A method, device and electronic device for warning of dropping

Abstract

The present application discloses a method, device and electronic device for warning of hand-off, relating to the technical field of autonomous driving. The hand-off warning method corresponding to the prompt module includes: an electronic steering torque sensor obtains the torque value of the current steering wheel and compares it with a preset hand-off judgment torque threshold obtained through self-learning to determine whether the driver's hand has left the steering wheel; when the result that the driver's hand has left the steering wheel is obtained, a hand-off timing module times the time when the driver's hand leaves the steering wheel, and a hand-off time judgment module calls a corresponding first hand-off time threshold according to the current vehicle speed and compares it with the timing time when the driver's hand leaves the steering wheel to determine whether it is necessary to issue a warning message to the driver, thus avoiding false alarms or missed alarms.

Description

Technical Field

[0001] This application mainly relates to the field of intelligent driving, and particularly to a method, device and electronic device for hands-off warning. Background Art

[0002] In the field of intelligent driving, the application of autonomous driving technology is becoming more and more extensive. However, the current autonomous driving technology has not reached the fully autonomous driving level. Therefore, drivers still need to be on standby at all times to take over the vehicle in case of emergencies. Therefore, during autonomous driving, it is necessary to prevent the driver's hands from leaving the steering wheel for a long time so that they cannot respond to emergencies in time. At present, the current driver monitoring system or technologies such as steering wheel patch detection are not mature enough, resulting in missed or false alarms in hands-off warnings, leading to low accuracy in detecting the driver's hands-off situation, and the costs of both the driver monitoring system and the steering wheel patch technology are relatively high. Summary of the Invention

[0003] This application provides a method, device and electronic device for driver hands-off warning. By the self-learning process of the vehicle, the hands-off judgment torque threshold is determined, and by comparing the torque value obtained from the electronic steering torque sensor with the preset hands-off judgment torque threshold, it is determined whether the current driver's hand has left the steering wheel, and by comparing the hands-off timing time with the preset hands-off time threshold corresponding to the vehicle speed, and a warning message is issued; through the above method, the false alarms and missed alarms in the driver hands-off warning method are solved.

[0004] In a first aspect, this application provides a method for driver hands-off warning, the method comprising:

[0005] Obtain a first torque value detected by an electronic steering torque sensor;

[0006] In response to the first torque value being less than a preset hands-off judgment torque threshold, it is determined as a hands-off state, and a first timing time in the hands-off state is obtained;

[0007] Determine whether the first timing time is greater than a first hands-off time threshold;

[0008] If the first timing time is greater than the first hands-off time threshold, output a first-level warning message;

[0009] If the first timing time is less than the first hands-off time threshold, it is determined as a non-hands-off state, and the timing time is set to 0.

[0010] Through the above method, when the driver's hand leaves the steering wheel, a warning message can be timely sent to the driver, avoiding the situation that the driver fails to respond in time to emergencies during vehicle driving.

[0011] In a possible design, before determining whether the first timing time is greater than the first hand-off time threshold, it further includes:

[0012] Obtain the current vehicle speed;

[0013] According to the correspondence between the current vehicle speed and the hand-off time threshold, determine the first hand-off time threshold corresponding to the current vehicle speed.

[0014] Through the above method, different first hand-off time thresholds are configured under different vehicle speeds. When the vehicle speed is relatively high, the first hand-off time threshold is shortened, which can timely send a warning message to the driver and avoid the situation that the driver's reaction to sudden situations is not timely enough at a relatively high vehicle speed.

[0015] In a possible design, before responding to the current torque value being less than the preset hand-off judgment torque threshold, it further includes:

[0016] Obtain a second torque value, a third torque value, and a fourth torque value, where the second torque value represents the torque value acting on the electronic steering torque sensor due to road surface impact, the third torque value represents the torque value acting on the electronic steering torque sensor due to the friction of the steering system components, and the fourth torque value represents the torque value acting on the electronic steering torque sensor when the driver's hand is placed on the steering wheel;

[0017] Based on the second torque value, the third torque value, and the fourth torque value, obtain the preset hand-off judgment torque threshold.

[0018] Through the above method, during the self-learning process of the steering system friction of the vehicle, the hand-off judgment torque threshold is set for a single vehicle, solving the problem of false alarms and missed alarms generated by some vehicles.

[0019] In a possible design, after outputting the first-level warning information, it further includes:

[0020] Obtain the fifth torque value detected by the electronic steering torque sensor;

[0021] If the fifth torque value is less than the preset hand-off judgment torque threshold, it is determined as the hand-off state, and obtain the second timing time in the hand-off state;

[0022] Determine whether the second timing time is greater than the second hand-off time threshold;

[0023] If the second timing time is greater than the second hand-off time threshold, output the second-level warning information.

[0024] Through the above method, the hands-off timing module continuously accumulates the time when the driver's hand is off the steering wheel, so as to send different levels of warning information to the driver, prompt the driver to take over the vehicle in time, and avoid the occurrence of emergencies.

[0025] In a possible design, after outputting the first-level warning information, it further includes:

[0026] Obtain the sixth torque value detected by the electronic steering torque sensor;

[0027] In response to the sixth torque value being greater than or equal to the preset hands-off judgment torque threshold, it is determined as a non-hands-off state;

[0028] And set the timing time to 0.

[0029] Through the above method, when the torque value detected by the electronic steering torque sensor is greater than or equal to the preset hands-off judgment torque threshold, it is determined that the driver's hand is not off the steering wheel at this time, and at this time, the hands-off timing module sets the timing time to 0, thus avoiding false alarms and missed alarms.

[0030] In a second aspect, the present application provides a driver hands-off warning device, and the device includes:

[0031] An acquisition module, configured to acquire the torque value detected by the electronic steering torque sensor during vehicle driving and the timing time when hands-off occurs;

[0032] A processing module, configured to determine whether the torque value from the electronic steering torque sensor is less than a preset hands-off judgment torque threshold;

[0033] If it is less, a warning message is sent;

[0034] If it is greater than or equal to, continue to acquire the torque value detected by the current electronic steering torque sensor and the timing time when hands-off occurs.

[0035] In a possible design, the processing module is specifically configured to determine whether the torque value from the electronic steering torque sensor is less than a preset hands-off judgment torque threshold;

[0036] If the torque value from the electronic steering torque sensor is less than the preset hands-off judgment torque threshold and the timing time when hands-off occurs is greater than the hands-off time threshold, the prompt module sends a warning message;

[0037] If the torque value from the electronic steering torque sensor is greater than or equal to the preset hands-off judgment torque threshold, the prompt module does not send a warning message, and continuously detects the torque value from the electronic steering torque sensor.

[0038] In a possible design, the device further includes:

[0039] A timing module for timing the hand-off state;

[0040] A prompting module for sending a warning message to the driver when a warning signal is received.

[0041] Thirdly, the present application provides an electronic device, including:

[0042] A memory for storing a computer program;

[0043] A processor for implementing the steps of the above-mentioned hand-off warning method when executing the computer program stored on the memory.

[0044] Fourthly, the present application provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned hand-off warning method are implemented.

[0045] For the various aspects in the above second to fourth aspects and the possible technical effects that each aspect may achieve, please refer to the description of the possible technical effects that can be achieved in the above-mentioned first aspect and various possible solutions in the first aspect, and details will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is an architecture diagram of a hand-off warning system provided by the present application;

[0047] Figure 2 It is a flowchart of a hand-off warning method provided by the present application;

[0048] Figure 3 It is a schematic diagram of a hand-off warning device provided by the present application;

[0049] Figure 4 It is a schematic diagram of the structure of an electronic device provided by the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. The specific operation methods in the method embodiments can also be applied to the device embodiments or system embodiments. It should be noted that in the description of the present application, "a plurality of" is understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The connection between A and B may represent: A is directly connected to B and A is connected to B through C. In addition, in the description of the present application, words such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0051] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0052] First, a driver distraction warning method provided by an embodiment of the present application is applied to the system architecture as shown in Figure 1 In this system architecture, it includes a longitudinal control module, an electronic steering torque sensor, a distraction determination module, a distraction timing module, a distraction time determination module, a prompt module, and an electronic steering control system. Among them, the longitudinal control module is responsible for providing a vehicle speed signal, the electronic steering torque sensor provides a torque signal, the distraction determination module provides a distraction or non-distraction signal, the distraction timing module is responsible for recording the distraction time, the distraction time determination module provides a warning level signal, the prompt module provides a warning message, and the electronic steering control system provides a distraction determination torque threshold obtained through self-learning. The above components are connected by circuits. By comparing the torque value detected by the electronic steering torque sensor with the distraction determination torque threshold and comparing the detected distraction timing time with the distraction time threshold, a warning message is provided to the driver when the conditions are met.

[0053] Referring to Figure 2 As shown, a driver distraction warning method provided by the present application has the following implementation process:

[0054] S11, obtain a first torque value detected by the electronic steering torque sensor.

[0055] During the driving of the vehicle, the electronic steering torque sensor detects the first torque value. According to the difference between the electronic steering control system and the torque applied by the driver on the steering wheel, it is determined whether the first torque value detected by the electronic torque sensor is the torque value applied when the driver's hand has not left the steering wheel. At this time, the first torque value detected by the electronic steering torque sensor includes two results, one is the torque value when the driver's hand leaves the steering wheel, and the other is the torque value when the driver's hand has not left the steering wheel.

[0056] S12, in response to the first torque value being less than the distraction determination torque threshold, it is determined as the distraction state, and obtain the first timing time in the distraction state.

[0057] First, in order to determine whether the torque value detected by the current electronic steering torque sensor is less than the preset torque threshold for judging hand-off, it is necessary to first determine the torque threshold for judging hand-off; in the embodiments of the present application, the torque threshold for judging hand-off is determined by the second torque value, the third torque value, and the fourth torque value; the second torque value, the third torque value, and the fourth torque value are obtained by collecting vehicle data. Among them, the second torque value is the torque value acting on the electronic steering torque sensor due to road surface impact, the third torque value is the torque value acting on the electronic steering torque sensor due to the friction of the steering system components, and the fourth torque value is the torque value acting on the electronic steering torque sensor when the driver's hand is placed on the steering wheel; when the vehicle is driving normally, when the driver's hand leaves the steering wheel, the torque value detected by the electronic steering torque sensor is the sum of the second torque value and the third torque value, and when the driver's hand does not leave the steering wheel, the torque value detected by the electronic steering torque sensor is the sum of the second torque value, the third torque value, and the fourth torque value.

[0058] In the embodiments of the present application, the torque value detected by the above-mentioned electronic steering torque sensor and the torque threshold for judging hand-off can be specifically obtained through the following calculation formulas:

[0059] T1 = T3 + T4;

[0060] T2 = T3 + T4 + T5;

[0061] T0 = T3 + T4 + T5 / 2;

[0062] Where T0: the torque threshold for judging hand-off, preset and stored in the hand-off judgment module;

[0063] T1: the torque value detected by the electronic steering torque sensor when the driver's hand leaves the steering wheel during normal vehicle driving;

[0064] T2: the torque value detected by the electronic steering torque sensor when the driver's hand does not leave the steering wheel during normal vehicle driving;

[0065] T3: the torque value acting on the electronic steering torque sensor due to road surface impact, that is, the second torque value;

[0066] T4: the torque value acting on the electronic steering torque sensor due to the friction of the steering system components when the hand leaves the steering wheel, that is, the third torque value;

[0067] T5: the torque value acting on the electronic steering torque sensor when the driver's hand is placed on the steering wheel, that is, the fourth torque value;

[0068] Specifically, based on the second torque value, the third torque value, and the fourth torque value, a torque threshold for judging hand-off is obtained. For example, when the torque value acting on the electronic steering torque sensor due to road impact is 0.1 N·m, and when the hand leaves the steering wheel, the average torque acting on the electronic steering torque sensor due to the friction force of the steering system components is 0.1 N·m, and the torque value acting on the electronic steering torque sensor when the driver's hand is placed on the steering wheel is 0.2 N·m, the torque threshold for judging hand-off T0 = 0.1 + 0.1 + 0.2 / 2 = 0.3 N·m. At this time, the torque threshold for judging hand-off is set to 0.3 N·m and stored in the hand-off determination module.

[0069] In addition, when certain conditions are met, T4 is obtained by averaging the torque values acting on the electronic torque sensor due to the friction force of the vehicle steering system components.

[0070] For example, when conditions such as vehicle speed ≤ 7 Km / h, absolute value of steering wheel torque ≤ 2.5 N·m, absolute value of steering wheel angle ≤ 5°, and absolute value of steering wheel rotation speed ≤ 0.05 rev / s are met, when the hand leaves the steering wheel and the steering wheel rotates at a small angle in the middle position, record the torque value acting on the electronic steering torque sensor due to the friction force of the steering system components at this time. To obtain a more accurate value, repeat the above actions three times and take the average of the torques as T4.

[0071] T4 for each vehicle is obtained through the self-learning of the entire vehicle, so that T0 for each vehicle has different values according to different T4 values. At this time, the torque T1 detected by the electronic steering torque sensor when the hand of each vehicle is off = T3 + T4 is always less than T0, and the torque T2 detected by the electronic steering torque sensor when the hand is not off = T3 + T4 + T5 is always greater than T0, satisfying the condition of T1 < T0 < T2, thus solving the problems of false alarms and missed alarms.

[0072] At this time, when the vehicle is driving normally, the hand-off judgment module obtains the torque value detected by the electronic steering torque sensor and compares it with the preset torque threshold for hand-off judgment. When the torque value detected by the electronic steering torque sensor is less than the preset torque threshold for hand-off judgment, the hand-off judgment module determines that the driver is in the hand-off state at this time and sends a hand-off signal to the hand-off timing module. When the torque value detected by the electronic steering torque sensor is greater than or equal to the preset torque threshold for hand-off judgment, the hand-off judgment module determines that the driver is in the non-hand-off state at this time, sends a non-hand-off signal to the hand-off timing module, and sets the timing time to 0.

[0073] Further, in order to determine whether the time when the driver's hand leaves the steering wheel is greater than the preset threshold of the hand-off time, when the hand-off judgment module determines the hand-off state and sends a hand-off signal, it is necessary for the hand-off timing module to time the time when the driver's hand leaves the steering wheel. Further, when the hand-off judgment module detects that the driver's hand leaves the steering wheel, the hand-off timing module will start timing, so as to obtain the first timing time when the driver's hand leaves the steering wheel.

[0074] For example, at this time, the driver's hand has left the steering wheel, and the hand-off timing module starts timing and detects that the driver's hand has left the steering wheel for 5 seconds at this time. At this time, the first timing time is obtained as 5 seconds.

[0075] S13, determine whether the first timing time is greater than the first hand-off time threshold.

[0076] First of all, before determining whether the first timing time is greater than the first hand-off time threshold, a first hand-off time threshold needs to be preset. For example, the first hand-off time threshold can be set to 10 seconds; further, after obtaining the first timing time, the hand-off time judgment module will compare the first timing time with the first hand-off time threshold. At this time, two different comparison results will be obtained. One is that the first timing time is greater than the first hand-off time threshold, and then step S14 is executed. The other is that the first timing time is less than the first hand-off time threshold, and then step S15 is executed.

[0077] S14, output a first-level warning message.

[0078] Specifically, when the hand-off judgment module determines that the driver's hand leaves the steering wheel, it will first obtain the current vehicle speed, and determine the first hand-off time threshold corresponding to the current vehicle speed according to the corresponding relationship between the vehicle speed and the hand-off time threshold. The corresponding relationship between the vehicle speed and the hand-off time threshold is shown in Table 1 as follows:

[0079] Vehicle speed Below 60 Km / h 60 Km / h - 90 Km / h Above 90 Km / h First release time threshold 10 9 8 Second release time threshold 15 13 11

[0080] Table 1;

[0081] Therefore, based on the corresponding relationship shown in Table 1, the first hand-off time threshold can be determined according to the current vehicle speed. When the driver is driving a vehicle, the reaction to sudden situations will not be timely enough at a relatively high vehicle speed. Therefore, the first hand-off time threshold at a low vehicle speed cannot be the same as that at a high vehicle speed; further, different first hand-off time thresholds need to be configured at different vehicle speeds.

[0082] For example, the first hand-off time threshold is set to 10 seconds when the vehicle speed is below 60 Km / h, 9 seconds when the vehicle speed is between 60 Km / h and 90 Km / h, and 8 seconds when the vehicle speed is above 90 Km / h. By configuring different first hand-off time thresholds, when the vehicle speed is relatively high, the first hand-off time threshold can be shortened, and a warning message can be sent to the driver in a timely manner, thereby shortening the time when the driver's hand leaves the steering wheel and avoiding the driver's untimely response to emergencies due to the hand leaving the steering wheel.

[0083] Further, when the first timing time corresponding to the vehicle speed is obtained, the first timing time is compared with the first hand-off time threshold corresponding to the vehicle speed. When the first timing time is greater than the first hand-off time threshold, the prompt module sends a first-level warning message to the driver.

[0084] For example, when the current vehicle speed is detected to be 50 Km / h, the hand-off judgment module determines that the driver's hand has left the steering wheel at this time and sends a timing signal to the hand-off timing module. When the first timing time reaches 10 seconds, the prompt module will send a first-level warning message to the driver.

[0085] After outputting the first-level warning message, the electronic steering torque sensor will continue to detect the fifth torque value and determine whether the fifth torque value is less than the hand-off judgment torque threshold;

[0086] If it is less than the hand-off judgment torque threshold, the hand-off timing module will start to continuously accumulate the second timing time at this time. The second timing time is obtained by adding the first timing time and the timing time after outputting the first-level warning message.

[0087] Further, the hand-off time judgment module determines whether the second timing time obtained after outputting the first-level warning message is greater than the second hand-off time threshold;

[0088] At this time, different second hand-off time thresholds need to be configured according to different vehicle speeds of the vehicle. For example, the second hand-off time threshold is set to 15 seconds when the vehicle speed is below 60 Km / h, 13 seconds when the vehicle speed is between 60 Km / h and 90 Km / h, and 11 seconds when the vehicle speed is above 90 Km / h.

[0089] At this time, according to the current vehicle speed, the hand-off time judgment module selects the corresponding second hand-off time threshold. If the accumulated time is greater than the selected second hand-off time threshold, a second-level warning message is output. For example, at this time, the vehicle speed is 70 Km / h, and the second timing time accumulated by the hand-off timing module is 13 seconds. According to the current vehicle speed, the second hand-off time threshold should be selected as 13 seconds. Further, the second timing time is greater than the second hand-off time threshold, and the prompt module will output a second-level warning message.

[0090] In the embodiments of the present application, warning information of different levels can be distinguished by the flashing frequency of the hands-off image, the volume of the warning sound, and the frequency of the warning sound. For example, the higher the warning level, the louder and higher the frequency of the warning sound emitted through the vehicle audio, or the higher the warning level, the faster the flashing frequency of the hands-off image displayed on the central control screen.

[0091] After outputting the first-level warning information, obtain the sixth torque value detected by the electronic steering torque sensor;

[0092] When the sixth torque value is greater than the hands-off judgment torque threshold, it is determined that the driver is in a non-hands-off state at this time;

[0093] Furthermore, when it is detected that the sixth torque value is greater than the hands-off judgment torque threshold, the hands-off judgment module can determine that it is in a non-hands-off state at this time, and simultaneously send a non-hands-off signal to the hands-off timing module. At this time, the hands-off timing module will stop timing and set the timing time to 0.

[0094] Generally speaking, the driver hands-off warning method provided by the embodiments of the present application detects the torque value detected by the electronic steering torque sensor during vehicle driving and the duration when the driver's hand leaves the steering wheel, determines whether the driver's hand currently leaves the steering wheel, and the hands-off judgment time threshold will also change accordingly according to different vehicle speeds to ensure that the driver can receive warning information in time at different vehicle speeds and thus take over the steering wheel; the embodiments of the present application realize setting the hands-off judgment torque threshold for a single vehicle through the vehicle's self-learning of the friction of the steering system, improve the detection accuracy when the driver's hand leaves the steering wheel, and solve the false alarm and missed alarm situations when the driver's hand leaves the steering wheel in some vehicles.

[0095] S15, determine it as a non-hands-off state, and set the timing time to 0.

[0096] When it is detected that the first timing time is less than the first hands-off time threshold, it further indicates that the driver's hand has returned to the steering wheel at this time, and it is detected that the torque value from the electronic steering torque sensor is greater than the hands-off judgment torque threshold. At this time, the timing module receives the non-hands-off signal, stops timing, and sets the timing time to 0.

[0097] Based on the same inventive concept, an embodiment of the present application also provides a driver hands-off warning device, which is used to determine whether the driver's hand leaves the steering wheel during driving and send a warning message when hands-off, so as to prevent the driver from being too late to react in case of an emergency. Refer to Figure 3 As shown, the device includes:

[0098] An acquisition module 301, configured to acquire the torque value detected by an electronic steering torque sensor during vehicle driving and the timing time at the moment of hand-off.

[0099] A processing module 302, configured to determine whether the torque value from the electronic steering torque sensor is less than a hand-off determination torque threshold.

[0100] If it is less, a warning message is issued.

[0101] If it is greater than or equal to, continue to acquire the torque value detected by the current electronic steering torque sensor and the timing time at the moment of hand-off.

[0102] In a possible design, the processing module is specifically configured to determine whether the torque value from the electronic steering torque sensor is less than the hand-off determination torque threshold.

[0103] If the torque value from the electronic steering torque sensor is less than the hand-off determination torque threshold and the timing time at the moment of hand-off is greater than the hand-off time threshold, the prompting module issues a warning message.

[0104] If the torque value from the electronic steering torque sensor is greater than or equal to the hand-off determination torque threshold, the prompting module does not issue a warning message and continuously detects the torque value from the electronic steering torque sensor.

[0105] Based on the same inventive concept, an electronic device is further provided in an embodiment of the present application. The electronic device can implement the functions of the foregoing driver hand-off warning device. Refer to Figure 4 , the electronic device includes:

[0106] At least one processor 401, and a memory 402 connected to at least one processor 401. In the embodiment of the present application, the specific connection medium between the processor 401 and the memory 402 is not limited. Figure 4 It is taken as an example that the processor 401 and the memory 402 are connected through a bus 400. The bus 400 is Figure 4 represented by a thick line in. The connection manners between other components are only for illustrative purposes and are not limited thereto. The bus 400 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 4 it is only represented by a thick line in, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor 401 can also be called a controller, and the name is not limited.

[0107] In the embodiment of the present application, the memory 402 stores instructions executable by at least one processor 301. At least one processor 401 can execute the instructions stored in the memory 402 to execute the driver hand-off warning method described above. The processor 401 can implement Figure 3The functions of each module in the device shown.

[0108] Among them, the processor 401 is the control center of the device. It can connect various parts of the entire control device through various interfaces and circuits. By running or executing the instructions stored in the memory 402 and calling the data stored in the memory 402, the various functions of the device and process data, thereby monitoring the device as a whole.

[0109] In a possible design, the processor 401 may include one or more processing units. The processor 401 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above modem processor may not be integrated into the processor 401. In some embodiments, the processor 401 and the memory 402 may be implemented on the same chip. In some embodiments, they may also be separately implemented on independent chips.

[0110] The processor 401 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the driver distraction warning method disclosed in combination with the embodiments of the present application may be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0111] The memory 402, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory 402 can include at least one type of storage medium. For example, it can include flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, magnetic disk, optical disc, etc. The memory 402 is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 402 in the embodiments of the present application can also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0112] By designing and programming the processor 401, the code corresponding to the driver distraction warning method introduced in the foregoing embodiments can be solidified into the chip, so that the chip can execute Figure 2 the steps of the driver distraction warning method of the embodiment shown. How to design and program the processor 401 is a well-known technology to those skilled in the art and will not be elaborated here.

[0113] Based on the same inventive concept, the embodiments of the present application also provide a storage medium storing computer instructions, which when run on a computer, cause the computer to execute the driver distraction warning method discussed above.

[0114] In some possible implementation manners, various aspects of the driver distraction warning method provided in the present application can also be implemented in the form of a program product, which includes program code. When the program product runs on a device, the program code is used to cause the control device to execute the steps in the driver distraction warning method according to various exemplary embodiments of the present application described above in this specification.

[0115] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can 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 code.

[0116] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows 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 the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0117] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0118] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0119] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A driver's hands-off warning method, characterized in that, The method includes: Obtaining a first torque value detected by an electronic steering torque sensor; Obtaining a second torque value, a third torque value, and a fourth torque value, where the second torque value represents the torque value acting on the electronic steering torque sensor due to road surface impact, the third torque value represents the torque value acting on the electronic steering torque sensor due to the friction of steering system components, and the fourth torque value represents the torque value acting on the electronic steering torque sensor when the driver's hand is placed on the steering wheel; Based on the second torque value, the third torque value, and the fourth torque value, obtaining a preset torque threshold for determining hand-off; In response to the first torque value being less than the preset torque threshold for determining hand-off, determining it as a hand-off state, and obtaining a first timing time in the hand-off state; Determining whether the first timing time is greater than a first hand-off time threshold; If the first timing time is greater than the first hand-off time threshold, outputting a first-level warning message; If the first timing time is less than the first hand-off time threshold, determining it as a non-hand-off state, and setting the timing time to 0.

2. The method according to claim 1, characterized in that, Before determining whether the first timing time is greater than the first hand-off time threshold, it further includes: Obtaining the current vehicle speed; According to the correspondence between the current vehicle speed and the hand-off time threshold, determining the first hand-off time threshold corresponding to the current vehicle speed.

3. The method according to claim 1, wherein After outputting the first-level warning message, it further includes: Obtaining a fifth torque value detected by the electronic steering torque sensor; In response to the fifth torque value being less than the preset torque threshold for determining hand-off, determining it as a hand-off state, and obtaining a second timing time in the hand-off state; Determining whether the second timing time is greater than a second hand-off time threshold; If the second timing time is greater than the second hand-off time threshold, outputting a second-level warning message.

4. The method according to claim 1, wherein After outputting the first-level warning message, it further includes: Obtaining a sixth torque value detected by the electronic steering torque sensor; In response to the sixth torque value being greater than or equal to the preset torque threshold for determining hand-off, determining it as a non-hand-off state; And setting the timing time to 0.

5. A driver's hand-off warning device, characterized in that, The device includes: An acquisition module for acquiring the torque value detected by the electronic steering torque sensor during vehicle driving and the timing time during hand-off; Obtaining a second torque value, a third torque value, and a fourth torque value, where the second torque value represents the torque value acting on the electronic steering torque sensor due to road surface impact, the third torque value represents the torque value acting on the electronic steering torque sensor due to the friction of steering system components, and the fourth torque value represents the torque value acting on the electronic steering torque sensor when the driver's hand is placed on the steering wheel; Based on the second torque value, the third torque value, and the fourth torque value, obtaining a preset torque threshold for determining hand-off; A processing module for determining whether the torque value from the electronic steering torque sensor is less than the preset torque threshold for determining hand-off; If it is less, sending a warning message; If it is greater than or equal to, continuing to acquire the torque value detected by the current electronic steering torque sensor and the timing time during hand-off.

6. The device according to claim 5, characterized in that, The processing module is specifically used for determining whether the torque value from the electronic steering torque sensor is less than the preset torque threshold for determining hand-off; If the torque value from the electronic steering torque sensor is less than the preset torque threshold for judging hand-off and the timing time at the time of hand-off is greater than the hand-off time threshold, the prompting module issues a warning message; If the torque value from the electronic steering torque sensor is greater than or equal to the preset torque threshold for judging hand-off, the prompting module does not issue a warning message and continuously detects the torque value from the electronic steering torque sensor.

7. The device according to claim 5, characterized in that, The device further includes: A timing module for timing the hand-off state; A prompting module for sending a warning message to the driver when receiving a warning signal.

8. An electronic device, characterized in that, Comprising: A memory for storing a computer program; A processor for implementing the method steps described in any one of claims 1-4 when executing the computer program stored on the memory.

9. 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 method steps described in any one of claims 1-4 are implemented.

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