A steering wheel hand-off detection method, system, apparatus, device and storage medium

Abstract

The application relates to the technical field of assisted driving, and particularly discloses a steering wheel hand-off detection method, system, device, equipment and storage medium. After a plurality of sensor channels acquire steering wheel contact state detection signals, if the steering wheel hand-off detection results corresponding to the steering wheel contact state detection signals are consistent, the steering wheel contact state detection signals are taken as the final steering wheel hand-off detection result; if the steering wheel hand-off detection results corresponding to the steering wheel contact state detection signals are different, a preset range interval containing a hand-off detection threshold is taken as a latent result interval, a result interval outside the latent result interval is taken as an explicit result interval, the final steering wheel hand-off detection result is determined according to the state detection results of the sensor channels and the result intervals of the steering wheel hand-off detection results, and the more accurate and reliable steering wheel hand-off detection result is further obtained when the redundant detection results are inconsistent.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, and in particular to a method, system, device, equipment and storage medium for detecting steering wheel hands-off. Background Technology

[0002] To ensure safe driving, drivers typically need to maintain control of the steering wheel at all times while the vehicle is in motion. Even in autonomous driving mode, if the driver does not control the steering wheel (i.e., the steering wheel is out of their hands), it may be difficult to react promptly to unexpected situations. Therefore, it is necessary to detect whether the driver has taken their hands off the steering wheel to remind the driver to maintain control.

[0003] Understandably, using a single sensor signal for hands-off detection (HOD) results in low signal reliability, making it prone to misjudging the hands-off state. Furthermore, in the event of a single sensor failure, the system cannot capture the hands-off state, further compromising reliability. Therefore, some engineers have proposed using multiple sensors, or even different types of sensors, to collect steering wheel contact state information, increasing sensor signal redundancy and thus improving the accuracy and reliability of hands-off detection.

[0004] However, when multiple sensors collect steering wheel contact status information, if each sensor is in normal working condition but gives different detection results, it will be difficult to determine the final detection result. In other words, it only serves as a sensor fault redundancy function, without providing a method to select the appropriate result based on the different detection results.

[0005] Improving the reliability and accuracy of redundant signal detection in steering wheel hands-off detection is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0006] The purpose of this application is to provide a method, system, device, equipment, and storage medium for detecting steering wheel hands-off, so as to improve the reliability and accuracy of redundant signal detection in steering wheel hands-off detection.

[0007] To solve the above-mentioned technical problems, this application provides a method for detecting steering wheel hands-off, including:

[0008] Collect steering wheel contact status detection signals from multiple sensor channels;

[0009] If the steering wheel hand-off detection results corresponding to the steering wheel contact state detection signals of each path are consistent, then the steering wheel contact state detection signal shall be taken as the final steering wheel hand-off detection result.

[0010] If there are differences in the steering wheel release detection results corresponding to each of the steering wheel contact state detection signals, the final steering wheel release detection result is determined based on the state detection results of each of the sensor channels and the result range in which each steering wheel release detection result is located.

[0011] The preset range, including the hand-drop detection threshold, is the implicit result range, and the result range outside the implicit result range is the explicit result range.

[0012] Optionally, the implicit result interval is the result interval corresponding to a preset length range above and below the release detection threshold.

[0013] Optionally, the preset length is determined based on the difference between the pre-measured actual steering wheel release detection signal and the pre-measured actual steering wheel not release detection signal.

[0014] Optionally, the number of sensor channels is two;

[0015] The determination of the final steering wheel release detection result based on the state detection results of each sensor channel and the result range of each steering wheel release detection result specifically includes:

[0016] If the status detection results of both sensor channels are normal, and the steering wheel contact status detection signals corresponding to both sensor channels are within the explicit result range, then an explicit result error reporting operation is performed.

[0017] If the state detection results of both sensor channels are normal, and only one of the steering wheel contact state detection signals corresponding to the two sensor channels is in the explicit result range, then the steering wheel release detection result corresponding to the steering wheel contact state detection signal in the explicit result range shall be the final steering wheel release detection result.

[0018] If the status detection results of both sensor channels are normal, and the steering wheel contact status detection signals corresponding to both sensor channels are within the implicit result range, then the preset implicit result operation is executed.

[0019] If only one of the two sensor channels is in a normal state, then the steering wheel off-hand detection result corresponding to the sensor channel in the normal state shall be the final steering wheel off-hand detection result.

[0020] If the status detection results of both sensor channels are abnormal, then a channel abnormality error reporting operation is executed.

[0021] Optionally, the number of sensor channels is greater than two;

[0022] The determination of the final steering wheel release detection result based on the state detection results of each sensor channel and the result range of each steering wheel release detection result specifically includes:

[0023] In the first steering wheel contact state detection signal corresponding to the sensor channel where all state detection results are normal, if the first steering wheel release detection results corresponding to each first steering wheel contact state detection signal are consistent, then the first steering wheel release detection result is taken as the final steering wheel release detection result.

[0024] If the results of the first steering wheel release detection are inconsistent, and the results of the second steering wheel release detection corresponding to the second steering wheel contact state detection signal in the dominant result range of the first steering wheel contact state detection signal are all consistent, then the result of the second steering wheel release detection shall be taken as the final result of the steering wheel release detection.

[0025] If the results of the first steering wheel release detection are inconsistent and the results of the second steering wheel release detection are inconsistent, then an explicit result error reporting operation will be performed.

[0026] If the detection results of each first steering wheel being released from the hands are inconsistent, and the detection signals of each first steering wheel being in contact with the hands are all within the implicit result range, then the preset implicit result operation is executed.

[0027] If the status detection results of each of the sensor channels are all abnormal, then a channel abnormality error reporting operation will be performed.

[0028] Optionally, the sensor includes at least one of a capacitance sensor, a torque sensor, and a grip force sensor.

[0029] To address the aforementioned technical problems, this application also provides a steering wheel hands-off detection system, comprising: a sensor and a processor;

[0030] The sensor channel output terminal of the sensor is connected to the processor;

[0031] The processor is used to acquire steering wheel contact state detection signals from multiple sensor channels; if the steering wheel release detection results corresponding to each steering wheel contact state detection signal are consistent, then the steering wheel contact state detection signal is taken as the final steering wheel release detection result; if the steering wheel release detection results corresponding to each steering wheel contact state detection signal are different, then the final steering wheel release detection result is determined based on the state detection results of each sensor channel and the result interval in which each steering wheel release detection result is located.

[0032] The preset range, including the hand-drop detection threshold, is the implicit result range, and the result range outside the implicit result range is the explicit result range.

[0033] To address the aforementioned technical problems, this application also provides a steering wheel hands-off detection device, comprising:

[0034] The acquisition unit is used to acquire steering wheel contact state detection signals obtained from multiple sensor channels;

[0035] The judgment unit is used to determine whether the steering wheel release detection results corresponding to each of the steering wheel contact state detection signals are consistent; if so, it proceeds to the first processing unit; if not, it proceeds to the second processing unit.

[0036] The first processing unit is used to take the steering wheel contact state detection signal as the final steering wheel release detection result;

[0037] The second processing unit is used to determine the final steering wheel release detection result based on the state detection results of each of the sensor channels and the result range in which each steering wheel release detection result is located;

[0038] The preset range, including the hand-drop detection threshold, is the implicit result range, and the result range outside the implicit result range is the explicit result range.

[0039] To address the aforementioned technical problems, this application also provides a steering wheel hands-off detection device, comprising:

[0040] Memory, used to store computer programs;

[0041] A processor for executing the computer program, which, when executed by the processor, implements the steps of the steering wheel hands-off detection method as described in any of the above.

[0042] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the steering wheel hands-off detection method as described in any of the above claims.

[0043] The steering wheel hands-off detection method provided in this application, after acquiring steering wheel contact state detection signals from multiple sensor channels, if the steering wheel hands-off detection results corresponding to each steering wheel contact state detection signal are consistent, then the steering wheel contact state detection signal is taken as the final steering wheel hands-off detection result; if there are differences in the steering wheel hands-off detection results corresponding to each steering wheel contact state detection signal, then a preset range including the hands-off detection threshold is defined as the implicit result range, and the result range outside the implicit result range is defined as the explicit result range. The final steering wheel hands-off detection result is determined by the state detection results of each sensor channel and the result range in which each steering wheel hands-off detection result is located. Based on the discrimination conditions of the state of the sensor channel and the result range in which the detection result is located, a more accurate and reliable steering wheel hands-off detection result can be obtained when redundant detection results are inconsistent.

[0044] This application also provides a steering wheel hands-off detection system, device, equipment, and storage medium, which have the above-mentioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0045] To more clearly illustrate the technical solutions of the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This application provides an architecture diagram of a steering wheel hands-off detection system.

[0047] Figure 2 A circuit diagram of a steering wheel hands-off detection system provided in this application embodiment;

[0048] Figure 3 A flowchart illustrating a steering wheel hands-off detection method provided in this application embodiment;

[0049] Figure 4 A flowchart illustrating a specific implementation of S304 provided in this application embodiment;

[0050] Figure 5 A flowchart illustrating another specific implementation of S304 provided in this application embodiment;

[0051] Figure 6 This is a schematic diagram of the structure of a steering wheel hands-off detection device provided in an embodiment of this application;

[0052] Figure 7 This is a schematic diagram of a steering wheel hands-off detection device provided in an embodiment of this application. Detailed Implementation

[0053] The core of this application is to provide a method, system, device, equipment, and storage medium for detecting steering wheel hands-off, which improves the reliability and accuracy of redundant signal detection in steering wheel hands-off detection.

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] Example 1

[0056] Figure 1 This application provides an architecture diagram of a steering wheel hands-off detection system. Figure 2 This is a circuit diagram of a steering wheel hands-off detection system provided in an embodiment of this application.

[0057] To facilitate understanding, the steering wheel hands-off detection system of this application will be introduced first.

[0058] like Figure 1 As shown, the steering wheel hands-off detection system provided in this application embodiment includes a sensor 101 and a processor 102;

[0059] The sensor channel output terminal of sensor 101 is connected to processor 102;

[0060] The processor 102 is used to acquire steering wheel contact state detection signals obtained from multiple sensor channels; if the steering wheel release detection results corresponding to each steering wheel contact state detection signal are consistent, then the steering wheel contact state detection signal is taken as the final steering wheel release detection result; if there are differences in the steering wheel release detection results corresponding to each steering wheel contact state detection signal, then the final steering wheel release detection result is determined based on the state detection results of each sensor channel and the result range in which each steering wheel release detection result is located.

[0061] Among them, the preset range including the hand-drop detection threshold is the implicit result range, and the result range outside the implicit result range is the explicit result range.

[0062] In specific implementations, for ease of integration, the processor 102 used in the embodiments of this application can be a microprocessor, such as an NXP S32K144 microcontroller.

[0063] Sensor 101 can be one or more of a capacitive sensor, torque sensor, and grip force sensor. Multiple sensor channels can use multiple different sensors 101, or different sensor channels of a single sensor 101. For example, a capacitive sensor of model AS8579 can be used. One end of the capacitive sensor is connected to a touch detection membrane located on the steering wheel, and the other end is connected to the processor 102.

[0064] To reduce the impact of detection signal fluctuations on the detection results, the steering wheel hands-off detection system of this application may further include a filter circuit 103 located at the front end of the sensor channel of sensor 101. The filter circuit 103 may be a resistive-capacitive (RC) filter circuit. Depending on the sensor type and filtering requirements, the filter circuit 103 may also be located between sensor 101 and processor 102.

[0065] like Figure 2 As shown, taking the implementation of a microprocessor in processor 102 and two sensor channels using a capacitive sensor AS8579 as an example, the AS8579 capacitive sensor is connected to the microprocessor via a Serial Peripheral Interface (SPI). C41, C54, C42, and C57 are capacitors, and Q1 uses a 48MHz crystal oscillator as the peripheral circuit of the AS8579. Pins 9 and 10 of the AS8579 are the two sensor channels; pin 10 can be defined as sensor channel 1, and pin 9 as sensor channel 2. R80 and R83 are 0-ohm resistors on the two sensor channels, respectively. The filter circuit 103 at the front end of the two sensor channels is composed of capacitors C58 and C55 and resistor R82. P1 is a connector port used to connect the touch detection membrane installed on the steering wheel.

[0066] Based on the AS8579 capacitive sensor, the touch detection membrane outputs different capacitive signals when the driver is holding the steering wheel and not holding it, which are captured by the sensor channels of the AS8579 capacitive sensor. The steering wheel contact state detection signals captured by multiple sensor channels are output to the processor 102, which makes a final determination of the steering wheel off-hand detection result. When the processor 102 determines that the final steering wheel off-hand detection result is that the steering wheel is off-hand, it controls the alarm module to issue an alarm prompt to the driver and passengers.

[0067] And based on such Figure 2The dual-sensor channel steering wheel hands-off detection system shown is defined as follows: the steering wheel contact state detection signal output by sensor channel 1 is s1, the hands-off detection threshold is t1, the implicit result range is from t1-y1 to t1+y1, the explicit result range is the range outside of t1-y1 to t1+y1, the implicit flag is f1, and the steering wheel hands-off detection result is r1. The hands-off detection threshold t1 can be set to the steering wheel contact state detection signal s1 collected by sensor channel 1 when four fingers are touching the steering wheel, and y1 can be set to (the steering wheel contact state detection signal s1 collected when four fingers are touching the steering wheel - the steering wheel contact state detection signal s1 collected when no fingers are touching the steering wheel) × 20%.

[0068] Let s2 be the steering wheel contact state detection signal output by sensor channel 2, t2 be the hand-off detection threshold, t2 be the implicit result range from t2-y2 to t2+y2, t2 be the explicit result range outside of t2-y2 to t2+y2, f2 be the implicit flag, and r2 be the steering wheel hand-off detection result. The hand-off detection threshold t2 can be set to the steering wheel contact state detection signal s2 collected by sensor channel 2 when four fingers are touching the steering wheel, and y2 can be set to (steering wheel contact state detection signal s1 collected when four fingers are touching the steering wheel - steering wheel contact state detection signal s1 collected when no fingers are touching the steering wheel) × 20%.

[0069] In the dual-sensor channel steering wheel hands-off detection system, processor 102 can execute the following judgment logic:

[0070] The system acquires the steering wheel contact status detection signal s1 from sensor channel 1. If the status detection result of sensor channel 1 is abnormal (the channel's normality can be determined by reading the value of the AS8579's status register through the serial peripheral interface), then the steering wheel release detection result r1 = 2 (indicating an error). If the status detection result of sensor channel 1 is normal, and the steering wheel contact status detection signal s1 is less than the release detection threshold t1, then the steering wheel release detection result r1 = 0 (indicating the steering wheel is off). If the status detection result of sensor channel 1 is normal, and the steering wheel contact status detection signal s1 is greater than or equal to the release detection threshold t1, then the steering wheel release detection result r1 = 1 (the steering wheel is not off, hand on).

[0071] The system acquires the steering wheel contact status detection signal s2 from sensor channel 2. If the status detection result of sensor channel 2 is abnormal (the channel's normality can be determined by reading the value of the AS8579's status register through the serial peripheral interface), then the steering wheel hand-off detection result r2 = 2 (indicating an error). If the status detection result of sensor channel 2 is normal, and the steering wheel contact status detection signal s2 is less than the hand-off detection threshold t2, then the steering wheel hand-off detection result r2 = 0 (indicating the steering wheel is off). If the status detection result of sensor channel 2 is normal, and the steering wheel contact status detection signal s2 is greater than or equal to the hand-off detection threshold t2, then the steering wheel hand-off detection result r2 = 2 (the steering wheel is not off, hand on).

[0072] If the steering wheel contact state detection signal s1 of sensor channel 1 is in the implicit result range [t1-y1,t1+y1], then the implicit flag f1 of sensor channel 1 is set to 1; otherwise, the implicit flag f1 of sensor channel 1 is set to 0.

[0073] If the steering wheel contact state detection signal s2 of sensor channel 2 is in the implicit result range [t2-y2,t2+y2], then the implicit flag f2 of sensor channel 2 is set to 2; otherwise, the implicit flag f2 of sensor channel 2 is set to 0.

[0074] If the results from the two sensor channels are the same, i.e., r1 == r2, then the final steering wheel release detection result can be set to r0 = r1.

[0075] If the results from the two sensor channels are different, then:

[0076] If the state detection result of sensor channel 1 is abnormal and the state detection result of sensor channel 2 is normal, then set the final steering wheel release detection result r0 = r2;

[0077] If the state detection result of sensor channel 1 is normal and the state detection result of sensor channel 2 is abnormal, then set the final steering wheel release detection result r0 = r1;

[0078] If the status detection results of sensor channel 1 and sensor channel 2 are both abnormal, then set the final steering wheel release detection result r0 = 2 (indicating an error).

[0079] If the state detection results of sensor channel 1 and sensor channel 2 are both normal, and the steering wheel contact state detection signals s1 and s2 are both in the explicit result area (i.e., f1 is 0 and f2 is 0), then set the final steering wheel release detection result r0 = 2 (indicating an error).

[0080] If the state detection results of sensor channel 1 and sensor channel 2 are both normal, and the steering wheel contact state detection signal s1 is in the explicit result area and the steering wheel contact state detection signal s2 is in the implicit result area (i.e., f1 is 0 and f2 is 1), then set the final steering wheel release detection result r0 = r1.

[0081] If the state detection results of sensor channel 1 and sensor channel 2 are both normal, and the steering wheel contact state detection signal s1 is in the latent result area and the steering wheel contact state detection signal s2 is in the explicit result area (i.e., f1 is 1 and f2 is 0), then set the final steering wheel release detection result r0 = r2.

[0082] If the state detection results of sensor channel 1 and sensor channel 2 are both normal, and the steering wheel contact state detection signals s1 and s2 are both in the latent result region (i.e., f1 is 1 and f2 is 1), then the preset latent result operation is executed. For example, the final steering wheel off-hand detection result r0 is set to steering wheel off-hand to improve the response speed of steering wheel off-hand, or the final steering wheel off-hand detection result r0 is set to steering wheel on-hand to improve the response speed of steering wheel on-hand, or the final steering wheel off-hand detection result r0 of the previous detection cycle is maintained.

[0083] The steering wheel hands-off detection system provided in this application not only improves the signal redundancy of steering wheel hands-off detection and the fault redundancy of obtaining steering wheel contact state detection signals, but also further improves the accuracy and reliability of obtaining steering wheel hands-off detection results.

[0084] Example 2

[0085] Figure 3 A flowchart of a steering wheel hands-off detection method provided in an embodiment of this application.

[0086] like Figure 3 As shown, the steering wheel hands-off detection method provided in this application includes:

[0087] S301: Acquires steering wheel contact status detection signals from multiple sensor channels.

[0088] S302: Determine if the steering wheel release detection results corresponding to the steering wheel contact state detection signals of each path are consistent; if yes, proceed to S303; otherwise, proceed to S304.

[0089] S303: The steering wheel contact status detection signal is used as the final steering wheel release detection result.

[0090] S304: Determine the final steering wheel release detection result based on the status detection results of each sensor channel and the result range in which each steering wheel release detection result falls.

[0091] Among them, the preset range including the hand-drop detection threshold is the implicit result range, and the result range outside the implicit result range is the explicit result range.

[0092] In specific implementation, the circuit based on the steering wheel hands-off detection method provided in this application embodiment is described in Embodiment 1 of this application. The processor can be a microprocessor, such as an NXP S32K144 microcontroller. The sensor can be one or more of a capacitive sensor, torque sensor, and grip force sensor. Multiple sensor channels can use multiple different sensors, or different sensor channels of a single sensor. For example, a capacitive sensor of model AS8579 can be used. The first end of the capacitive sensor is connected to the touch detection membrane on the steering wheel, and the other end is connected to the processor. To reduce the impact of detection signal fluctuations on the detection results, the steering wheel hands-off detection system of this application can also include a filtering circuit located at the front end of the sensor channel. The filtering circuit can be a resistive-capacitive (RC) filter circuit. The steering wheel hands-off detection method provided in this application embodiment can be executed based on the processor in the above-described steering wheel hands-off detection system.

[0093] For S301, the steering wheel contact state detection signal acquired by multiple sensor channels can be collected periodically, sequentially, or triggered. For example, S301 can be periodically executed after the vehicle is started. It should be noted that the steering wheel contact state detection signal in this embodiment refers to the signal output by the sensor channel for the processor to determine the steering wheel release detection result.

[0094] For S302, a consistency judgment is made on the steering wheel hand-off detection results corresponding to the steering wheel contact state detection signals acquired by each sensor channel. Specifically, when there are multiple sensor channels, if each sensor channel comes from different types of sensors, different sensors of the same type, or even different sensor channels of the same sensor, each sensor channel may correspond to different methods for judging the steering wheel hand-off detection results depending on the detection element designed at the front end of the sensor channel. For example, some sensors compare with the hand-off detection threshold; if it is greater than the hand-off detection threshold, it is considered that the steering wheel is off, otherwise it is on. Other sensors consider it that it is less than the hand-off detection threshold, otherwise it is on.

[0095] For ease of processing, consistency is judged only for the steering wheel off-hand detection results (i.e., steering wheel off-hand or steering wheel on-hand) corresponding to each sensor channel.

[0096] For S303, if the steering wheel hand-off detection results corresponding to each steering wheel contact state detection signal are consistent, that is, all are steering wheel off or steering wheel on, then the steering wheel contact state detection signal obtained directly is the final steering wheel hand-off detection result.

[0097] For S304, if there are differences in the steering wheel hand-off detection results corresponding to the steering wheel contact state detection signals of each path, the final steering wheel hand-off detection result is further determined based on the state detection results of each sensor channel and the result range in which each steering wheel hand-off detection result is located.

[0098] Here, explicit result intervals and implicit result intervals are pre-designed. The implicit result interval is a preset range including the hands-off detection threshold. If there are multiple hands-off detection thresholds, multiple implicit result intervals including the hands-off detection threshold can be set for each threshold. Optionally, the implicit result interval can be the result interval corresponding to a preset length range above and below the hands-off detection threshold. The preset length can be determined based on the difference between the pre-measured actual steering wheel hands-off detection signal and the pre-measured actual steering wheel hands-off detection signal. For example, the method listed in the above embodiments of this application, (steering wheel contact state detection signal s1 collected when four fingers touch the steering wheel - steering wheel contact state detection signal s1 collected when not touching the steering wheel) × 20%, can be used.

[0099] Understandably, if the steering wheel contact state detection signal is near the hand-off detection threshold, it indicates that the uncertainty of the steering wheel hand-off detection result corresponding to the steering wheel contact state detection signal is high, which is likely due to changes caused by signal fluctuations. Therefore, an additional result range is added to work with the state detection results of each sensor channel as a condition for further distinguishing the steering wheel hand-off detection result.

[0100] Depending on the type of sensor selected, the status detection results of the sensor channel can be obtained either through direct communication between the processor and the sensor, or by setting up a corresponding monitoring circuit or algorithm. For example, if a sensor channel outputs an over-range steering wheel contact status detection signal, it can be considered that the sensor channel is in an abnormal state.

[0101] Based on this, when there are differences in the steering wheel hand-off detection results corresponding to the steering wheel contact state detection signals of different channels, the steering wheel hand-off detection results corresponding to the sensor channels with abnormal state detection results can be eliminated, and the steering wheel hand-off detection results whose steering wheel contact state detection signals are in the range of implicit results can be eliminated, and then the final steering wheel hand-off detection result can be selected.

[0102] Furthermore, the steering wheel off-hand detection method provided in this application embodiment may also include: issuing a steering wheel off-hand alarm when the final steering wheel off-hand detection result is steering wheel off-hand.

[0103] Furthermore, the steering wheel hands-off detection method provided in this application embodiment may also include: performing a channel abnormality reporting operation when the status detection results of all sensor channels are in an abnormal state. The channel abnormality reporting operation may include prompting the sensor channel in a faulty state by using a pop-up window on the display screen, a voice prompt, or by illuminating the corresponding indicator light.

[0104] The steering wheel hands-off detection method provided in this application, after acquiring steering wheel contact state detection signals from multiple sensor channels, if the steering wheel hands-off detection results corresponding to each steering wheel contact state detection signal are consistent, then the steering wheel contact state detection signal is taken as the final steering wheel hands-off detection result; if there are differences in the steering wheel hands-off detection results corresponding to each steering wheel contact state detection signal, then a preset range including a hands-off detection threshold is defined as the implicit result range, and the result range outside the implicit result range is defined as the explicit result range. The final steering wheel hands-off detection result is determined by the state detection results of each sensor channel and the result range in which each steering wheel hands-off detection result is located. Based on the discrimination conditions of the state of the sensor channel and the result range in which the detection result is located, a more accurate and reliable steering wheel hands-off detection result can be obtained when redundant detection results are inconsistent.

[0105] Example 3

[0106] Figure 4 This is a flowchart illustrating a specific implementation of S304 provided in this application embodiment.

[0107] Based on the above embodiments, this application further illustrates S304 in the above embodiments by taking two sensor channels as an example.

[0108] like Figure 4As shown, in the steering wheel hands-off detection method provided in this application embodiment, when two sensor channels are used and the steering wheel hands-off detection results corresponding to the two sensor channels are different, S304: the final steering wheel hands-off detection result is determined based on the state detection result of each sensor channel and the result range in which each steering wheel hands-off detection result is located. Specifically, this may include:

[0109] S401: Determine whether the status detection results of the two sensor channels are both in a normal state; if yes, proceed to S402; if no, proceed to S407.

[0110] S402: Determine whether the steering wheel contact state detection signals corresponding to the two sensor channels are both in the explicit result range; if yes, proceed to S403; if no, proceed to S404.

[0111] S403: Execution of explicit result error reporting operation.

[0112] S404: Determine whether there is one and only one steering wheel contact state detection signal in the dominant result range of the two sensor channels; if yes, proceed to S405; if no, proceed to S406.

[0113] S405: The steering wheel hand-off detection result corresponding to the steering wheel contact state detection signal that is in the explicit result range is taken as the final steering wheel hand-off detection result.

[0114] S406: Execute the preset implicit result operation.

[0115] S407: Determine whether there is one and only one normal state in the status detection results of the two sensor channels; if yes, proceed to S408; if no, proceed to S409.

[0116] S408: The steering wheel off-hand detection result corresponding to the sensor channel under normal conditions shall be the final steering wheel off-hand detection result.

[0117] S409: Execution of channel error reporting operation.

[0118] For a detailed description of the implementation of this application's embodiments, please refer to the explanation of the judgment logic when using two sensor channels in Embodiment 1 of this application.

[0119] Specifically, the explicit result error reporting operation can be implemented by filtering for a preset time (e.g., 100 milliseconds) and if the steering wheel contact status detection signals of the two normal sensor channels are still in the explicit result range and the corresponding steering wheel release detection results are inconsistent, then explicit result fault reporting can be carried out by display pop-up window, voice prompt, or corresponding indicator light illuminating.

[0120] Channel malfunction reports can be displayed via pop-up windows, voice prompts, or corresponding indicator lights to indicate a faulty sensor channel.

[0121] Alternatively, explicit result error reporting and channel abnormality error reporting can use the same error signal to indicate to the user that the steering wheel off-hand detection is invalid.

[0122] Example 4

[0123] Figure 5 A flowchart illustrating another specific implementation of S304 provided in this application embodiment.

[0124] Based on the above embodiments, two or more sensor channels can also be used. For example... Figure 5 As shown, in the steering wheel hands-off detection method provided in this application embodiment, when two or more sensor channels are used and the steering wheel hands-off detection results corresponding to each sensor channel are different, S304: the final steering wheel hands-off detection result is determined based on the state detection results of each sensor channel and the result range in which each steering wheel hands-off detection result is located. Specifically, this may include:

[0125] S501: Determine whether there is a first steering wheel contact state detection signal corresponding to a sensor channel whose state detection result is normal; if yes, proceed to S502; if no, proceed to S509.

[0126] S502: Determine whether the first steering wheel release detection results corresponding to each first steering wheel contact state detection signal are consistent; if yes, proceed to S503; if no, proceed to S504.

[0127] S503: The result of the first steering wheel hands-off detection is taken as the final steering wheel hands-off detection result.

[0128] S504: Determine whether there is a second steering wheel release detection result corresponding to the second steering wheel contact state detection signal in the dominant result range among the first steering wheel contact state detection signals; if yes, proceed to S505; if no, proceed to S508.

[0129] S505: Determine whether the results of the second steering wheel release detection are consistent; if yes, proceed to S506; if no, proceed to S507.

[0130] S506: The result of the second steering wheel hands-off test shall be the final steering wheel hands-off test result.

[0131] S507: Execute explicit result error reporting operation.

[0132] S508: Perform a preset implicit result operation.

[0133] S509: Execution of channel error reporting operation.

[0134] In practice, the preset implicit result operation can be set to prioritize the final steering wheel off-hand detection result as steering wheel off-hand to improve the response speed of steering wheel off-hand, or prioritize the final steering wheel on-hand detection result as steering wheel not off-hand to improve the response speed of steering wheel not off-hand, or set to maintain the final steering wheel off-hand detection result of the previous detection cycle.

[0135] The explicit result error reporting operation can be implemented by filtering for a preset time (e.g., 100 milliseconds) and if the steering wheel contact status detection signals of the two normal sensor channels are still in the explicit result range and the corresponding steering wheel release detection results are inconsistent, then explicit result fault reporting can be carried out by display pop-up window, voice prompt, or corresponding indicator light illuminating.

[0136] Channel malfunction reports can be displayed via pop-up windows, voice prompts, or corresponding indicator lights to indicate a faulty sensor channel.

[0137] Alternatively, explicit result error reporting and channel abnormality error reporting can use the same error signal to indicate to the user that the steering wheel off-hand detection is invalid.

[0138] Furthermore, when there are two or more second steering wheel hand-off detection results and these results are inconsistent, the majority of these results can be used as the final steering wheel hand-off detection result. For example, if there are three second steering wheel hand-off detection results in the sensor channel where the steering wheel contact state detection signal is in the explicit result area (two of which indicate steering wheel hand-off and one indicates steering wheel not hand-off), then the final steering wheel hand-off detection result can be set to "steering wheel hand-off".

[0139] The above details various embodiments of the steering wheel hands-off detection method. Based on this, this application also discloses a steering wheel hands-off detection device, equipment, and computer-readable storage medium corresponding to the above method.

[0140] Example 5

[0141] Figure 6 This is a schematic diagram of a steering wheel hands-off detection device provided in an embodiment of this application.

[0142] like Figure 6 As shown, the steering wheel hands-off detection device provided in this application embodiment includes:

[0143] Acquisition unit 601 is used to acquire steering wheel contact state detection signals obtained from multiple sensor channels;

[0144] The judgment unit 602 is used to determine whether the steering wheel release detection results corresponding to each steering wheel contact state detection signal are consistent; if so, it proceeds to the first processing unit 603; if not, it proceeds to the second processing unit 604.

[0145] The first processing unit 603 is used to take the steering wheel contact state detection signal as the final steering wheel release detection result;

[0146] The second processing unit 604 is used to determine the final steering wheel hands-off detection result based on the status detection results of each sensor channel and the result range in which each steering wheel hands-off detection result is located.

[0147] Among them, the preset range including the hand-drop detection threshold is the implicit result range, and the result range outside the implicit result range is the explicit result range.

[0148] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0149] Example 6

[0150] Figure 7 This is a schematic diagram of a steering wheel hands-off detection device provided in an embodiment of this application.

[0151] like Figure 7 As shown, the steering wheel hands-off detection device provided in this application embodiment includes:

[0152] Memory 710 is used to store computer program 711;

[0153] The processor 720 is configured to execute a computer program 711, which, when executed by the processor 720, implements the steps of the steering wheel hands-off detection method as described in any of the above embodiments.

[0154] The processor 720 may include one or more processing cores, such as a 3-core processor or an 8-core processor. The processor 720 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 720 may also include a main processor and a coprocessor. The main processor, also known as a Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 720 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 720 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0155] The memory 710 may include one or more computer-readable storage media, which may be non-transitory. The memory 710 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 710 is used to store at least the following computer program 711, which, after being loaded and executed by the processor 720, is capable of implementing the relevant steps in the steering wheel hands-off detection method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 710 may also include an operating system 712 and data 713, and the storage method may be temporary storage or permanent storage. The operating system 712 may be Windows. The data 713 may include, but is not limited to, the data involved in the above methods.

[0156] In some embodiments, the steering wheel hands-off detection device may further include a display screen 730, a power supply 740, a communication interface 750, an input / output interface 760, a sensor 770, and a communication bus 780.

[0157] Those skilled in the art will understand that Figure 7 The structure shown does not constitute a limitation on the steering wheel hands-off detection device and may include more or fewer components than shown.

[0158] The steering wheel hands-off detection device provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the steering wheel hands-off detection method as described above, with the same effect.

[0159] Example 8

[0160] It should be noted that the device and equipment embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or modules may be electrical, mechanical, or other forms. Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0161] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0162] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application.

[0163] Therefore, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements steps such as the steering wheel hands-off detection method.

[0164] The computer-readable storage medium may include: USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other media that can store program code.

[0165] The computer program contained in the computer-readable storage medium provided in this embodiment can implement the steps of the steering wheel hands-off detection method as described above when executed by a processor, with the same effect.

[0166] The foregoing provides a detailed description of a steering wheel hands-off detection method, system, apparatus, device, and storage medium provided in this application. The various embodiments are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus, device, and computer-readable storage medium disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0167] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for detecting steering wheel release from hands, characterized in that, include: Collect steering wheel contact status detection signals from multiple sensor channels; If the steering wheel hand-off detection results corresponding to the steering wheel contact state detection signals of each path are consistent, then the steering wheel contact state detection signal shall be taken as the final steering wheel hand-off detection result. If there are differences in the steering wheel release detection results corresponding to each of the steering wheel contact state detection signals, the final steering wheel release detection result is determined based on the state detection results of each of the sensor channels and the result range in which each steering wheel release detection result is located. The preset range, including the hand-drop detection threshold, is the implicit result range, and the result range outside the implicit result range is the explicit result range.

2. The steering wheel hands-off detection method according to claim 1, characterized in that, The implicit result range is the result range corresponding to the preset length range above and below the hand-drop detection threshold.

3. The steering wheel hands-off detection method according to claim 2, characterized in that, The preset length is determined based on the difference between the pre-measured actual steering wheel release detection signal and the pre-measured actual steering wheel not release detection signal.

4. The steering wheel hands-off detection method according to claim 1, characterized in that, The sensor has two channels; The determination of the final steering wheel release detection result based on the state detection results of each sensor channel and the result range of each steering wheel release detection result specifically includes: If the status detection results of both sensor channels are normal, and the steering wheel contact status detection signals corresponding to both sensor channels are within the explicit result range, then an explicit result error reporting operation is performed. If the state detection results of both sensor channels are normal, and only one of the steering wheel contact state detection signals corresponding to the two sensor channels is in the explicit result range, then the steering wheel release detection result corresponding to the steering wheel contact state detection signal in the explicit result range shall be the final steering wheel release detection result. If the status detection results of both sensor channels are normal, and the steering wheel contact status detection signals corresponding to both sensor channels are within the implicit result range, then the preset implicit result operation is executed. If only one of the two sensor channels is in a normal state, then the steering wheel off-hand detection result corresponding to the sensor channel in the normal state shall be the final steering wheel off-hand detection result. If the status detection results of both sensor channels are abnormal, then a channel abnormality error reporting operation is executed.

5. The steering wheel hands-off detection method according to claim 1, characterized in that, The number of sensor channels is greater than two; The determination of the final steering wheel release detection result based on the state detection results of each sensor channel and the result range of each steering wheel release detection result specifically includes: In the first steering wheel contact state detection signal corresponding to the sensor channel where all state detection results are normal, if the first steering wheel release detection results corresponding to each first steering wheel contact state detection signal are consistent, then the first steering wheel release detection result is taken as the final steering wheel release detection result. If the results of the first steering wheel release detection are inconsistent, and the results of the second steering wheel release detection corresponding to the second steering wheel contact state detection signal in the dominant result range of the first steering wheel contact state detection signal are consistent, then the result of the second steering wheel release detection shall be taken as the final result of the steering wheel release detection. If the results of the first steering wheel release detection are inconsistent and the results of the second steering wheel release detection are inconsistent, then an explicit result error reporting operation will be performed. If the detection results of each first steering wheel being released from the hands are inconsistent, and the detection signals of each first steering wheel being in contact with the hands are all within the implicit result range, then the preset implicit result operation is executed. If the status detection results of each of the sensor channels are all abnormal, then a channel abnormality error reporting operation will be performed.

6. The steering wheel hands-off detection method according to claim 1, characterized in that, The sensor includes at least one of a capacitance sensor, a torque sensor, and a grip force sensor.

7. A steering wheel hands-off detection system, characterized in that, include: Sensors and processors; The sensor channel output terminal of the sensor is connected to the processor; The processor is used to acquire steering wheel contact state detection signals obtained from multiple sensor channels; If the steering wheel hand-off detection results corresponding to the steering wheel contact state detection signals of each path are consistent, then the steering wheel contact state detection signal shall be taken as the final steering wheel hand-off detection result. If there are differences in the steering wheel release detection results corresponding to each of the steering wheel contact state detection signals, the final steering wheel release detection result is determined based on the state detection results of each of the sensor channels and the result range in which each steering wheel release detection result is located. The preset range, including the hand-drop detection threshold, is the implicit result range, and the result range outside the implicit result range is the explicit result range.

8. A steering wheel hands-off detection device, characterized in that, include: The acquisition unit is used to acquire steering wheel contact state detection signals obtained from multiple sensor channels; The judgment unit is used to determine whether the steering wheel release detection results corresponding to each of the steering wheel contact state detection signals are consistent. If yes, proceed to the first processing unit; if no, proceed to the second processing unit. The first processing unit is used to take the steering wheel contact state detection signal as the final steering wheel release detection result; The second processing unit is used to determine the final steering wheel release detection result based on the state detection results of each of the sensor channels and the result range in which each steering wheel release detection result is located; The preset range, including the hand-drop detection threshold, is the implicit result range, and the result range outside the implicit result range is the explicit result range.

9. A steering wheel hands-off detection device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program, which, when executed by the processor, implements the steps of the steering wheel hands-off detection method as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the steering wheel hands-off detection method as described in any one of claims 1 to 6.

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