Method, device and storage medium for detecting steering wheel holding state

Abstract

The application discloses a steering wheel holding state detection method and device and a storage medium. The method comprises the following steps: collecting a first torque applied to a steering wheel of a vehicle through a torque sensor; determining a reference cycle number of the steering wheel according to a vehicle speed of the vehicle, and determining a second torque of the steering wheel according to the first torque and the reference cycle number; and determining a holding state of the steering wheel according to the second torque. The technical scheme of the embodiment of the application can accurately determine the holding state of the steering wheel, improve the accuracy of the holding state detection of the steering wheel, and thus improve the safety of driving.

Description

Technical Field

[0001] This invention relates to the field of safe driving technology, and in particular to a method, device and storage medium for detecting steering wheel grip status. Background Technology

[0002] Currently, autonomous driving technology has not yet reached a fully automated level, requiring drivers to take over the vehicle at any time to handle unexpected situations. During autonomous driving, if the driver's hands are off the steering wheel for an extended period, their reaction time will slow down, potentially leading to an inability to take over the vehicle in time. Therefore, hands-off detection is necessary during autonomous driving to prevent drivers from taking their hands off the steering wheel for extended periods, ensuring driving safety.

[0003] The hands-off state detection technology mainly uses the torque sensor in the electric power steering system to detect the hand torque applied by the driver to the steering wheel to determine whether the driver has let go. However, this technology is easily affected by road surface interference. When the driver has actually let go, the torque sensor may detect large torque fluctuations, causing the system to misidentify that the driver has not let go. This results in low accuracy of hands-off state detection and affects driving safety. Summary of the Invention

[0004] This invention provides a method, device, and storage medium for detecting steering wheel grip status, in order to solve the problem that the accuracy of prior art in detecting hands-free status is low, thus affecting driving safety.

[0005] According to one aspect of the present invention, a method for detecting steering wheel grip state is provided, the method comprising:

[0006] The first torque applied to the steering wheel of the vehicle is acquired by a torque sensor;

[0007] The number of reference cycles of the steering wheel is determined based on the vehicle speed, and the second torque of the steering wheel is determined based on the first torque and the number of reference cycles.

[0008] The grip state of the steering wheel is determined based on the second torque.

[0009] According to another aspect of the present invention, a steering wheel grip state detection device is provided, the device comprising:

[0010] A torque acquisition module is used to acquire the first torque applied to the steering wheel of the vehicle via a torque sensor;

[0011] A torque determination module is used to determine the number of reference cycles of the steering wheel based on the vehicle speed, and to determine the second torque of the steering wheel based on the first torque and the number of reference cycles.

[0012] A grip state determination module is used to determine the grip state of the steering wheel based on the second torque.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the steering wheel grip state detection method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the steering wheel grip state detection method according to any embodiment of the present invention.

[0018] The technical solution of this invention involves acquiring a first torque applied to the steering wheel of a vehicle using a torque sensor; determining a reference cycle number of the steering wheel based on the vehicle speed; determining a second torque of the steering wheel based on the first torque and the reference cycle number; and determining the steering wheel grip state based on the second torque. This solves the technical problem of low accuracy in detecting hands-free states, achieving the beneficial effect of improving the accuracy of steering wheel grip state detection and effectively ensuring driving safety.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a method for detecting steering wheel grip state according to Embodiment 1 of the present invention;

[0022] Figure 2 This is a flowchart of a method for detecting the grip state of a steering wheel according to Embodiment 2 of the present invention;

[0023] Figure 3 This is a flowchart of a method for detecting steering wheel grip state according to Embodiment 3 of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of a steering wheel grip state detection device according to Embodiment 3 of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the steering wheel grip state detection method of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] Figure 1 The flowchart of a method for detecting steering wheel grip state is provided in Embodiment 1 of the present invention. This embodiment is applicable to the case of steering wheel grip detection. The method can be executed by a steering wheel grip state detection device, which can be implemented in hardware and / or software and can be configured in an electronic device.

[0030] like Figure 1 As shown, the method includes:

[0031] S110, The first torque applied to the steering wheel of the vehicle is acquired by a torque sensor.

[0032] The torque sensor, which can be a torque meter, is used to detect torsional torque on various rotating or non-rotating mechanical components. The torque sensor converts the physical change in torque into an electrical signal. One or more torque sensors can be installed on the vehicle's steering wheel. Torque can be the force that causes an object to rotate. The first torque can be the torque applied to the steering wheel when the vehicle's speed is not zero.

[0033] Optionally, when the vehicle speed is not zero, a first torque applied to the vehicle's steering wheel is collected via a torque sensor. It is understood that when the vehicle speed is zero, the vehicle is stationary, and driving is relatively safe, so the first torque detection is not required. The vehicle speed can be detected by a speed sensor. The advantage of this setup is that it avoids wasting resources by detecting torque when the vehicle is stationary.

[0034] Optionally, when the vehicle speed is not zero, acquiring the first torque applied to the steering wheel of the vehicle through the torque sensor may include: detecting the vehicle speed through the vehicle speed sensor, determining whether the vehicle speed is zero, and if the vehicle speed is not zero, detecting the torque applied to the steering wheel through the torque sensor, and determining the first torque based on the detected torque value.

[0035] Optionally, the step of acquiring the first torque applied to the steering wheel of the vehicle through a torque sensor may include: when there are two or more torque sensors, determining the effective sensor among the torque sensors based on the effectiveness signal sent by the torque sensors; and determining the first torque applied to the steering wheel of the vehicle based on the torque value signal sent by the effective sensor.

[0036] The validity signal can be a signal indicating whether the torque value signal is valid. A valid signal can be represented by text or numbers. For example, 1 represents valid, 0 represents invalid, or Y represents valid, N represents invalid, etc. There can be a one-to-one correspondence between validity signals and valid sensors.

[0037] In this embodiment of the invention, by determining the effective sensor based on the validity signal sent by the torque sensor, and then determining the first torque applied to the vehicle steering wheel based on the torque value signal sent by the effective sensor, the accuracy of torque detection is improved and the effectiveness of torque detection is ensured.

[0038] It is understandable that, when there is only one torque sensor, the torque value signal sent by the torque sensor is used as the first torque applied to the steering wheel of the vehicle.

[0039] S120. Determine the number of reference cycles for the steering wheel based on the vehicle speed, and determine the second torque of the steering wheel based on the first torque and the number of reference cycles.

[0040] The reference cycle number can be understood as a periodic window or time window for obtaining the first torque of the steering wheel. In this embodiment of the invention, the reference cycle number can be set according to the vehicle speed. Different vehicle speed ranges can correspond to different reference cycle numbers. The second torque can be a torque value calculated and determined based on the first torque and the reference cycle number.

[0041] Optionally, determining the number of reference cycles for the steering wheel based on the vehicle speed may include: determining the number of reference cycles for the steering wheel based on a pre-set correspondence between vehicle speed and the number of reference cycles, and the vehicle speed, wherein the vehicle speed and the number of reference cycles are negatively correlated.

[0042] Understandably, the higher the vehicle speed, the smaller the reference cycle number can be set to ensure driving safety. Specifically, there is a negative correlation between vehicle speed and the number of reference cycles, which can be: when the vehicle speed is high, the reference cycle number is the first reference cycle number; when the vehicle speed is medium, the reference cycle number is the second reference cycle number; and when the vehicle speed is low, the reference cycle number is the third reference cycle number. The second reference cycle number can be greater than the first reference cycle number but less than the third reference cycle number. For example, when the vehicle speed is greater than 60 km / h (high speed), the first reference cycle number can be set to 5; when the vehicle speed is greater than 30 km / h but less than 60 km / h (medium speed), the second reference cycle number can be set to 10; and when the vehicle speed is less than 30 km / h but not zero (low speed), the first reference cycle number can be set to 20.

[0043] In this embodiment of the invention, the number of reference cycles for the steering wheel is determined by the vehicle speed, and the second torque of the steering wheel is determined based on the first torque collected from multiple reference cycles. The advantage of this setup is that it allows for more accurate judgment of torque changes. By setting different numbers of reference cycles for different vehicle speeds, it balances the smoothness and real-time requirements of torque at different speeds, improving the accuracy of steering wheel grip detection and ensuring driving safety.

[0044] S130. Determine the grip state of the steering wheel based on the second torque.

[0045] The steering wheel grip status can be used to indicate whether the driver's hands have left the steering wheel, i.e., whether the hands are off the wheel or not.

[0046] Optionally, determining the steering wheel grip state based on the second torque may include: if the steering wheel is currently gripped in a non-hands-free state, and if the absolute value of the second torque is detected to be less than a preset first torque threshold and the duration reaches a preset first duration, then the steering wheel grip state is switched to a hands-free state; if the steering wheel is currently gripped in a hands-free state, and if the absolute value of the second torque is detected to be greater than or equal to a preset second torque threshold and the duration reaches a preset second duration, then the steering wheel grip state is switched to a non-hands-free state.

[0047] The first torque threshold is used to determine whether the steering wheel is in a hands-free grip state. The second torque threshold is used to determine whether the steering wheel is in a hands-free grip state. It is understood that the first and second torque thresholds can be preset by those skilled in the art based on experience, and this embodiment does not limit them.

[0048] Optionally, determining the grip state of the steering wheel based on the second torque includes: if the current grip state of the steering wheel is a non-hands-free state, and if the absolute value of the second torque is detected to be less than a preset first torque threshold and the duration does not reach a preset first duration, then the grip state of the steering wheel is determined to be a non-hands-free state and no switching is performed.

[0049] If the steering wheel is currently in a hands-free grip state, and the absolute value of the second torque is detected to be greater than or equal to a preset second torque threshold, but the duration does not reach a preset second duration, then it is determined that the steering wheel is still in a hands-free grip state, and no switch is made.

[0050] In this embodiment of the invention, the steering wheel grip state is determined by the second torque value. Furthermore, the relationship between the absolute value of the second torque and a preset torque threshold, as well as the relationship between the duration and a preset duration, is used to determine whether to switch the current steering wheel grip state. This improves the accuracy of steering wheel grip state switching and effectively ensures driving safety.

[0051] The technical solution of this embodiment acquires a first torque applied to the steering wheel of the vehicle using a torque sensor; determines the number of reference cycles of the steering wheel based on the vehicle speed; determines a second torque of the steering wheel based on the first torque and the number of reference cycles; and determines the grip state of the steering wheel based on the second torque. This solves the problem of low accuracy in detecting hands-free states and the inability to guarantee driving safety, achieving the beneficial effects of improving the accuracy of torque detection, improving the accuracy of detecting steering wheel grip state, and effectively ensuring driving safety.

[0052] Example 2

[0053] Figure 2 This is a flowchart of a method for detecting steering wheel grip state according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above embodiment. Figure 2 As shown, the method includes:

[0054] S210, The first torque applied to the steering wheel of the vehicle is acquired by a torque sensor.

[0055] S220. Determine the number of the first cycle and the number of the second cycle based on the reference cycle number.

[0056] The number of the first period and the number of the second period can be determined based on the number of reference periods. For example, half the number of reference periods can be used as the number of the first period, and the reference period can be used as the number of the second period. Optionally, the reference period in this embodiment of the invention can be selected with the current time as a reference, moving towards an earlier time. In other words, a preset number of reference periods prior to the current time can be selected.

[0057] S230. Determine the second torque of the steering wheel based on the first torque corresponding to each reference cycle within the first cycle number and the second cycle number.

[0058] It is understood that, in order to accurately obtain the average value of the torque in a continuous cycle, the number of continuous cycles to be calculated can be selected as needed, and this embodiment does not limit it.

[0059] Optionally, the second torque of the steering wheel can be determined by comprehensively considering the first torque corresponding to each reference cycle within the first cycle quantity and the first torque corresponding to each reference cycle within the second cycle quantity.

[0060] Optionally, calculate a first average value of the first torque corresponding to each reference cycle within the first number of cycles; calculate a second average value of the first torque corresponding to each reference cycle within the second number of cycles; and determine a second torque of the steering wheel based on the first average value and the second average value.

[0061] Specifically, the first average value of the first torque is obtained by summing the first torque values ​​corresponding to each reference cycle and dividing the sum by the number of first cycles. For example, the number of reference cycles is W, and the number of first cycles is... Specifically, the first average value of the first torque corresponding to each reference cycle within the first number of cycles can be calculated based on the following formula:

[0062]

[0063] Where T represents the torque value, and n represents the nth reference cycle, T nThe first torque in the nth reference cycle, For continuous The average torque over one reference cycle, i.e., the first average value.

[0064] The second average value of the first torque corresponding to each reference cycle within the second number of cycles can be calculated by adding the first torque values ​​corresponding to each reference cycle within the second number of cycles, and then dividing the sum of the first torque values ​​by the number of cycles. For example, the number of cycles is W, and specifically, it can be calculated based on the following formula:

[0065]

[0066] Where T represents the torque value, T n T is the first torque in the nth reference cycle. W,n It is the second average value over W consecutive periods, where n represents the nth reference period and W is the number of second periods.

[0067] Optionally, determining the second torque of the steering wheel based on the first average value and the second average value includes: determining the minuend and subtrahend in the first average value and the second average value based on the first cycle number and the second cycle number; multiplying the minuend by the ratio of the second cycle number to the first cycle number and then subtracting the subtrahend to obtain the second torque of the steering wheel.

[0068] For example, when the number of the second cycle is W, and the number of the first cycle is... At that time, the ratio of the quantity in the second cycle to the quantity in the first cycle was 2.

[0069] Specifically, the calculation can be performed based on the following formula:

[0070]

[0071] Among them, T new,n For the second torque, As the first average value, T W,n This is the second average value.

[0072] Furthermore, after determining the second torque of the steering wheel based on the first torque corresponding to each reference cycle within the first cycle number and the second cycle number, the method further includes: determining a third cycle number based on the reference cycle number, calculating a third average value of the second torque corresponding to each reference cycle within the third cycle number, and updating the third average value as the second torque of the steering wheel.

[0073] It is worth noting that the number of the third cycle can be determined based on the number of reference cycles. The number of the third cycle can be the same as or different from the number of reference cycles, and this embodiment does not limit its specific value. For example, the number of the third cycle can be less than the number of reference cycles.

[0074] Optionally, in the step of determining the third cycle number based on the reference cycle number and calculating the third average value of the second torque corresponding to each reference cycle within the third cycle number, in this embodiment of the invention, the third cycle number is used as... Let's take an example to illustrate. The third average value can be calculated based on the following formula:

[0075]

[0076] Where T is the third average value of the second torque, T new,n The second torque in the nth reference cycle, This is the quantity for the third cycle.

[0077] S240. Determine the grip state of the steering wheel based on the second torque.

[0078] Optionally, the steering wheel grip state is determined based on the processed second torque value, and the steering wheel grip state at the current moment is determined based on the processed second torque value closest to the current moment, thereby updating the steering wheel grip state.

[0079] The technical solution of this embodiment calculates the first torque corresponding to each reference cycle within the first and second cycle counts, calculates the average value of the torque corresponding to each reference cycle within the first and second cycle counts respectively, determines the minuend and subtrahend, multiplies the minuend by the ratio of the second cycle count to the first cycle count, and then subtracts the subtrahend to obtain the second torque of the steering wheel. It can also calculate the third average value of the second torque corresponding to each reference cycle within the third cycle count, and updates the second torque of the steering wheel with the third average value to determine the second torque of the steering wheel. This solves the problem of low accuracy in hands-free state detection and the inability to guarantee driving safety, achieving the beneficial effects of improving the accuracy of torque detection, improving the accuracy of steering wheel grip detection, and effectively ensuring driving safety.

[0080] Figure 3 A flowchart illustrating a method for detecting steering wheel grip status is provided. Figure 3 As shown, the method for detecting the steering wheel grip state specifically includes the following steps:

[0081] The first step is to detect the vehicle speed using a vehicle speed sensor;

[0082] The second step is to determine if the vehicle speed is 0. If the vehicle speed is 0, it means that the vehicle is stationary and the steering wheel grip status is not checked.

[0083] The third step is to detect the torque applied to the steering wheel by the torque sensor when the vehicle speed is not equal to 0. The first torque sensor detects the first torque T1 and the second torque sensor detects the second torque T2.

[0084] The fourth step is to process the detected torque according to the processing method to obtain the processed torque T.

[0085] The specific processing methods include:

[0086] (1) If both the first torque and the second torque are valid (validity information comes from the torque sensor, which sends a torque value signal and a validity signal, such as 0 representing invalid and 1 representing valid), then the torque T for the current reference cycle is specified. n It equals the average of the first torque T1 and the second torque T2, that is If the first torque is invalid, then the torque T for the current reference cycle number is specified. n Equal to the second torque T2, i.e., T n =T2; If the second torque is invalid, then the torque T for the current reference cycle number is specified. n Equal to the first torque T1, i.e., T n =T1; If both the first torque and the second torque are ineffective, the system will stop operating.

[0087] (2) The number of reference cycles W is set according to the vehicle speed. The number of reference cycles affects the smoothness and real-time performance of the processed torque. The larger the number of reference cycles, the smoother the processed torque and the smaller the fluctuation, but it also brings a larger delay. The smaller the number of reference cycles, the better the real-time performance of the processed torque, but the smoothness is not good. Therefore, different numbers of reference cycles are set according to different vehicle speeds. When the vehicle speed is low, a certain delay can be allowed to ensure smoothness and improve the accuracy of hands-off state detection, so the number of reference cycles is set larger. When the vehicle speed is high, in order to ensure driving safety, excessive delay is not allowed, and the real-time performance of hands-off state detection must be ensured, so the number of reference cycles is set smaller. The relationship between the number of reference cycles W and the vehicle speed v can be as follows:

[0088]

[0089] Among them, W1, W2, and W3 are all standard quantities, which can be adjusted appropriately according to the actual situation.

[0090] (3) Calculate continuity One cycle (if) The average torque (rounded down if not an integer), i.e.

[0091]

[0092] (4) Calculate the average torque over W consecutive cycles, i.e.

[0093]

[0094] (5) Calculated

[0095] (6) Calculate continuous One cycle (if) T (round down if not an integer) new The average value is used to obtain the second torque, i.e.

[0096]

[0097] The fifth step is to compare the processed second torque T with the preset torque threshold in real time, and determine the steering wheel grip state according to the judgment method.

[0098] The judgment method in step five specifically refers to the following: When the vehicle is powered on, it is judged by default to a hands-free state. The transition condition from the hands-free state to the hands-free state is that the absolute value of the second torque |T| is greater than or equal to a preset second torque threshold T2 and the duration reaches a preset second duration t2. If this condition is met, the vehicle transitions from the hands-free state to the hands-free state; otherwise, it remains in the hands-free state. The transition condition from the hands-free state to the hands-free state is that the absolute value of the second torque |T| is less than a preset first torque threshold T1 and the duration reaches a preset first duration t1. If this condition is met, the vehicle transitions from the hands-free state to the hands-free state; otherwise, it remains in the hands-free state.

[0099] Among them, the preset first torque threshold T1, preset second torque threshold T2, preset first duration t1, and preset second duration t2 are all calibrated values ​​and can be set according to the actual situation. For example, here T1 is set to 0.4 Nm, T2 to 0.5 Nm, t1 to 5 s, and t2 to 0.02 s.

[0100] The technical solution of this embodiment, when the vehicle speed is not zero, collects the first torque applied to the vehicle steering wheel through a torque sensor, determines the number of reference cycles of the steering wheel based on the vehicle speed, calculates the first torque corresponding to each reference cycle within the first and second number of cycles, calculates the average value of the torque corresponding to each reference cycle within the first and second number of cycles respectively, determines the minuend and subtrahend, multiplies the minuend by the ratio of the second number of cycles to the first number of cycles and then subtracts the subtrahend to obtain the second torque of the steering wheel. It can also calculate the third average value of the second torque corresponding to each reference cycle within the third number of cycles, updates the third average value to the second torque of the steering wheel, and determines the second torque of the steering wheel based on the second torque. This solves the problem of low accuracy in steering wheel grip state detection and inability to guarantee driving safety, achieving the beneficial effects of improving the accuracy of torque detection, improving the accuracy of steering wheel grip state detection, and effectively ensuring driving safety.

[0101] Example 3

[0102] Figure 4 This is a schematic diagram of a steering wheel grip state detection device provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes: a torque acquisition module 410, a torque determination module 420, and a grip state determination module 430.

[0103] The torque acquisition module 410 is used to acquire a first torque applied to the steering wheel of the vehicle through a torque sensor; the torque determination module 420 is used to determine the number of reference cycles of the steering wheel based on the vehicle speed, and to determine a second torque of the steering wheel based on the first torque and the number of reference cycles; the grip state determination module 430 is used to determine the grip state of the steering wheel based on the second torque.

[0104] In this embodiment, the torque acquisition module acquires a first torque applied to the steering wheel of the vehicle through a torque sensor; the torque determination module determines the number of reference cycles of the steering wheel based on the vehicle speed, and determines a second torque of the steering wheel based on the first torque and the number of reference cycles; the grip state determination module determines the grip state of the steering wheel based on the second torque. This solves the problem of low accuracy in hands-free state detection and the inability to guarantee driving safety, achieving the beneficial effects of improving the accuracy of torque detection, improving the accuracy of steering wheel grip state detection, and effectively ensuring driving safety.

[0105] Optionally, the torque determination module is used to determine the number of reference cycles of the steering wheel based on a pre-set correspondence between vehicle speed and the number of reference cycles and the vehicle speed, wherein the vehicle speed and the number of reference cycles are negatively correlated.

[0106] Optionally, the torque determination module includes:

[0107] A reference period determination unit is used to determine the number of first periods and the number of second periods based on the number of reference periods.

[0108] The second torque determining unit is used to determine the second torque of the steering wheel based on the first torque corresponding to each reference cycle within the first cycle number and the second cycle number.

[0109] Optionally, the second torque determining unit includes:

[0110] The first average value calculation subunit is used to calculate the first average value of the first torque corresponding to each reference cycle within the first number of cycles.

[0111] The second average value calculation subunit is used to calculate the second average value of the first torque corresponding to each reference cycle within the second cycle number;

[0112] The second torque determination subunit is used to determine the second torque of the steering wheel based on the first average value and the second average value.

[0113] Optionally, the second torque determining subunit is used for:

[0114] Determine the minuend and subtrahend in the first average and the second average based on the first period number and the second period number;

[0115] The second torque of the steering wheel is obtained by multiplying the minuend by the ratio of the second cycle quantity to the first cycle quantity and then subtracting the minuend.

[0116] Optionally, the steering wheel grip state detection device further includes:

[0117] The second torque update module is used to determine the second torque of the steering wheel based on the first torque corresponding to each reference cycle within the first cycle number and the second cycle number, determine the third cycle number based on the reference cycle number, calculate the third average value of the second torque corresponding to each reference cycle within the third cycle number, and update the third average value as the second torque of the steering wheel.

[0118] Optionally, the torque acquisition module includes:

[0119] The effective sensor determination unit is used to determine the effective sensor among the torque sensors based on the effectiveness signal sent by the torque sensors when there are two or more torque sensors.

[0120] The first torque determination unit is used to determine the first torque applied to the steering wheel of the vehicle through the torque value signal sent by the effective sensor.

[0121] Optionally, the grip state determination module includes:

[0122] The hands-free state switching unit is used to switch the steering wheel's grip state to a hands-free state when the steering wheel's current grip state is a hands-free state and if the absolute value of the second torque is detected to be less than a preset first torque threshold and the duration reaches a preset first duration.

[0123] The non-hands-free state switching unit is used to switch the grip state of the steering wheel to a non-hands-free state when the current grip state of the steering wheel is a hands-free state, if it is detected that the absolute value of the second torque is greater than or equal to a preset second torque threshold and the duration reaches a preset second duration.

[0124] The steering wheel grip state detection device provided in this embodiment of the invention can execute the steering wheel grip state detection method provided in any embodiment of this disclosure, and has the corresponding functional modules and beneficial effects of the method execution.

[0125] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of the present invention.

[0126] Example 4

[0127] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0128] like Figure 5As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0129] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0130] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a method for detecting steering wheel grip state.

[0131] In some embodiments, a method for detecting a steering wheel grip state may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for detecting a steering wheel grip state described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform a method for detecting a steering wheel grip state by any other suitable means (e.g., by means of firmware).

[0132] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0133] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0134] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0135] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0136] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0137] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0138] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0139] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for detecting steering wheel grip state, characterized in that, include: The initial torque applied to the vehicle's steering wheel is collected using a torque sensor; The number of reference cycles for the steering wheel is determined based on the vehicle speed, and the second torque of the steering wheel is determined based on the first torque and the number of reference cycles. The step of determining the number of reference cycles for the steering wheel based on the vehicle speed includes: determining the number of reference cycles for the steering wheel based on a pre-set correspondence between vehicle speed and the number of reference cycles, wherein the vehicle speed and the number of reference cycles are negatively correlated; the step of determining the second torque of the steering wheel based on the first torque and the number of reference cycles includes: determining the number of first cycles and the number of second cycles based on the number of reference cycles; determining the second torque of the steering wheel based on the first torque corresponding to each reference cycle within the first cycle and the second cycle; the step of determining the second torque of the steering wheel based on the first torque corresponding to each reference cycle within the first cycle and the second cycle. Determining the second torque of the steering wheel includes: calculating a first average value of the first torque corresponding to each reference cycle within a first cycle number; calculating a second average value of the first torque corresponding to each reference cycle within a second cycle number; determining the second torque of the steering wheel based on the first average value and the second average value; the step of determining the second torque of the steering wheel based on the first average value and the second average value includes: determining a minuend and a subtrahend in the first average value and the second average value based on the first cycle number and the second cycle number; multiplying the minuend by the ratio of the second cycle number to the first cycle number and then subtracting the subtrahend to obtain the second torque of the steering wheel; The grip state of the steering wheel is determined based on the second torque.

2. The method according to claim 1, characterized in that, After determining the second torque of the steering wheel based on the first torque corresponding to each reference cycle within the first cycle number and the second cycle number, the method further includes: The third cycle number is determined based on the reference cycle number, the third average value of the second torque corresponding to each reference cycle within the third cycle number is calculated, and the third average value is updated to the second torque of the steering wheel.

3. The method according to claim 1, characterized in that, The first torque applied to the steering wheel of the vehicle is acquired via a torque sensor, including: When there are two or more torque sensors, the effective sensors among the torque sensors are determined based on the validity signals sent by the torque sensors. The first torque applied to the steering wheel of the vehicle is determined by the torque value signal sent by the effective sensor.

4. The method according to claim 1, characterized in that, Determining the steering wheel grip state based on the second torque includes: If the steering wheel is currently held in a non-hands-free state, and if the absolute value of the second torque is detected to be less than a preset first torque threshold and the duration reaches a preset first duration, then the steering wheel's holding state will be switched to a hands-free state. If the steering wheel is currently in a hands-free grip state, and if the absolute value of the second torque is detected to be greater than or equal to a preset second torque threshold and the duration reaches a preset second duration, then the grip state of the steering wheel will be switched to a hands-free grip state.

5. The method according to claim 1, characterized in that, The first torque applied to the steering wheel of the vehicle is acquired via a torque sensor, including: When the vehicle speed is not zero, the first torque applied to the steering wheel of the vehicle is collected by the torque sensor.

6. A device for detecting steering wheel grip state, applied to the method for detecting steering wheel grip state as described in any one of claims 1-5, characterized in that, include: The torque acquisition module is used to acquire the initial torque applied to the vehicle's steering wheel via a torque sensor. A torque determination module is used to determine the number of reference cycles of the steering wheel based on the vehicle speed, and to determine the second torque of the steering wheel based on the first torque and the number of reference cycles. The torque determination module is used to determine the number of reference cycles for the steering wheel based on a pre-set correspondence between vehicle speed and the number of reference cycles, and the vehicle speed, wherein the vehicle speed and the number of reference cycles are negatively correlated. The torque determination module includes: a reference cycle determination unit, used to determine a first number of cycles and a second number of cycles based on the number of reference cycles; a second torque determination unit, used to determine a second torque for the steering wheel based on the first torque corresponding to each reference cycle within the first and second number of cycles; the second torque determination unit includes: a first average value calculation subunit, used to calculate a first average value of the first torque corresponding to each reference cycle within the first number of cycles; a second average value calculation subunit, used to calculate a second average value of the first torque corresponding to each reference cycle within the second number of cycles; a second torque determination subunit, used to determine the second torque for the steering wheel based on the first and second average values; the second torque determination subunit is used to determine the minuend and subtrahend in the first and second average values ​​based on the first and second number of cycles; multiplying the minuend by the ratio of the second number of cycles to the first number of cycles and then subtracting the subtrahend yields the second torque for the steering wheel. A grip state determination module is used to determine the grip state of the steering wheel based on the second torque.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for detecting the steering wheel grip state according to any one of claims 1-5.

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