodiment may also include median filtering, high frequency filtering or other signal preprocessing, which is not specifically limited here.

[0078] In some embodiments, the hand-off detection device can perform the following step before filtering the torque signal to obtain the target torque signal: determining whether the auxiliary driving function is activated, and if so, performing the step of filtering the torque signal. The hand-off detection device can also perform the following step: determining whether the current driving road surface is a bumpy road surface, and if so, performing the step of filtering the torque signal. Specifically, the hand-off detection device can determine whether the current driving road surface is a bumpy road surface through road surface information fed back by the user.

[0079] 203. The hand-off detection device determines the rate of change information of the target torque signal.

[0080] After the hand-off detection device processes the target torque signal, the rate of change information of the target torque signal is determined, which refers to a parameter representing the rate of change and is used to indicate the speed of change of the torque. It should be understood that in this embodiment, the rate of change information can include one or more of the following: first-order variance, mean square error, and high-frequency component in the frequency spectrum. The rate of change information can also include other parameters, which are not limited in this embodiment.

[0081] 204. The hand-off detection device determines whether the rate of change information meets a preset condition, and if so, performs step 205, and if not, performs step 206.

[0082] After the hand-off detection device determines the rate of change information, it determines whether the rate of change information meets a preset condition, and if so, performs step 205, and if not, performs step 206.

[0083] In some embodiments, the rate of change information includes the first-order variance, and the hand-off detection device can determine whether the preset condition is met by comparing the absolute value of the first-order variance of the target torque signal within a first preset time length with a first threshold value, and if the absolute value is less than the first threshold value and the duration reaches a second preset time length, i.e., the absolute value of the first-order variance within the second preset time length is less than the first threshold value, it is determined that the rate of change information meets the preset condition.

[0084] In some embodiments, the rate of change information includes the mean square error, and the hand-off detection device can determine whether the preset condition is met by comparing the mean square error of the target torque signal within a first preset time length with a second threshold value, and if the mean square error is less than the second threshold value and the duration reaches a second preset time length, i.e., the absolute value of the mean square error within the second preset time length is less than the second threshold value, it is determined that the rate of change information meets the preset condition.

[0085] It should be understood that the second preset time length in the above embodiment is equal to or less than the first preset time length. Specifically, the absolute value or mean square deviation of the first-order variance of the torque signal in the period of time when the driver releases the steering wheel is generally less than a threshold value, but occasionally exceeds the threshold value, so the embodiment can adopt time filtering, i.e., the second preset time length is set to be less than the first preset time length, for example, the second preset time length can be set to 7 collection periods. It should be noted that for different vehicle models and different hardware, the second preset time length can be different, which is not limited in the embodiment.

[0086] In some embodiments, the rate of change information includes a high-frequency component in the frequency spectrum, and the hand-off detection device can determine whether the preset condition is met by determining whether the proportion of the high-frequency component in the frequency spectrum corresponding to the target torque signal is less than a third threshold value, and if so, determining that the rate of change information meets the preset condition.

[0087] 205、The hand-off detection device determines that the driver releases the steering wheel within the first preset time length.

[0088] When it is determined that the rate of change information meets the preset condition, the hand-off detection device determines that the driver releases the steering wheel within the first preset time period.

[0089] In some embodiments, after the hand-off detection device determines that the driver releases the steering wheel, the hand-off detection device can voice remind the driver not to release the hand and / or exit the assisted driving function, and can also perform other processes, which are not limited in the embodiment.

[0090] 206、The hand-off detection device performs other processes.

[0091] When it is determined that the rate of change information does not meet the preset condition, the hand-off detection device performs other processes, specifically, the hand-off detection device can determine that the driver does not release the steering wheel.

[0092] Exemplarily, Figure 4 The target torque signal filtered by the A period (60 seconds in length) mean filtering is calculated to obtain the first-order difference of the target torque signal, as shown in Figure 5 As shown in the figure, the hand-off detection device compares the absolute value of the first-order difference of the target torque signal within each 200 milliseconds (first preset time length) with 0.25 Nm / 0.02 s (first threshold value), if the absolute value is less than 0.25 Nm / 0.02 s and the duration reaches 140 milliseconds (second preset time length), it is determined that the driver releases the steering wheel within the 200 milliseconds, if the absolute value is greater than or equal to 0.25 Nm / 0.02 s, it is determined that the driver does not release the steering wheel within the 200 milliseconds. The final determination result is as shown in Figure 5As indicated, the detection device determines that the driver releases the steering wheel in the first 150 200 ms (first 30 seconds) and does not release the steering wheel in the last 150 200 ms (last 30 seconds).

[0093] The technical solution of the present application obtains the torque signal generated by the steering wheel in the first preset time length, performs mean filtering processing on the torque signal to obtain a target torque signal, and then determines the rate of change information of the target torque signal. When the rate of change information meets a preset condition, it is determined that the driver releases the steering wheel in the first preset time length. That is, the technical solution will first preprocess the torque signal to avoid the interference of the road environment on the torque, and then judge the driver's release based on the rate of change of the preprocessed torque signal. The rate of change of the torque is only related to the speed of change of the torque and is not affected by the zero point bias. Therefore, the technical solution can avoid the interference of zero point drift and road environment and improve the accuracy of detection.

[0094] Secondly, the embodiment can determine the rate of change information of the target torque signal in multiple ways, improving the flexibility of the solution.

[0095] Thirdly, the embodiment uses mean filtering with a certain window length to preprocess the signal, which can significantly reduce the interference of road bumps on the release detection.

[0096] Corresponding to the foregoing application function implementation method embodiment, the present application also provides a release detection device, an electronic device and corresponding embodiments.

[0097] Figure 6 FIG. 1 is a structural schematic diagram of a release detection device according to an embodiment of the present application.

[0098] Referring to FIG. 1, Figure 6 The release detection device 600 includes:

[0099] The acquisition module 601 is configured to acquire a torque signal generated by the steering wheel in a first preset time length.

[0100] The filtering module 602 is configured to perform filtering processing on the torque signal to obtain a target torque signal.

[0101] The first determination module 603 is configured to determine rate of change information of the target torque signal, which is used to indicate the speed of change of the torque.

[0102] The second determination module 604 is configured to determine that the driver releases the steering wheel in the first preset time length when the rate of change information meets a preset condition.

[0103] The technical solution of the present application obtains the torque signal generated by the steering wheel in a first preset time length by the obtaining module 601, the filtering module 602 can perform mean filtering processing on the torque signal to obtain a target torque signal, the first determining module 603 can determine the rate of change information of the target torque signal, and when the rate of change information meets a preset condition, the second determining module 604 can determine that the driver is taking his hands off the steering wheel in the first preset time length. That is, the present technical solution will first preprocess the torque signal to avoid the interference of the road environment on the torque, and then judge the driver's hand-off based on the rate of change of the preprocessed torque signal. The rate of change of the torque is only related to the speed of change of the torque and is not affected by the zero point bias. Therefore, the present technical solution can avoid the interference of zero point drift and road environment and improve the accuracy of detection.

[0104] In order to facilitate understanding of the hand-off detection device in the embodiments of the present application, the hand-off detection device in the embodiments of the present application will be described in detail below. Please refer to Figure 7 FIG. 1 is a structural schematic diagram of a hand-off detection device according to an embodiment of the present application.

[0105] The hand-off detection device 700 comprises:

[0106] The obtaining module 701 is configured to obtain a torque signal generated by the steering wheel in a first preset time length;

[0107] The filtering module 702 is configured to perform filtering processing on the torque signal to obtain a target torque signal;

[0108] The first determining module 703 is configured to determine the rate of change information corresponding to the target torque signal, and the rate of change information is used to indicate the speed of change of the torque;

[0109] The second determining module 704 is configured to determine that the driver is taking his hands off the steering wheel in the first preset time length when the rate of change information meets a preset condition.

[0110] Specifically, the filtering module 702 comprises:

[0111] The filtering unit 7021 is configured to perform mean filtering processing on the torque signal to obtain a target torque signal;

[0112] Optionally, the rate of change information comprises at least one of the following: first-order variance, mean square error, and high-frequency component in the frequency spectrum;

[0113] Correspondingly, the hand-off detection device 700 can comprise at least one of the following:

[0114] The third determining module 705 is configured to determine that the rate of change information meets the preset condition when the absolute value of the first-order variance in a second preset time length is less than a first threshold value, and the second preset time length is equal to or less than the first preset time length.

[0115] The fourth determination module 706 is configured to determine that the change rate information meets the preset condition when the mean square deviations are all less than the second threshold value within the second preset time length, and the second preset time length is equal to or less than the first preset time length.

[0116] The fifth determination module 707 is configured to determine that the change rate information meets the preset condition when the proportion of the high-frequency component is less than the third threshold value.

[0117] The acquisition module 701 of the technical solution of the present application acquires the torque signal generated by the steering wheel within the first preset time length, the filtering module 702 can perform mean filtering processing on the torque signal to obtain a target torque signal, the first determination module 703 can determine the change rate information corresponding to the target torque signal, and the second determination module 704 can determine that the driver has taken his hand off the steering wheel within the first preset time length when the change rate information meets the preset condition. That is, the technical solution will first preprocess the torque signal to avoid the interference of the road environment on the torque, and then determine whether the driver has taken his hand off the steering wheel based on the change rate corresponding to the preprocessed torque signal. The change rate of the torque is only related to the speed of change of the torque and is not affected by the zero-point bias of the torque. Therefore, the technical solution can avoid the interference of zero-point drift and the road environment and improve the accuracy of detection.

[0118] Secondly, the embodiment can determine the change rate information corresponding to the target torque signal in multiple ways, thereby improving the flexibility of the solution.

[0119] Thirdly, the embodiment adopts mean filtering with a certain window length to preprocess the signal, which can significantly reduce the interference of road bumps on hand-off detection.

[0120] As to the apparatus in the above-described embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments of the method, and will not be described herein in detail.

[0121] Figure 8 FIG. 1 is a structural schematic diagram of an electronic device according to an embodiment of the present application.

[0122] Referring to FIG. 8, Figure 8 The electronic device 800 includes a memory 810 and a processor 820.

[0123] The processor 820 can be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like. The general-purpose processor can be a microprocessor, or the processor can be any conventional processor.

[0124] The memory 810 can include various types of storage units, such as a system memory, a read-only memory (ROM), and a permanent storage device. Among them, the ROM can store static data or instructions required by the processor 820 or other modules of the computer. The permanent storage device can be a read and write storage device. The permanent storage device can be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a mass storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device can be a removable storage device (such as a floppy disk, an optical drive). The system memory can be a read and write storage device or a volatile read and write storage device, such as a dynamic random access memory. The system memory can store some or all of the instructions and data required by the processor during runtime. In addition, the memory 810 can include a combination of any computer readable storage media, including various types of semiconductor memory chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks and / or optical disks. In some embodiments, the memory 810 can include a read and / or write removable storage device, such as a compact disc (CD), a read-only digital versatile disc (such as DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a min SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer readable storage medium does not include a carrier wave and a transient electronic signal transmitted through a wireless or wired transmission.

[0125] The memory 810 stores executable code, which, when processed by the processor 820, can cause the processor 820 to perform part or all of the above-mentioned methods.

[0126] Furthermore, the method according to the present application can also be implemented as a computer program or a computer program product, which comprises computer program code instructions for executing some or all of the steps of the above-mentioned method according to the present application.

[0127] Alternatively, the present application can also be implemented as a computer readable storage medium (or a non-transitory machine readable storage medium or a machine readable storage medium) having stored thereon executable codes (or computer programs or computer instruction codes) which, when executed by a processor of an electronic device (or a server, etc.), cause the processor to perform some or all of the steps of the above-mentioned method according to the present application.

[0128] The above has described the embodiments of the present application, the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, practical application, or improvement to the technology in the market, or to enable other ordinary skilled in the art to understand the embodiments disclosed herein.

Claims

1. A hand-off detection method, characterized by, Comprising: When it is detected that the vehicle travels on a bumpy road, a torque signal generated by the steering wheel within a first preset time length is acquired from a torque sensor; wherein the first preset time length is associated with the acquisition period of the torque sensor and the interference duration when the vehicle travels on the bumpy road; The torque signal within the first preset time length is filtered to obtain a target torque signal; The rate of change information of the target torque signal is determined; If the rate of change information meets the preset condition, it is determined that the driver releases the steering wheel within the first preset time length; Wherein, the rate of change information includes a first order variance; after determining the rate of change information of the target torque signal, the method further comprises: If the absolute value of the first order variance within a second preset time length is less than a first threshold value, it is determined that the rate of change information meets the preset condition, and the second preset time length is equal to or less than the first preset time length.

2. The method of claim 1, wherein, The rate of change information includes a mean square error; After determining the rate of change information of the target torque signal, the method further comprises: If the mean square error within a second preset time length is less than a second threshold value, it is determined that the rate of change information meets the preset condition, and the second preset time length is equal to or less than the first preset time length.

3. The method of claim 1, wherein, The rate of change information includes a high frequency component in the frequency spectrum; After determining the rate of change information of the target torque signal, the method further comprises: If the proportion of the high frequency component is less than a third threshold value, it is determined that the rate of change information meets the preset condition.

4. The method according to any one of claims 1 to 3, characterized in that, The torque signal within the first preset time length is filtered to obtain a target torque signal. The torque signal within the first preset time length is filtered to obtain a target torque signal.

5. A hand-off detection apparatus characterized by comprising: Comprising: The acquisition module is configured to acquire a torque signal generated by the steering wheel within a first preset time length from a torque sensor when it is detected that the vehicle travels on a bumpy road; wherein the first preset time length is associated with the acquisition period of the torque sensor and the interference duration when the vehicle travels on the bumpy road; The filtering module is configured to filter the torque signal within the first preset time length to obtain a target torque signal; The first determination module is configured to determine the rate of change information of the target torque signal; The second determination module is configured to determine that the driver releases the steering wheel within the first preset time length when the rate of change information meets the preset condition; Wherein, the rate of change information includes a first order variance; the device further comprises: The third determination module is configured to determine that the rate of change information meets the preset condition when the absolute value of the first order variance within a second preset time length is less than a first threshold value, and the second preset time length is equal to or less than the first preset time length.

6. The apparatus of claim 5, wherein, The rate of change information includes a mean square error; The device further comprises: The fourth determination module is configured to determine that the rate of change information meets the preset condition when the mean square error within a second preset time length is less than a second threshold value, and the second preset time length is equal to or less than the first preset time length.

7. The apparatus of claim 5, wherein, The rate of change information includes a high frequency component in the frequency spectrum; The device further comprises: A fifth determination module is configured to determine that the change rate information meets a preset condition when the proportion of the high-frequency component is less than a third threshold.

8. The apparatus of any one of claims 5-7, wherein, The filtering module comprises: A filtering unit is configured to perform mean filtering on the torque signal in the first preset time length to obtain a target torque signal.

9. An electronic device, comprising: Comprise: A processor; And A memory having stored executable codes, which, when executed by the processor, causes the processor to perform the method of any one of claims 1-4.

10. A computer-readable storage medium having stored executable codes, which, when executed by a processor of an electronic device, causes the processor to perform the method of any one of claims 1-4.

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