Steering wheel hand-off detection method and apparatus

Abstract

The application discloses a steering wheel hand-off detection method and device, the steering wheel hand-off detection method comprises the following steps: the EPS responds to the hand-off detection signal from the upper computer and sends the hand-off detection signal to the torque sensor; the torque sensor generates a hand-off feedback signal based on the hand-off detection signal and a hand force signal, and sends the hand-off feedback signal to the upper computer; the upper computer compares the hand-off feedback signal with the hand-off detection signal, and determines a hand-off detection result. The application can effectively improve the accuracy of steering wheel hand-off detection, and can realize hand-off detection without the cooperation of the steering wheel. The application can also be used as a redundant hand-off detection method, which is beneficial to the driving safety and driving experience of users.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method and apparatus for detecting steering wheel hands-off. Background Technology

[0002] With the development of automotive technology, the level of autonomous driving in cars is becoming increasingly higher, and the requirements for recognizing whether the driver is holding the steering wheel vary depending on the driving level. At lower levels of autonomous driving, the driver's distraction or fatigue can be detected by judging whether the driver has taken their hands off the steering wheel. However, as the level of autonomous driving increases, the steering wheel hands-off detection function often needs to be redundant to prevent the uncontrollable intelligent driving function due to a single point of failure, which could affect driving safety and the user's intelligent driving experience.

[0003] Existing technologies for detecting steering wheel hands-off issues include using optical sensing devices to monitor the driver's state. However, this method is costly to implement and typically requires multiple equipment components, such as supplementary lighting, cameras, and software drivers. Moreover, due to limitations such as shooting angle, it is difficult to identify the driver's hand posture on the steering wheel, such as whether it is a firm grip or a loose contact.

[0004] Furthermore, existing technologies include adding sensors, such as pressure-sensitive or capacitive lights, to the steering wheel to determine whether the steering wheel has been removed from the hands. However, the addition of extra sensors increases the cost and still presents the problem of misjudgment or incorrect detection.

[0005] Therefore, the existing technology still needs further development. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a steering wheel hands-off detection method and apparatus, which can effectively improve the accuracy of steering wheel hands-off detection. It can achieve hands-off detection without configuring a steering wheel and a dedicated sensor, and can also serve as a redundant hands-off detection method, which is beneficial to the user's driving safety and driving experience.

[0007] A first aspect of the present invention provides a method for detecting steering wheel hands-off, characterized in that it includes: EPS responds to the release detection signal from the host computer and sends the release detection signal to the torque sensor; The torque sensor generates a release feedback signal based on the release detection signal and the hand force signal, and sends the release feedback signal to the host computer; The host computer compares the features of the release feedback signal and the release detection signal to determine the release detection result.

[0008] In some embodiments, the release detection signal includes: A periodic signal with a fixed frequency and a fixed amplitude, wherein both the fixed frequency and the fixed amplitude are adjustable parameters.

[0009] In some implementations, the host computer compares the release feedback signal with the release detection signal to determine the release detection result, including: If the hand-off feedback signal has the same characteristics as the hand-off detection signal, the hand-off detection result is determined to be that the driver has released their hands. If the characteristics of the hand-off feedback signal are inconsistent with those of the hand-off detection signal, the hand-off detection result is determined to be that the driver is holding the hand.

[0010] In some implementations, if the characteristics of the hand-off feedback signal and the hand-off detection signal are inconsistent, determining the hand-off detection result as the driver holding the hand includes: The hand force signal is greater than the preset hand force threshold, and the characteristics of the release feedback signal are inconsistent with those of the release detection signal.

[0011] In some implementations, the host computer performs a feature comparison between the release feedback signal and the release detection signal, including: Within the same time period, the amplitude of the release feedback signal is compared with the amplitude of the release detection signal to generate an amplitude comparison result. The frequency of the release feedback signal is compared with the frequency of the release detection signal to generate a frequency comparison result; If the amplitude comparison result is within the preset amplitude threshold, and If the frequency comparison result is within a preset frequency threshold, the characteristics of the release feedback signal and the release detection signal are consistent.

[0012] In some embodiments, comparing the frequency of the release feedback signal with the frequency of the release detection signal to generate a frequency comparison result further includes: If the amplitude comparison result is not within the preset amplitude threshold, or If the frequency comparison result is not within the preset frequency threshold, the characteristics of the release feedback signal and the release detection signal are inconsistent.

[0013] In some implementations, after determining the hand-release detection result, the method further includes: The host computer assesses the probability of needing manual intervention based on the hand-free detection results.

[0014] In some implementations, when the EPS responds to a release-of-hand detection signal from the host computer and sends the release-of-hand detection signal to the torque sensor, it further includes: In response to the angle signal from the host computer, the steering of the vehicle and the steering wheel are controlled based on the angle signal.

[0015] In some implementations, the waveform of the corner signal is a smooth curve; The waveform of the release detection signal is a periodic fixed-frequency signal set on the basis of the corner signal.

[0016] A second aspect of the present invention provides a steering wheel hands-off detection device, comprising: The first unit is configured to respond to the release detection signal from the host computer and send the release detection signal to the torque sensor; The second unit is configured such that the torque sensor generates a release feedback signal based on the release detection signal and the hand force signal, and sends the release feedback signal to the host computer; The third unit is configured to have the host computer perform feature comparison between the release feedback signal and the release detection signal to determine the release detection result.

[0017] A third aspect of the present invention provides a steering wheel hands-off detection method, applied in intelligent driving mode, comprising: EPS responds to the hands-free detection signal from the intelligent driving controller and sends the hands-free detection signal to the torque sensor; The torque sensor generates a release feedback signal based on the release detection signal and the hand force signal, and sends the release feedback signal to the intelligent driving controller. The intelligent driving controller compares the hands-free feedback signal with the hands-free detection signal to determine the hands-free detection result.

[0018] In some implementations, if the hands-off feedback signal has the same characteristics as the hands-off detection signal, the hands-off detection result is determined to be that the driver has let go of the hands. If the characteristics of the hand-off feedback signal are inconsistent with those of the hand-off detection signal, the hand-off detection result is determined to be that the driver is holding the hand.

[0019] In some implementations, if the characteristics of the hand-off feedback signal and the hand-off detection signal are inconsistent, determining the hand-off detection result as the driver holding the hand includes: The hand force signal is greater than the preset hand force threshold, and the characteristics of the release feedback signal are inconsistent with those of the release detection signal.

[0020] In some implementations, when the EPS responds to a hands-off detection signal from the intelligent driving controller and sends the hands-off detection signal to the torque sensor, it further includes: EPS responds to the cornering signal from the intelligent driving controller and controls the car and steering wheel rotation.

[0021] A fourth aspect of the present invention provides an electronic device comprising: At least one processor; and at least one memory communicatively connected to the processor, wherein the memory stores program instructions executable by the processor, which, when invoked, can perform the method as described in the first aspect of the invention.

[0022] A fifth aspect of the present invention provides a computer-readable storage medium, characterized in that a computer program is stored thereon, wherein the computer program, when executed by a computer, performs the method described in the first aspect of the present invention.

[0023] This invention utilizes an EPS (Electrical Push-Side) system to respond to a hands-off detection signal from a host computer and transmits the signal to a torque sensor. The torque sensor then generates a hands-off feedback signal based on the detection signal and a hand force signal. The hand force signal provides additional information for steering wheel detection; any hand resistance on the steering wheel can interfere with the characteristic values ​​of the hands-off detection signal. By collecting the hands-off feedback signal generated on the steering wheel and comparing its characteristics with the hands-off detection signal, the hands-off detection result is determined. This method eliminates the need for an additional sensor on the steering wheel, reducing the cost of hands-off detection. The method allows for calibration and matching of the corresponding hands-off detection signal during the vehicle development phase, and can also select specific characteristics of the hands-off detection signal based on expert experience or test data, improving detection accuracy and enhancing the user's driving experience. Attached Figure Description

[0024] Figure 1 This is a schematic diagram illustrating the working principle of an existing electric power steering system.

[0025] Figure 2 This is a flowchart illustrating a method for detecting steering wheel slippage in an embodiment of the present invention.

[0026] Figure 3 This is a schematic diagram illustrating the working principle of a steering wheel hands-off detection method according to an embodiment of the present invention.

[0027] Figure 4 This is a comparison diagram of a release detection signal and a release feedback signal in an embodiment of the present invention.

[0028] Figure 5 This is a block diagram of a steering wheel hands-off detection device according to an embodiment of the present invention.

[0029] Figure 6 This is a flowchart illustrating another method for detecting steering wheel hands-off issues in an embodiment of the present invention.

[0030] Figure 7 This is a schematic diagram illustrating the working principle of another steering wheel hands-off detection method in an embodiment of the present invention. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] In the current development of automotive technology, cars with driver assistance functions or semi-autonomous driving functions often have systems and corresponding functions such as driver fatigue detection, intelligent headlight control, adaptive cruise control, lane departure warning, lane keeping assist, lane change assist and emergency braking.

[0033] Taking Lane Keeping Assist (LKA) as an example, it can control the steering system to help the vehicle stay within its lane, building upon the Lane Departure Warning System (LDWS). It uses a camera to identify lane markings and support the vehicle in its lane. If the vehicle approaches a detected lane marking and may leave the lane, it will alert the driver through steering wheel vibration or sound, and slightly turn the steering wheel to correct the direction and bring the vehicle back into the correct lane. If the steering wheel detects no intervention for an extended period, an alarm will be issued to remind the driver. UNR79 (a UN convention) requires all vehicles with Lane Keeping Assist (LKA) to be equipped with Hands Off Detection (HOD) and warning devices by 2021.

[0034] Electric power steering (EPS) is a power steering system that relies on an electric motor to provide auxiliary torque. For example... Figure 1 As shown, when the driver operates the steering wheel to steer, the torque sensor detects the steering wheel's direction and torque magnitude, sending a voltage signal to the electronic control unit (ECU). Based on the voltage signal detected by the torque sensor, the steering direction, and vehicle speed, the ECU sends a command to the motor controller, causing the motor to output a corresponding amount and direction of steering assist torque, thus generating auxiliary power. When the car is not steering, the ECU does not send a command to the motor controller, and the electric motor does not operate.

[0035] Even when the driver is not operating the steering wheel, the host computer can still send a steering angle signal to the EPS (Electrical Drive System). The angle sensor on the EPS responds to the steering angle signal from the host computer. Specifically, the host computer can be an intelligent driving controller or an electronic control unit, and its functions include, but are not limited to, actively sending a steering angle signal to the EPS to achieve steering in place of the driver operating the steering wheel.

[0036] like Figure 2-3 As shown, in a first aspect, the present invention provides a method for detecting steering wheel removal from hands, comprising: Step S11: EPS responds to the release detection signal from the host computer and sends the release detection signal to the torque sensor.

[0037] Specifically, the host computer includes an intelligent driving controller, a control unit, or an electronic control unit, etc. When the EPS responds to the hands-off detection signal from the host computer and sends the hands-off detection signal to the torque sensor, the intelligent driving controller can send a steering angle signal to the EPS to control the rotation of the car and the steering wheel. Specifically, after the EPS angle sensor receives the steering angle signal, it converts the steering angle signal into a voltage signal. The torque sensor sends the voltage signal to the electronic control unit. Based on the voltage signal, rotation direction, and vehicle speed signal detected by the torque sensor, the electronic control unit sends a command to the motor controller to make the motor output a steering assist torque of corresponding magnitude and direction, thereby causing the car and the steering wheel to steer.

[0038] It is important to note that the intelligent driving controller is only one manifestation of the host computer, and its function includes sending hands-free detection signals to the EPS. These signals can be sent periodically or stably.

[0039] Periodic transmission means that the host computer sends a signal with a fixed frequency and fixed amplitude in a periodic manner. The fixed frequency and fixed amplitude are adjustable parameters that can be adjusted based on the sensitivity of the steering wheel. For example, a hands-off feedback signal can be sent once every 1 second. During stable transmission, the hands-off detection signal can be a periodic signal with a fixed frequency and fixed amplitude. The fixed frequency and amplitude are adjustable parameters that can be adjusted based on the steering wheel's sensitivity. The periodicity and fixed amplitude indicate that there are periods of signal presence and absence within the period. This means that although the host computer continuously sends hands-off feedback signals, the waveform of the feedback signal exhibits a periodic collapse pattern. For example, in the first 1-2 seconds, the hands-off feedback signal is an angle pulse or fluctuation signal, while in the 3rd-4th seconds it is an empty signal, lacking both waveform and signal energy.

[0040] To ensure the distinction and difference between the cornering signal and the hands-off detection signal, the waveform of the cornering signal is a smooth curve. Generally speaking, setting the waveform of the cornering signal to a smooth curve can ensure the stability of the vehicle's lateral control and prevent the vehicle from shaking.

[0041] The hands-off detection signal is a periodic fixed-frequency angle pulse or fluctuation signal based on the turning angle signal. Setting the hands-off detection signal as a periodic fixed-frequency angle pulse or fluctuation signal can improve the sensitivity to driver signal feedback, making it easier to distinguish from the turning angle signal. The periodic fixed-frequency angle pulse or fluctuation signal can be implemented in both periodic and stable transmission.

[0042] Step S12: The torque sensor generates a release feedback signal based on the release detection signal and the hand force signal, and sends the release feedback signal to the host computer.

[0043] Specifically, the hands-off feedback signal is generated by combining the hands-off detection signal with the hand force signal. After the hands-off detection signal is sent to the torque sensor by the host computer, due to the characteristics of the hands-off detection signal, including periodic fixed frequency and fixed amplitude, if there is hand resistance on the steering wheel, a new signal will be generated that interferes with the hands-off detection signal. This is called the hand force signal. The participation of the hand force signal changes the characteristics of the hands-off detection signal.

[0044] Specifically, the hand force signal originates from the relative deflection angle between the torsion bar and the upper and lower halves of the torque sensor when the steering wheel is turned. The torque sensor obtains the hand force signal by detecting this relative deflection angle. When the steering wheel is released from the hands, the hand force signal is 0. When the steering wheel is gripped, the resistance from the driver's hands causes the steering wheel to rotate, which in turn causes the torque sensor to detect the hand force signal.

[0045] Step S13: The host computer compares the characteristics of the release feedback signal with the release detection signal to determine the release detection result.

[0046] Specifically, if the hand-off feedback signal has the same characteristics as the hand-off detection signal, the hand-off detection result is determined to be that the driver has let go of the hands; If the characteristics of the hand-off feedback signal are inconsistent with those of the hand-off detection signal, the hand-off detection result is determined to be that the driver is holding the hand.

[0047] If the hand-off feedback signal and the hand-off detection signal have inconsistent characteristics, the hand-off detection result is determined to be that the driver was holding the hand, including: The hand force signal is greater than the preset hand force threshold, and the characteristics of the release feedback signal are inconsistent with those of the release detection signal.

[0048] Please continue reading. Figure 4 When a hand force signal is present, the hand release detection signal will change from curve A to curve B due to the participation of the hand force signal to form a hand release feedback signal. At this time, the hand release feedback signal and the hand release detection signal have inconsistent characteristics, which can determine that the hand release detection result is that the driver is holding the steering wheel and has not let go of the steering wheel.

[0049] Specifically, the reasons for comparing the characteristics of the hands-off detection signal and the hands-off feedback signal include the fact that signal characteristics generally include amplitude, frequency, and initial phase. Since the hands-off feedback signal is obtained based on the hands-off detection signal, the main consideration is the difference between the hands-off feedback signal and the hands-off detection signal caused by the steering wheel being released from the hands. Therefore, the importance of its initial phase is relatively low. This application mainly considers the influence of amplitude and frequency. Of course, since the criteria for judging signal characteristics are different, this application can provide inspiration for considering signal characteristics or detecting the source of different steering wheel signals.

[0050] Furthermore, the characteristics of the release feedback signal and the release detection signal are compared, including: Within the same time period, the amplitude of the release feedback signal is compared with the amplitude of the release detection signal to generate an amplitude comparison result. The frequency of the release feedback signal is compared with the frequency of the release detection signal to generate a frequency comparison result; If the amplitude comparison result is within the preset amplitude threshold, and If the frequency comparison result is within a preset frequency threshold, the characteristics of the release feedback signal and the release detection signal are consistent.

[0051] Here, not only must the amplitude comparison result be within the preset amplitude threshold, but the frequency comparison result must also be within the preset frequency threshold in order to ensure that the characteristics of the hand-off feedback signal and the hand-off detection signal are consistent, that is, only then can the hand-off detection result be determined to be that the driver has let go.

[0052] In one embodiment of the present invention, comparing the frequency of the release feedback signal with the frequency of the release detection signal to generate a frequency comparison result further includes: If the amplitude comparison result is not within the preset amplitude threshold, or If the frequency comparison result is not within the preset frequency threshold, the characteristics of the release feedback signal and the release detection signal are inconsistent.

[0053] Therefore, if either the amplitude comparison result or the frequency comparison result in the signal characteristics does not meet its preset threshold, it can be determined that the hands-off feedback signal and the hands-off detection signal characteristics are inconsistent, and the hands-off detection result is determined to be that the driver is holding the hands.

[0054] Here, by comparing the characteristics of the release feedback signal with those of the release detection signal, and by comparing the signal characteristics through amplitude and frequency, the criteria and standards for judging the release detection result are clarified, thus improving the accuracy of the release detection result. The preset amplitude threshold and preset frequency threshold can both be adjusted based on the release detection result and the actual situation. That is, while adjusting the release detection result, the preset frequency threshold and preset amplitude threshold can also be appropriately adjusted. Furthermore, based on the actual situation, while ensuring the release detection result remains unchanged, the preset frequency threshold and preset amplitude threshold can be adjusted alone for more precise adaptation. Alternatively, the optimal preset frequency threshold and preset amplitude threshold can be obtained through multiple simulation training sessions.

[0055] Preferably, in one embodiment of the present invention, after comparing the features of the release feedback signal and the release detection signal to determine the release detection result, the method further includes: The host computer assesses the probability of needing manual intervention based on the hand-free detection results.

[0056] Here, the application scenarios of the hands-free detection results can be expanded to the maximum extent to advanced driver assistance or semi-autonomous driving scenarios. For example, the hands-free feedback signal can be transmitted to the host computer through the torque sensor in the EPS. The host computer determines the hands-free detection result by comparing the characteristics of the hands-free feedback signal with those of the hands-free detection signal.

[0057] The host computer, combined with the car driving scenario, can determine whether it is safe to remove the steering wheel from the driver's hands. If the application scenario requires the driver to hold the steering wheel to change lanes or avoid emergencies, the probability of manual intervention is relatively high. The system will send signals to the driver that require intervention, such as voice or seat vibration, and the driver will need to hold the steering wheel.

[0058] Due to the redundancy in vehicle protection, if the vehicle can be driven smoothly without the driver's hands in the application scenario, the probability of needing manual intervention is low. For example, in a straight-line following scenario with a stable speed, the vehicle does not require additional lateral control, and the probability of manual intervention is also relatively low.

[0059] It is important to note that, regardless of whether the driver needs to hold the vehicle or can release it, the host computer can continuously assess the probability of manual intervention in order to remind the user to take over in a timely manner, adapt to unexpected road conditions, ensure driving safety, improve the user's driving experience, and create a sense of comfort for the user while driving safely.

[0060] This invention utilizes an EPS (Electrical Push-Side) system to respond to a hands-off detection signal from a host computer and transmits the signal to a torque sensor. The torque sensor then generates a hands-off feedback signal based on the detection signal and a hand force signal. The hand force signal provides additional information for steering wheel detection; any hand resistance on the steering wheel can interfere with the characteristic values ​​of the hands-off detection signal, including amplitude and frequency. By collecting the hands-off feedback signal generated on the steering wheel and comparing its characteristics with the hands-off detection signal, the hands-off detection result is determined. This method eliminates the need for an additional sensor on the steering wheel, reducing the cost of hands-off detection. The method allows for calibration and matching of the corresponding hands-off detection signal during the vehicle development phase, and can also select specific characteristics of the hands-off detection signal based on expert experience or test data, improving detection accuracy and enhancing the user's driving experience.

[0061] like Figure 5 As shown, a second aspect of the present invention provides a steering wheel hands-off detection device, comprising: The first unit 21 is configured to respond to the release detection signal from the host computer and send the release detection signal to the torque sensor; The second unit 22 is configured such that the torque sensor generates a release feedback signal based on the release detection signal and the hand force signal, and sends the release feedback signal to the host computer; The second unit 23 is configured to have the host computer perform feature comparison between the release feedback signal and the release detection signal to determine the release detection result.

[0062] like Figure 6 As shown, in a third aspect, the present invention provides a steering wheel hands-off detection method, applied in intelligent driving mode, comprising: Step S31: EPS responds to the hands-free detection signal from the intelligent driving controller and sends the hands-free detection signal to the torque sensor; Step S32: The torque sensor generates a release feedback signal based on the release detection signal and the hand force signal, and sends the release feedback signal to the intelligent driving controller; Step S33: The intelligent driving controller compares the features of the hands-free feedback signal and the hands-free detection signal to determine the hands-free detection result.

[0063] In intelligent driving mode (hereinafter referred to as intelligent driving), the intelligent driving controller sends a steering angle signal to control the EPS to steer the car. On this basis, the intelligent driving controller periodically and actively sends a hands-off detection signal.

[0064] like Figure 7As shown, when there is a need for hands-free detection, the intelligent driving controller sends a steering angle signal to the EPS based on vehicle status signals such as vehicle speed. During this period, it also periodically sends hands-free detection signals to the torque sensor in the EPS. Due to the function of the EPS itself, when it receives the steering angle signal, it will rotate the car, including the car wheels and steering wheel.

[0065] If there is hand resistance on the steering wheel at this time, the hand resistance will be sent to the torque sensor in the form of hand force signal. The torque sensor will generate a hand release feedback signal based on the hand release detection signal and the hand force signal, and send the hand release feedback signal to the intelligent driving controller.

[0066] The intelligent driving controller compares the hands-free feedback signal with the hands-free detection signal to determine the hands-free detection result.

[0067] In one embodiment of the present invention, if the characteristics of the hands-off feedback signal are consistent with those of the hands-off detection signal, the hands-off detection result is determined to be that the driver has let go of the hands; If the characteristics of the hand-off feedback signal are inconsistent with those of the hand-off detection signal, the hand-off detection result is determined to be that the driver is holding the hand.

[0068] Specifically, whether the steering wheel is off-hand is reflected in the hand force signal. The hand-force feedback signal generated by the torque sensor will differ. When the steering wheel is gripped, the torque sensor experiences interference from the hand force signal. This fluctuation is due to the resistance from the driver's hands on the steering wheel. The torque sensor then receives this hand force signal and generates a corresponding hand-force feedback signal. The torque sensor transmits this hand-force feedback signal to the intelligent driving controller. The intelligent driving controller compares the hand-force feedback signal with the hand-force detection signal to determine the hand-force detection result. This result is used to determine whether the driver is holding the steering wheel.

[0069] Please see Figure 7 In one embodiment of the present invention, if the characteristics of the hand-off feedback signal and the hand-off detection signal are inconsistent, determining the hand-off detection result as the driver holding the hand includes: There is driver resistance on the steering wheel, and the hand resistance interferes with the hands-off detection signal; The torque sensor generates the release feedback signal based on the hand resistance and the release detection signal.

[0070] In one embodiment of the present invention, when the EPS responds to a periodic hands-off detection signal from the intelligent driving controller and sends the hands-off detection signal to the steering wheel, it further includes: EPS responds to the cornering signal from the intelligent driving controller and controls the car and steering wheel rotation.

[0071] A fourth aspect of the present invention provides an electronic device comprising: At least one processor; and at least one memory communicatively connected to the processor, wherein the memory stores program instructions executable by the processor, and the processor invokes the program instructions to perform the method as described in the above embodiments.

[0072] A fifth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a computer, performs the method described in the above embodiments.

[0073] It is understood that computer-readable storage media can include: any entity or device capable of carrying computer programs, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc. Computer programs include computer program code. Computer program code can be in the form of source code, object code, executable files, or certain intermediate forms, etc. Computer-readable storage media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc.

[0074] In some embodiments of the present invention, the device may include a controller, which is a microcontroller chip integrating a processor, memory, communication module, etc. The processor may refer to the processor included in the controller. The processor may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0075] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0076] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0077] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting steering wheel release from hands, characterized in that, include: EPS responds to the release detection signal from the host computer and sends the release detection signal to the torque sensor; The release detection signal includes: a periodic signal with a fixed frequency and a fixed amplitude; The torque sensor generates a release feedback signal based on the release detection signal and the hand force signal, and sends the release feedback signal to the host computer; The host computer compares the features of the release feedback signal and the release detection signal to determine the release detection result; wherein: if the features of the release feedback signal and the release detection signal are consistent, the release detection result is determined to be that the driver has released the hand; if the features of the release feedback signal and the release detection signal are inconsistent, the release detection result is determined to be that the driver is holding the hand.

2. The steering wheel hands-off detection method as described in claim 1, characterized in that, If the hand-off feedback signal and the hand-off detection signal have inconsistent characteristics, the hand-off detection result is determined to be that the driver was holding the hand, including: The hand force signal is greater than the preset hand force threshold, and the characteristics of the release feedback signal are inconsistent with those of the release detection signal.

3. The steering wheel hands-off detection method as described in claim 1, characterized in that, The host computer performs a feature comparison between the release feedback signal and the release detection signal, including: Within the same time period, the amplitude of the release feedback signal is compared with the amplitude of the release detection signal to generate an amplitude comparison result. The frequency of the release feedback signal is compared with the frequency of the release detection signal to generate a frequency comparison result; If the amplitude comparison result is within the preset amplitude threshold, and If the frequency comparison result is within a preset frequency threshold, the characteristics of the release feedback signal and the release detection signal are consistent.

4. The steering wheel hands-off detection method as described in claim 3, characterized in that, The method of comparing the frequency of the release feedback signal with the frequency of the release detection signal to generate a frequency comparison result further includes: If the amplitude comparison result is not within the preset amplitude threshold, or If the frequency comparison result is not within the preset frequency threshold, the characteristics of the release feedback signal and the release detection signal are inconsistent.

5. The steering wheel hands-off detection method as described in claim 1, characterized in that, After confirming the results of the hand-to-hand test, the following is also included: The host computer assesses the probability of needing manual intervention based on the hand-free detection results.

6. The steering wheel hands-off detection method as described in claim 1, characterized in that, When the EPS responds to the release detection signal from the host computer and sends the release detection signal to the torque sensor, it also includes: In response to the angle signal from the host computer, the steering of the vehicle and the steering wheel are controlled based on the angle signal.

7. The steering wheel hands-off detection method as described in claim 6, characterized in that, include: The waveform of the angle signal is a smooth curve; The waveform of the release detection signal is a periodic fixed-frequency signal set on the basis of the corner signal.

8. A steering wheel hands-off detection device, characterized in that, include: The first unit is configured to respond to the release detection signal from the host computer and send the release detection signal to the torque sensor; The release detection signal includes: a periodic signal with a fixed frequency and a fixed amplitude; The second unit is configured such that the torque sensor generates a release feedback signal based on the release detection signal and the hand force signal, and sends the release feedback signal to the host computer; The third unit is configured such that the host computer compares the features of the release feedback signal and the release detection signal to determine the release detection result; wherein: if the features of the release feedback signal and the release detection signal are consistent, the release detection result is determined to be that the driver has released the hand; if the features of the release feedback signal and the release detection signal are inconsistent, the release detection result is determined to be that the driver is holding the hand.

9. A method for detecting steering wheel hand-off, applied in intelligent driving mode, characterized in that, include: EPS responds to the hands-free detection signal from the intelligent driving controller and sends the hands-free detection signal to the torque sensor; The release detection signal includes: a periodic signal with a fixed frequency and a fixed amplitude; The torque sensor generates a release feedback signal based on the release detection signal and the hand force signal, and sends the release feedback signal to the intelligent driving controller. The intelligent driving controller compares the features of the hands-free feedback signal and the hands-free detection signal to determine the hands-free detection result; wherein: if the features of the hands-free feedback signal and the hands-free detection signal are consistent, the hands-free detection result is determined to be that the driver has let go of the hands; if the features of the hands-free feedback signal and the hands-free detection signal are inconsistent, the hands-free detection result is determined to be that the driver is holding the hands.

10. The steering wheel hands-off detection method as described in claim 9, characterized in that, If the hand-off feedback signal and the hand-off detection signal have inconsistent characteristics, the hand-off detection result is determined to be that the driver was holding the hand, including: The hand force signal is greater than the preset hand force threshold, and the characteristics of the release feedback signal are inconsistent with those of the release detection signal.

11. The steering wheel hands-off detection method as described in claim 9, characterized in that, When the EPS responds to the hands-free detection signal from the intelligent driving controller and sends the hands-free detection signal to the torque sensor, it also includes: EPS responds to the cornering signal from the intelligent driving controller and controls the car and steering wheel rotation.

12. An electronic device, characterized in that, include: At least one processor; And at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor can execute the method as described in any one of claims 1 to 7 by invoking the program instructions.

13. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by a computer, performs the method as described in any one of claims 1 to 7.

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