Steering wheel hands-off detection method, detection system, steering wheel and vehicle thereof

Abstract

The present invention discloses a steering wheel hand-off detection method, a control system, a steering wheel and a vehicle thereof, wherein the method steps include: obtaining a grip force sensing signal and a turning angle sensing signal of the steering wheel; performing signal processing on the grip force sensing signal and the turning angle sensing signal respectively, and sending grip force hand-off detection information and turning angle hand-off detection information to an automatic driving controller; executing a hand-off detection control strategy and / or a hand-off detection backup strategy according to communication interaction between gateways and data interaction between automatic driving controllers, and making a decision to output and start or shut down the automatic driving function of the vehicle. The present invention formulates a hand-off detection strategy with redundancy, and the gateway that forwards the hand-off detection result and the automatic driving controller that uses the hand-off detection result are both redundant designs. After the single-channel hand-off detection fails, the system still has the ability to identify whether the driver's hands are on the steering wheel.

Description

Technical Field

[0001] The present invention relates to a hands-off detection method, a detection system, a steering wheel and a vehicle thereof, and in particular to a hands-off detection method, a detection system, a steering wheel and a vehicle thereof. Background Art

[0002] Autonomous vehicles need to sense whether the driver is operating the steering wheel. The detection technology for human hands operating the steering wheel is very demanding and is directly related to the decision-making of autonomous driving and the activation or deactivation of functions. In some scenarios, false alarms or failures can easily cause driving accidents and affect personal safety. In addition, the existing technology detects whether a person's hands are on the steering wheel by adding a sensor pad inside the rim of the steering wheel. The addition of additional sensor pads and controllers has greatly increased costs and can no longer meet people's requirements. Summary of the invention

[0003] The purpose of the present invention is to provide a steering wheel hands-off detection method, a detection system, a steering wheel and a vehicle thereof, which can solve the problem that after the single-channel hands-off detection fails, the system still has the ability to identify whether the driver's hands are on the steering wheel, and output an accurate hands-off detection signal to provide a decision for the automatic driving controller. At the same time, the present invention also eliminates the traditional sensor pad solution, simplifies the structure of the hands-off detection steering wheel rim, reduces the cost of raw materials, and solves the shortcomings of the prior art.

[0004] The present invention provides the following scheme:

[0005] Compared with the prior art, the present invention has the following advantages:

[0006] By acquiring the grip force sensor signal and the turning angle sensor signal of the steering wheel, the grip force sensor signal and the turning angle sensor signal are processed respectively to generate grip force hand-off detection information and / or turning angle hand-off detection information, a redundant hand-off detection strategy is formulated. The gateway that forwards the hand-off detection results and the autonomous driving controller that uses the hand-off detection results are both redundant designs. After the single-channel hand-off detection fails, the system still has the ability to identify whether the driver's hands are on the steering wheel, and output accurate hand-off detection signals to provide decision-making for the autonomous driving controller.

[0007] The gateways adopt an integrated design mode. They can communicate independently with other devices through the vehicle CAN bus, and can also communicate internally with each other. When the signal received by one channel fails or a single point fails, the hands-off detection information of another channel can be received through private communication.

[0008] According to the communication interaction between gateways and the data interaction between the automatic driving controllers, the present invention can execute the hands-off detection control strategy or the hands-off detection backup strategy according to the normal driving conditions and the fault conditions: when the hands-off detection function of the steering wheel is normal, the first gateway calls the hands-off detection information of the second gateway through internal communication. The hands-off detection information received by the first automatic driving controller and the second automatic driving controller is derived from the detection result of the steering wheel hands-off detection processor.

[0009] When the hands-off detection function of the steering wheel fails, the second gateway calls the hands-off detection information of the first gateway through internal communication. The hands-off detection information received by the first and second automatic driving controllers is derived from the hands-off detection backup strategy. According to the hands-off control strategy or the hands-off detection backup strategy, the decision output starts or shuts down the vehicle's automatic driving function.

[0010] The present invention also provides an autonomous driving vehicle with a hands-off detection function. The autonomous driving vehicle is provided with a steering wheel hands-off detection system. The autonomous driving vehicle can intelligently execute a hands-off control strategy or a hands-off detection backup strategy, thereby improving the intelligence level and safety reliability of the autonomous driving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 It is a flow chart of the method for detecting the hands off the steering wheel.

[0013] Figure 2 This is the architecture diagram of the steering wheel hands-off detection system.

[0014] Figure 3 It is a schematic diagram of the structure of the coating material layer of the steering wheel.

[0015] Figure 4 The figure is a block diagram of the functional implementation architecture of the driver's hands-off detection strategy in a possible embodiment.

[0016] Figure 5 The figure is a flow chart of a method for implementing the driver's hands-off detection strategy function in a possible embodiment.

[0017] Figure 6 It is a system architecture diagram of an electronic device. DETAILED DESCRIPTION

[0018] The present invention is mainly used in the use scenarios of L2 / L3 / L4 level autonomous driving function startup, function execution, and function exit, and is used to accurately determine whether the driver is operating the steering wheel, and to help the autonomous driving function controller make accurate decisions. The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0019] like Figure 1 The steering wheel hands-off detection method shown in the figure specifically comprises the following steps:

[0020] Step S1: obtaining a grip force sensor signal and a steering angle sensor signal of a steering wheel;

[0021] Step S2: performing signal processing on the grip force sensing signal and the turning angle sensing signal respectively to generate grip force hand-off detection information and turning angle hand-off detection information;

[0022] Step S3: sending grip force hand-off detection information and corner hand-off detection information to the automatic driving controller through the vehicle CAN bus and the gateway;

[0023] Step S4: executing a hands-off detection control strategy and / or a hands-off detection backup strategy according to the communication interaction between the gateways and the data interaction between the autonomous driving controllers;

[0024] Step S5: Based on the hands-off control strategy and / or the hands-off detection backup strategy, a decision output is made to start or shut down the vehicle's automatic driving function.

[0025] For the method steps disclosed in this embodiment, the method steps are described as a series of action combinations for the purpose of simple description, but those skilled in the art should know 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, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know 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.

[0026] Preferably, the hand-off detection control strategy is: when the (hand-off detection processor) can normally generate grip hand-off detection information, the first gateway calls the grip hand-off detection information of the second gateway through internal communication, and the first automatic driving controller and the second automatic driving controller receive the grip hand-off detection information and execute the hand-off detection control strategy.

[0027] Hand-off detection backup strategy: When the (hand-off detection processor) fails to generate grip-off detection information normally, the second gateway calls the corner hand-off detection information of the first gateway through internal communication, and the first autonomous driving controller and the second autonomous driving controller receive the corner hand-off detection information and execute the hand-off detection backup strategy.

[0028] Preferably, the internal communication is as follows: the second gateway sends corner hand-off detection information to the bus CAN through the electric power steering system, calls the corner hand-off detection information of the first gateway, the first automatic driving controller and the second automatic driving controller receive the corner hand-off detection information, and execute the hand-off detection backup strategy.

[0029] like Figure 2 The steering wheel hands-off detection system shown specifically includes:

[0030] A sensor signal acquisition module, used to acquire a grip force sensor signal and a steering angle sensor signal of the steering wheel;

[0031] A hand-off detection information generation module processes the grip force sensing signal and the turning angle sensing signal to generate grip force hand-off detection information and turning angle hand-off detection information;

[0032] The hand-off detection information transmission module is used to send grip force hand-off detection information and corner hand-off detection information to the autonomous driving controller through the vehicle CAN bus and the gateway;

[0033] The hands-off detection intelligent decision-making module is used to execute the hands-off detection control strategy and / or the hands-off detection backup strategy based on the communication interaction between gateways and the data interaction between the autonomous driving controllers; according to the hands-off detection control strategy and / or the hands-off detection backup strategy, the decision output starts or shuts down the vehicle's autonomous driving function.

[0034] It is worth noting that although only the sensor signal acquisition module, the hand-off detection information generation module, the hand-off detection information transmission module, and the hand-off detection intelligent decision-making module are disclosed in this system, it does not mean that the composition of this system is limited to the above-mentioned basic functional modules. On the contrary, what the present invention wants to express is: on the basis of the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with the prior art to form an infinite number of embodiments or technical solutions. In other words, this system is open rather than closed. Just because this embodiment only discloses individual basic functional modules, it cannot be considered that the scope of protection of the claims of the present invention is limited to the disclosed basic functional modules. At the same time, for the convenience of description, the above devices are described in various units and modules according to their functions. Of course, when implementing the present invention, the functions of each unit and module can be implemented in the same or one or more software and / or hardware.

[0035] The device implementation described above is merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present implementation scheme. Those of ordinary skill in the art may understand and implement it without creative work.

[0036] Preferably, the sensor signal acquisition module includes a steering wheel coating and a steering angle signal sensor:

[0037] Steering wheel covering layer The steering wheel covering layer is used to generate compression deformation when gripped, so as to achieve contact between the inner conductive coating and the outer conductive coating, form a conductive loop, and send a grip force sensing signal;

[0038] Angle sensor: used to identify the angle fluctuation according to the road surface excitation and send the angle sensor signal;

[0039] The hand-off detection information generation module includes a hand-off detection processor and an electric power steering system: the hand-off detection processor is used to supply power to the conductive coating and detect whether the conductive coating is conductive. When the hand holds the steering wheel, the hand-off detection processor receives the power supply conduction information and sends the grip force hand-off detection information to the second gateway.

[0040] The electric power steering system is used to estimate the steering angle information received from the steering angle sensor according to the calibrated steering angle threshold and the steering angle fluctuation duration threshold, obtain steering angle hand-off detection information and send the estimation result to the vehicle gateway.

[0041] Preferably, the hands-off detection information data transmission module includes a first gateway and a second gateway, the first gateway and the second gateway are connected via the vehicle CAN bus, the first gateway and the second gateway adopt an integrated design module, the two independently communicate and can exchange internal information, when the signal received by one gateway fails or a single point failure occurs, the hands-off detection information of the other gateway can be received through private communication;

[0042] The hands-off detection intelligent decision-making module includes a first-channel automatic driving controller and a second-channel automatic driving controller. The first and second-channel automatic driving controllers adopt an integrated design mode, communicate independently and can interact with internal signals. The hands-off detection information received by the first and second-channel automatic driving controllers is used as a logical judgment condition for starting and shutting down the automatic driving function to make automatic driving function control decisions.

[0043] Explanation of reference numerals: driver 101, steering wheel 102, steering angle sensor 103, EPS controller 105, vehicle gateway 107, autonomous driving controller 108, first sensor 1031, second sensor 1032, steering wheel covering 104, first EPS controller 1051, second EPS controller 1052, first gateway 1071, second gateway 1072, first autonomous driving controller 1081, second autonomous driving controller 1082, outer conductive coating 201, inner conductive coating 202, coating material 203, grounding terminal 204, power supply terminal 205, insulating gap 206

[0044] like Figure 3 As shown, a coating material layer is provided on the steering wheel, and the steering wheel coating layer includes an outer conductive coating 201, an inner conductive coating 202, a coating material 203, a grounding terminal 204, and a power supply terminal 205. The inner conductive coating 202 and the outer conductive coating 201 are respectively provided at two ends of the coating material 203, and an insulating gap 206 is provided between the inner and outer conductive coatings. When the driver holds the coating material layer, the coating material 203 is deformed, and the inner and outer conductive coatings are in contact to form a conductive circuit, thereby sending a grip force sensing signal to the outside world.

[0045] The covering material 203 is a non-metallic material including but not limited to genuine leather, microfiber leather, etc., with holes on the surface, wrapped around the steering wheel rim, located on the outside of the steering wheel, and in contact with people. The perforated part of the genuine leather is filled with the outer conductive coating 201, and a certain gap is maintained between the inner conductive coating 202 and the outer conductive coating 201, that is, an insulating gap 206 is formed. When the steering wheel is held, the covering material 203 can produce a certain compression deformation, so that the inner conductive coating 202 and the outer conductive coating 201 are in contact, and conduction is achieved.

[0046] The grounding terminal 204 is connected with a wiring harness to the outer conductive coating 201, and the terminal side is connected to the steering wheel frame, playing the role of negative grounding.

[0047] The power supply terminal 205 is connected with the inner conductive coating 202 with a wiring harness, and its power supply end is connected with the hand-off detection processor 106. The hand-off detection processor 106 supplies power to the conductive coating. When a person holds the steering wheel, the hand-off detection processor receives the power on information, and after processing and judgment, sends a hand-off detection hand-holding steering wheel grip sensor signal to the second gateway 1072.

[0048] like Figure 4 and Figure 5 The embodiment shown shows the application of the steering wheel hands-off detection method and system in a specific scenario. This embodiment explains the whole process and working principle of steering wheel hands-off detection as a whole:

[0049] When the driver 101 operates the steering wheel by hand during driving, the system gives two signals of hand-off detection of holding the steering wheel. When the human hand leaves the steering wheel, the system gives two signals of hand leaving the steering wheel. The steering wheel 102 transmits the steering angle generated by the steering action and transmits the holding force of the human hand on the steering wheel. At the same time, the steering wheel 102 integrates a steering wheel coating 104. The steering wheel coating 104 is in direct contact with the human hand, which can ensure a comfortable feel when the hand operates the steering wheel. The steering wheel coating 104 includes an outer conductive coating 201, an inner conductive coating 202, a coating material 203, a grounding terminal 204, and a power supply terminal 205. The outer conductive coating 201 is a non-metallic conductive coating that is in direct contact with the human hand and can ensure a comfortable feel of hand-operated steering. The inner conductive coating 202 is consistent with the outer conductive coating 201 in material and process.

[0050] The covering material 203 is a non-metallic material including but not limited to genuine leather, microfiber leather, etc., with holes on the surface, and is coated on the steering wheel rim. The perforated part of the genuine leather is filled with the outer conductive coating 201, and a certain gap is maintained between the inner conductive coating 202 and the outer conductive coating 201. When the steering wheel is held, the covering material 203 can produce a certain compression deformation, so that the inner conductive coating 202 and the outer conductive coating 201 are in contact, and conduction is achieved.

[0051] The grounding terminal 204 is connected with a wiring harness to the outer conductive coating 201, and the terminal side is connected to the steering wheel frame, playing the role of negative grounding.

[0052] The power supply terminal 205 is connected to the inner conductive coating 202 with a wiring harness, and its power supply end is connected to the hand-off detection processor 106 .

[0053] The hand-off detection processor 106 supplies power to the conductive coating. When a person holds the steering wheel, the hand-off detection processor receives the power-on information, and after processing and judgment, sends a hand-off detection signal of the hand holding the steering wheel to the second gateway 1072.

[0054] The second gateway 1072 and the first gateway 1071 are integrated in design. The two communicate independently and can exchange internal information. When the signal received by one channel fails or a single point fails, the hands-off detection information of the other channel can be received through private communication. The first gateway 1071 sends the hands-off detection information to the first automatic driving controller 1081, and the second gateway 1072 sends the hands-off detection information to the second automatic driving controller 1082.

[0055] The first autonomous driving controller 1081 and the second autonomous driving controller 1082 are integrated in design, communicate independently and can interact internally. The hands-off detection information received by the first autonomous driving controller 1081 and the second autonomous driving controller 1082 is used as a logical judgment condition for starting and shutting down the autonomous driving function to make autonomous driving function control decisions.

[0056] Hand-off detection control strategy: When the steering wheel hand-off detection function is normal, the first gateway 1071 calls the hand-off detection information of the second gateway 1072 through internal communication. The hand-off detection information received by the first automatic driving controller 1081 and the second automatic driving controller 1082 is derived from the detection result of the steering wheel hand-off detection processor. When the steering wheel hand-off detection function fails, the second gateway 1072 calls the hand-off detection information of the first gateway 1071 through internal communication. The hand-off detection information received by the first automatic driving controller 1081 and the second automatic driving controller 1082 is derived from the hand-off detection backup strategy. It can be seen that in the hand-off detection control strategy, when the steering wheel hand-off detection function is normal, the first gateway 1071 will also call the hand-off detection information of the second gateway 1072 through internal communication.

[0057] Backup strategy: When the driver 101 holds the steering wheel 102, through road feedback, the first sensor 1031 and the second sensor 1032 recognize the angle fluctuation according to the road excitation, and send the angle information to the first EPS controller 1051 and the second EPS controller 1052 in real time.

[0058] The first EPS controller 1051 and the second EPS controller 1052 are integratedly designed to estimate the steering angle information received from the first sensor 1031 and the second sensor 1032 according to the calibrated steering angle threshold and the steering angle fluctuation duration threshold, obtain the hand-off detection estimation result, and send the estimation result to the first gateway 1071 and the second gateway 1072.

[0059] The first gateway 1071 sends the hands-off detection estimation result of the first EPS controller 1051 to the first automatic driving controller 1081 for standby, and the second gateway 1072 sends the hands-off detection estimation result of the second EPS controller 1052 to the second automatic driving controller 1082 for standby.

[0060] When a person holds the steering wheel, the inner conductive coating 202 of the steering wheel coating is connected to the outer conductive coating 201, and the hands-off detection processor identifies the conductive connection state and sends the steering wheel holding information to the gateway, which forwards it to the automatic driving controller for use. At the same time, the sensor sends the angle fluctuation information to the EPS controller, and the EPS controller sends the hands-off detection estimation result to the gateway, and the gateway forwards the hands-off detection estimation result to the automatic driving controller for standby.

[0061] When the conductive coating on the inner side of the steering wheel covering fails (i.e., the grip force sensing structure fails), the first autonomous driving controller 1081 and the second autonomous driving controller 1082 use the hand-off detection estimation results of the first EPS controller 1051 and the second EPS controller 1052 respectively.

[0062] When the first gateway 1071 fails to communicate with the first autonomous driving controller 1081 (i.e., the vehicle gateway fails to communicate), the second gateway 1072 communicates normally with the second autonomous driving controller 1082 and transmits the hands-off detection result. The first autonomous driving controller 1081 and the second autonomous driving controller 1082 share the hands-off detection estimation result.

[0063] The vehicle disclosed in the present invention is specifically an autonomous driving vehicle, and specifically includes:

[0064] An electronic device for implementing a steering wheel hands-off detection method;

[0065] A processor, the processor runs a program, and when the program runs, data output from the electronic device executes steps of implementing a method for detecting a hands-off steering wheel;

[0066] The storage medium is used to store a program, which, when running, executes the steps of implementing the steering wheel hands-off detection method for data output from an electronic device.

[0067] like Figure 6 As shown, the present invention also discloses an electronic device and a storage medium corresponding to the steering wheel hands-off detection method and system:

[0068] An electronic device comprises: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of a steering wheel hands-off detection method.

[0069] A computer-readable storage medium stores a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of a steering wheel hands-off detection method.

[0070] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0071] The electronic device includes a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and a memory. The operating system can be any one or more computer operating systems that implement electronic device control through a process, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, a Windows operating system, and various vehicle-mounted operating systems. In addition, in an embodiment of the present invention, the electronic device can be a handheld device such as a smart phone or a tablet computer, or can be any electronic device in the prior art such as a desktop computer, a portable computer, or a vehicle-mounted electronic device, which is not particularly limited in the embodiment of the present invention.

[0072] The execution subject of the electronic device control in the embodiment of the present invention may be an electronic device, or a functional module in the electronic device that can call and execute a program. The electronic device may obtain the firmware corresponding to the storage medium. The firmware corresponding to the storage medium is provided by the supplier. The firmware corresponding to different storage media may be the same or different, which is not limited here. After the electronic device obtains the firmware corresponding to the storage medium, the firmware corresponding to the storage medium may be written into the storage medium, specifically, the firmware corresponding to the storage medium may be burned into the storage medium. The process of burning the firmware into the storage medium may be implemented using existing technology, which will not be described in detail in the embodiment of the present invention.

[0073] The electronic device may also obtain a reset command corresponding to the storage medium. The reset command corresponding to the storage medium is provided by the supplier. The reset commands corresponding to different storage media may be the same or different, and are not limited here.

[0074] At this time, the storage medium of the electronic device is a storage medium in which the corresponding firmware is written, and the electronic device can respond to the reset command corresponding to the storage medium in the storage medium in which the corresponding firmware is written, so that the electronic device resets the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command can be implemented by the existing technology and will not be described in detail in the embodiments of the present invention.

[0075] Those skilled in the art will appreciate that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined.

[0076] It should be noted that certain words are used in this specification and claims to refer to specific components. Those skilled in the art should understand that vehicle manufacturers may use different nouns to refer to the same component. This specification and claims do not use the difference in nouns as a way to distinguish components, but use the difference in the functions of the components as the criterion for distinction. As mentioned throughout the specification and claims, "including" or "comprising" is an open term, so it should be understood as "including but not limited to". The preferred embodiment of the present invention will be described later, but the description is based on the general principles of the specification and is not used to limit the scope of the present invention. The scope of protection of the present invention shall be based on the definition of the claims attached thereto.

[0077] It can be known from the description of the above embodiments that those skilled in the art can clearly understand that the present invention can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present invention can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention or certain parts of the embodiments.

[0078] The present invention can be used in many general or special purpose computing system environments or configurations, such as: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.

[0079] The present invention may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0080] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0081] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0082] In several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method can also be implemented in other ways. The apparatus embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the apparatus, method and computer program product according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0083] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0084] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk. It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting a hands-off steering wheel, applied to a hands-off steering wheel detection system, characterized in that: Specifically include: Obtaining a grip force sensor signal and a steering angle sensor signal of the steering wheel; Processing the grip force sensing signal and the rotation angle sensing signal respectively to generate grip force hand-off detection information and rotation angle hand-off detection information; Send grip force and corner hand-off detection information to the autonomous driving controller via the vehicle CAN bus and gateway; According to the communication interaction between gateways and the data interaction between autonomous driving controllers, the hands-off detection control strategy and the hands-off detection backup strategy are executed; According to the hand-off detection control strategy and the hand-off detection backup strategy, a decision output is made to start or shut down the vehicle's automatic driving function. Specifically, the hand-off detection control strategy is as follows: when grip hand-off detection information can be normally generated, the first gateway calls the grip hand-off detection information of the second gateway through internal communication, and the first automatic driving controller and the second automatic driving controller receive the grip hand-off detection information and execute the hand-off detection control strategy; The hands-off detection backup strategy is specifically as follows: when the grip hands-off detection information cannot be generated normally, the second gateway calls the corner hands-off detection information of the first gateway through internal communication, the first automatic driving controller and the second automatic driving controller receive the corner hands-off detection information, and execute the hands-off detection backup strategy.

2. The method for detecting hands-off steering wheel according to claim 1, characterized in that: The internal communication is specifically as follows: the second gateway sends corner hand-off detection information to the bus CAN through the electric power steering system, calls the corner hand-off detection information of the first gateway, the first automatic driving controller and the second automatic driving controller receive the corner hand-off detection information, and execute the hand-off detection backup strategy.

3. A steering wheel hands-off detection system, used to implement the steering wheel hands-off detection method according to claim 1 or 2, characterized in that: Specifically include: A sensor signal acquisition module, used to acquire a grip force sensor signal and a steering angle sensor signal of the steering wheel; The hand-off detection information generating module processes the grip force sensing signal and the turning angle sensing signal respectively to generate grip force hand-off detection information and turning angle hand-off detection information; The hand-off detection information transmission module is used to send grip force hand-off detection information and corner hand-off detection information to the autonomous driving controller through the vehicle CAN bus and the gateway; The hand-off detection intelligent decision module is used to execute the hand-off detection control strategy and the hand-off detection backup strategy according to the communication interaction between the gateways and the data interaction between the automatic driving controllers; according to the hand-off detection control strategy and the hand-off detection backup strategy, the decision output is to start or shut down the automatic driving function of the vehicle, and the hand-off detection control strategy is specifically: when the grip hand-off detection information can be normally generated, the first gateway calls the grip hand-off detection information of the second gateway through internal communication, and the first automatic driving controller and the second automatic driving controller receive the grip hand-off detection information and execute the hand-off detection control strategy; The hands-off detection backup strategy is specifically as follows: when the grip hands-off detection information cannot be generated normally, the second gateway calls the corner hands-off detection information of the first gateway through internal communication, the first automatic driving controller and the second automatic driving controller receive the corner hands-off detection information, and execute the hands-off detection backup strategy.

4. The steering wheel hands-off detection system according to claim 3, characterized in that: The sensor signal acquisition module includes a steering wheel covering layer and a steering angle signal sensor: The steering wheel coating layer is used to generate compression deformation when gripped, so that the inner conductive coating and the outer conductive coating contact each other, forming a conductive loop and sending a grip force sensing signal; Angle sensor: used to identify the angle fluctuation according to the road surface excitation and send the angle sensor signal; The hand-off detection information generation module includes a hand-off detection processor and an electric power steering system: the hand-off detection processor is used to supply power to the conductive coating and detect whether the conductive coating is turned on. When the hand holds the steering wheel, the hand-off detection processor receives power on information and sends grip force hand-off detection information to the second gateway; The electric power steering system is used to estimate the steering angle information received from the steering angle sensor according to the calibrated steering angle threshold and the steering angle fluctuation duration threshold, obtain steering angle hand-off detection information and send the estimation result to the vehicle gateway.

5. The steering wheel hands-off detection system according to claim 3, characterized in that: The hands-off detection information transmission module includes a first gateway and a second gateway. The first gateway and the second gateway are connected via the vehicle CAN bus. The first gateway and the second gateway adopt an integrated design mode. The two gateways communicate independently and can exchange internal information. When the signal received by one gateway fails or a single point failure occurs, the hands-off detection information of the other gateway can be received through private communication. The hands-off detection intelligent decision-making module includes a first autonomous driving controller and a second autonomous driving controller. The first and second autonomous driving controllers adopt an integrated design mode, communicate independently and can interact with internal signals. The hands-off detection information received by the first and second autonomous driving controllers is used as a logical judgment condition for starting and shutting down the autonomous driving function to make autonomous driving function control decisions.

6. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the method according to claim 1 or 2.

7. A computer-readable storage medium, characterized in that: It stores a computer program executable by an electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the method according to claim 1 or 2.

8. A vehicle, characterized in that: Specifically include: An electronic device, used to implement the steering wheel hands-off detection method according to claim 1 or 2; A processor, wherein the processor runs a program, and when the program runs, data output from the electronic device executes the steps of the method for detecting hands-off steering wheel according to claim 1 or 2; A storage medium for storing a program, wherein when the program is run, the program executes the steps of the method for detecting the hands-off steering wheel as claimed in claim 1 or 2 for data output from an electronic device.

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